Adaptively combined FIR and functional link artificial neural network equalizer for nonlinear communication channel.

PubMed

Zhao, Haiquan; Zhang, Jiashu

2009-04-01

This paper proposes a novel computational efficient adaptive nonlinear equalizer based on combination of finite impulse response (FIR) filter and functional link artificial neural network (CFFLANN) to compensate linear and nonlinear distortions in nonlinear communication channel. This convex nonlinear combination results in improving the speed while retaining the lower steady-state error. In addition, since the CFFLANN needs not the hidden layers, which exist in conventional neural-network-based equalizers, it exhibits a simpler structure than the traditional neural networks (NNs) and can require less computational burden during the training mode. Moreover, appropriate adaptation algorithm for the proposed equalizer is derived by the modified least mean square (MLMS). Results obtained from the simulations clearly show that the proposed equalizer using the MLMS algorithm can availably eliminate various intensity linear and nonlinear distortions, and be provided with better anti-jamming performance. Furthermore, comparisons of the mean squared error (MSE), the bit error rate (BER), and the effect of eigenvalue ratio (EVR) of input correlation matrix are presented.

Volumetric error modeling, identification and compensation based on screw theory for a large multi-axis propeller-measuring machine

NASA Astrophysics Data System (ADS)

Zhong, Xuemin; Liu, Hongqi; Mao, Xinyong; Li, Bin; He, Songping; Peng, Fangyu

2018-05-01

Large multi-axis propeller-measuring machines have two types of geometric error, position-independent geometric errors (PIGEs) and position-dependent geometric errors (PDGEs), which both have significant effects on the volumetric error of the measuring tool relative to the worktable. This paper focuses on modeling, identifying and compensating for the volumetric error of the measuring machine. A volumetric error model in the base coordinate system is established based on screw theory considering all the geometric errors. In order to fully identify all the geometric error parameters, a new method for systematic measurement and identification is proposed. All the PIGEs of adjacent axes and the six PDGEs of the linear axes are identified with a laser tracker using the proposed model. Finally, a volumetric error compensation strategy is presented and an inverse kinematic solution for compensation is proposed. The final measuring and compensation experiments have further verified the efficiency and effectiveness of the measuring and identification method, indicating that the method can be used in volumetric error compensation for large machine tools.

Error Model and Compensation of Bell-Shaped Vibratory Gyro

PubMed Central

Su, Zhong; Liu, Ning; Li, Qing

2015-01-01

A bell-shaped vibratory angular velocity gyro (BVG), inspired by the Chinese traditional bell, is a type of axisymmetric shell resonator gyroscope. This paper focuses on development of an error model and compensation of the BVG. A dynamic equation is firstly established, based on a study of the BVG working mechanism. This equation is then used to evaluate the relationship between the angular rate output signal and bell-shaped resonator character, analyze the influence of the main error sources and set up an error model for the BVG. The error sources are classified from the error propagation characteristics, and the compensation method is presented based on the error model. Finally, using the error model and compensation method, the BVG is calibrated experimentally including rough compensation, temperature and bias compensation, scale factor compensation and noise filter. The experimentally obtained bias instability is from 20.5°/h to 4.7°/h, the random walk is from 2.8°/h1/2 to 0.7°/h1/2 and the nonlinearity is from 0.2% to 0.03%. Based on the error compensation, it is shown that there is a good linear relationship between the sensing signal and the angular velocity, suggesting that the BVG is a good candidate for the field of low and medium rotational speed measurement. PMID:26393593

Development of a decentralized multi-axis synchronous control approach for real-time networks.

PubMed

Xu, Xiong; Gu, Guo-Ying; Xiong, Zhenhua; Sheng, Xinjun; Zhu, Xiangyang

2017-05-01

The message scheduling and the network-induced delays of real-time networks, together with the different inertias and disturbances in different axes, make the synchronous control of the real-time network-based systems quite challenging. To address this challenge, a decentralized multi-axis synchronous control approach is developed in this paper. Due to the limitations of message scheduling and network bandwidth, error of the position synchronization is firstly defined in the proposed control approach as a subset of preceding-axis pairs. Then, a motion message estimator is designed to reduce the effect of network delays. It is proven that position and synchronization errors asymptotically converge to zero in the proposed controller with the delay compensation. Finally, simulation and experimental results show that the developed control approach can achieve the good position synchronization performance for the multi-axis motion over the real-time network. Copyright © 2017 ISA. Published by Elsevier Ltd. All rights reserved.

On the Probability of Error and Stochastic Resonance in Discrete Memoryless Channels

DTIC Science & Technology

2013-12-01

Information - Driven Doppler Shift Estimation and Compensation Methods for Underwater Wireless Sensor Networks ”, which is to analyze and develop... underwater wireless sensor networks . We formulated an analytic relationship that relates the average probability of error to the systems parameters, the...thesis, we studied the performance of Discrete Memoryless Channels (DMC), arising in the context of cooperative underwater wireless sensor networks

Aerial robot intelligent control method based on back-stepping

NASA Astrophysics Data System (ADS)

Zhou, Jian; Xue, Qian

2018-05-01

The aerial robot is characterized as strong nonlinearity, high coupling and parameter uncertainty, a self-adaptive back-stepping control method based on neural network is proposed in this paper. The uncertain part of the aerial robot model is compensated online by the neural network of Cerebellum Model Articulation Controller and robust control items are designed to overcome the uncertainty error of the system during online learning. At the same time, particle swarm algorithm is used to optimize and fix parameters so as to improve the dynamic performance, and control law is obtained by the recursion of back-stepping regression. Simulation results show that the designed control law has desired attitude tracking performance and good robustness in case of uncertainties and large errors in the model parameters.

Perceptually tuned low-bit-rate video codec for ATM networks

NASA Astrophysics Data System (ADS)

Chou, Chun-Hsien

1996-02-01

In order to maintain high visual quality in transmitting low bit-rate video signals over asynchronous transfer mode (ATM) networks, a layered coding scheme that incorporates the human visual system (HVS), motion compensation (MC), and conditional replenishment (CR) is presented in this paper. An empirical perceptual model is proposed to estimate the spatio- temporal just-noticeable distortion (STJND) profile for each frame, by which perceptually important (PI) prediction-error signals can be located. Because of the limited channel capacity of the base layer, only coded data of motion vectors, the PI signals within a small strip of the prediction-error image and, if there are remaining bits, the PI signals outside the strip are transmitted by the cells of the base-layer channel. The rest of the coded data are transmitted by the second-layer cells which may be lost due to channel error or network congestion. Simulation results show that visual quality of the reconstructed CIF sequence is acceptable when the capacity of the base-layer channel is allocated with 2 multiplied by 64 kbps and the cells of the second layer are all lost.

Restoring a fair workers' compensation system for employer and employee.

PubMed

Wolfe, K

1997-04-01

The costs of workers' compensation have curtailed in recent years, perhaps in part as a result of MCO's efforts in this area. Managed care organizations that consider jumping into the workers' compensation arena often make basic errors in developing their programs and networks. The author reminds MCOs of the practical points they need to consider.

Self-organizing radial basis function networks for adaptive flight control and aircraft engine state estimation

NASA Astrophysics Data System (ADS)

Shankar, Praveen

The performance of nonlinear control algorithms such as feedback linearization and dynamic inversion is heavily dependent on the fidelity of the dynamic model being inverted. Incomplete or incorrect knowledge of the dynamics results in reduced performance and may lead to instability. Augmenting the baseline controller with approximators which utilize a parametrization structure that is adapted online reduces the effect of this error between the design model and actual dynamics. However, currently existing parameterizations employ a fixed set of basis functions that do not guarantee arbitrary tracking error performance. To address this problem, we develop a self-organizing parametrization structure that is proven to be stable and can guarantee arbitrary tracking error performance. The training algorithm to grow the network and adapt the parameters is derived from Lyapunov theory. In addition to growing the network of basis functions, a pruning strategy is incorporated to keep the size of the network as small as possible. This algorithm is implemented on a high performance flight vehicle such as F-15 military aircraft. The baseline dynamic inversion controller is augmented with a Self-Organizing Radial Basis Function Network (SORBFN) to minimize the effect of the inversion error which may occur due to imperfect modeling, approximate inversion or sudden changes in aircraft dynamics. The dynamic inversion controller is simulated for different situations including control surface failures, modeling errors and external disturbances with and without the adaptive network. A performance measure of maximum tracking error is specified for both the controllers a priori. Excellent tracking error minimization to a pre-specified level using the adaptive approximation based controller was achieved while the baseline dynamic inversion controller failed to meet this performance specification. The performance of the SORBFN based controller is also compared to a fixed RBF network based adaptive controller. While the fixed RBF network based controller which is tuned to compensate for control surface failures fails to achieve the same performance under modeling uncertainty and disturbances, the SORBFN is able to achieve good tracking convergence under all error conditions.

Tracking control of a closed-chain five-bar robot with two degrees of freedom by integration of an approximation-based approach and mechanical design.

PubMed

Cheng, Long; Hou, Zeng-Guang; Tan, Min; Zhang, W J

2012-10-01

The trajectory tracking problem of a closed-chain five-bar robot is studied in this paper. Based on an error transformation function and the backstepping technique, an approximation-based tracking algorithm is proposed, which can guarantee the control performance of the robotic system in both the stable and transient phases. In particular, the overshoot, settling time, and final tracking error of the robotic system can be all adjusted by properly setting the parameters in the error transformation function. The radial basis function neural network (RBFNN) is used to compensate the complicated nonlinear terms in the closed-loop dynamics of the robotic system. The approximation error of the RBFNN is only required to be bounded, which simplifies the initial "trail-and-error" configuration of the neural network. Illustrative examples are given to verify the theoretical analysis and illustrate the effectiveness of the proposed algorithm. Finally, it is also shown that the proposed approximation-based controller can be simplified by a smart mechanical design of the closed-chain robot, which demonstrates the promise of the integrated design and control philosophy.

Compensated gain control circuit for buck regulator command charge circuit

DOEpatents

Barrett, David M.

1996-01-01

A buck regulator command charge circuit includes a compensated-gain control signal for compensating for changes in the component values in order to achieve optimal voltage regulation. The compensated-gain control circuit includes an automatic-gain control circuit for generating a variable-gain control signal. The automatic-gain control circuit is formed of a precision rectifier circuit, a filter network, an error amplifier, and an integrator circuit.

Compensated gain control circuit for buck regulator command charge circuit

DOEpatents

Barrett, D.M.

1996-11-05

A buck regulator command charge circuit includes a compensated-gain control signal for compensating for changes in the component values in order to achieve optimal voltage regulation. The compensated-gain control circuit includes an automatic-gain control circuit for generating a variable-gain control signal. The automatic-gain control circuit is formed of a precision rectifier circuit, a filter network, an error amplifier, and an integrator circuit. 5 figs.

Single neural adaptive controller and neural network identifier based on PSO algorithm for spherical actuators with 3D magnet array

NASA Astrophysics Data System (ADS)

Yan, Liang; Zhang, Lu; Zhu, Bo; Zhang, Jingying; Jiao, Zongxia

2017-10-01

Permanent magnet spherical actuator (PMSA) is a multi-variable featured and inter-axis coupled nonlinear system, which unavoidably compromises its motion control implementation. Uncertainties such as external load and friction torque of ball bearing and manufacturing errors also influence motion performance significantly. Therefore, the objective of this paper is to propose a controller based on a single neural adaptive (SNA) algorithm and a neural network (NN) identifier optimized with a particle swarm optimization (PSO) algorithm to improve the motion stability of PMSA with three-dimensional magnet arrays. The dynamic model and computed torque model are formulated for the spherical actuator, and a dynamic decoupling control algorithm is developed. By utilizing the global-optimization property of the PSO algorithm, the NN identifier is trained to avoid locally optimal solution and achieve high-precision compensations to uncertainties. The employment of the SNA controller helps to reduce the effect of compensation errors and convert the system to a stable one, even if there is difference between the compensations and uncertainties due to external disturbances. A simulation model is established, and experiments are conducted on the research prototype to validate the proposed control algorithm. The amplitude of the parameter perturbation is set to 5%, 10%, and 15%, respectively. The strong robustness of the proposed hybrid algorithm is validated by the abundant simulation data. It shows that the proposed algorithm can effectively compensate the influence of uncertainties and eliminate the effect of inter-axis couplings of the spherical actuator.

Accuracy improvement of the H-drive air-levitating wafer inspection stage based on error analysis and compensation

NASA Astrophysics Data System (ADS)

Zhang, Fan; Liu, Pinkuan

2018-04-01

In order to improve the inspection precision of the H-drive air-bearing stage for wafer inspection, in this paper the geometric error of the stage is analyzed and compensated. The relationship between the positioning errors and error sources are initially modeled, and seven error components are identified that are closely related to the inspection accuracy. The most effective factor that affects the geometric error is identified by error sensitivity analysis. Then, the Spearman rank correlation method is applied to find the correlation between different error components, aiming at guiding the accuracy design and error compensation of the stage. Finally, different compensation methods, including the three-error curve interpolation method, the polynomial interpolation method, the Chebyshev polynomial interpolation method, and the B-spline interpolation method, are employed within the full range of the stage, and their results are compared. Simulation and experiment show that the B-spline interpolation method based on the error model has better compensation results. In addition, the research result is valuable for promoting wafer inspection accuracy and will greatly benefit the semiconductor industry.

A new methodology for vibration error compensation of optical encoders.

PubMed

Lopez, Jesus; Artes, Mariano

2012-01-01

Optical encoders are sensors based on grating interference patterns. Tolerances inherent to the manufacturing process can induce errors in the position accuracy as the measurement signals stand apart from the ideal conditions. In case the encoder is working under vibrations, the oscillating movement of the scanning head is registered by the encoder system as a displacement, introducing an error into the counter to be added up to graduation, system and installation errors. Behavior improvement can be based on different techniques trying to compensate the error from measurement signals processing. In this work a new "ad hoc" methodology is presented to compensate the error of the encoder when is working under the influence of vibration. The methodology is based on fitting techniques to the Lissajous figure of the deteriorated measurement signals and the use of a look up table, giving as a result a compensation procedure in which a higher accuracy of the sensor is obtained.

Vehicle Position Estimation Based on Magnetic Markers: Enhanced Accuracy by Compensation of Time Delays.

PubMed

Byun, Yeun-Sub; Jeong, Rag-Gyo; Kang, Seok-Won

2015-11-13

The real-time recognition of absolute (or relative) position and orientation on a network of roads is a core technology for fully automated or driving-assisted vehicles. This paper presents an empirical investigation of the design, implementation, and evaluation of a self-positioning system based on a magnetic marker reference sensing method for an autonomous vehicle. Specifically, the estimation accuracy of the magnetic sensing ruler (MSR) in the up-to-date estimation of the actual position was successfully enhanced by compensating for time delays in signal processing when detecting the vertical magnetic field (VMF) in an array of signals. In this study, the signal processing scheme was developed to minimize the effects of the distortion of measured signals when estimating the relative positional information based on magnetic signals obtained using the MSR. In other words, the center point in a 2D magnetic field contour plot corresponding to the actual position of magnetic markers was estimated by tracking the errors between pre-defined reference models and measured magnetic signals. The algorithm proposed in this study was validated by experimental measurements using a test vehicle on a pilot network of roads. From the results, the positioning error was found to be less than 0.04 m on average in an operational test.

Vehicle Position Estimation Based on Magnetic Markers: Enhanced Accuracy by Compensation of Time Delays

PubMed Central

Byun, Yeun-Sub; Jeong, Rag-Gyo; Kang, Seok-Won

2015-01-01

The real-time recognition of absolute (or relative) position and orientation on a network of roads is a core technology for fully automated or driving-assisted vehicles. This paper presents an empirical investigation of the design, implementation, and evaluation of a self-positioning system based on a magnetic marker reference sensing method for an autonomous vehicle. Specifically, the estimation accuracy of the magnetic sensing ruler (MSR) in the up-to-date estimation of the actual position was successfully enhanced by compensating for time delays in signal processing when detecting the vertical magnetic field (VMF) in an array of signals. In this study, the signal processing scheme was developed to minimize the effects of the distortion of measured signals when estimating the relative positional information based on magnetic signals obtained using the MSR. In other words, the center point in a 2D magnetic field contour plot corresponding to the actual position of magnetic markers was estimated by tracking the errors between pre-defined reference models and measured magnetic signals. The algorithm proposed in this study was validated by experimental measurements using a test vehicle on a pilot network of roads. From the results, the positioning error was found to be less than 0.04 m on average in an operational test. PMID:26580622

A novel optical fiber displacement sensor of wider measurement range based on neural network

NASA Astrophysics Data System (ADS)

Guo, Yuan; Dai, Xue Feng; Wang, Yu Tian

2006-02-01

By studying on the output characteristics of random type optical fiber sensor and semicircular type optical fiber sensor, the ratio of the two output signals was used as the output signal of the whole system. Then the measurement range was enlarged, the linearity was improved, and the errors of reflective and absorbent changing of target surface are automatically compensated. Meantime, an optical fiber sensor model of correcting static error based on BP artificial neural network(ANN) is set up. So the intrinsic errors such as effects of fluctuations in the light, circuit excursion, the intensity losses in the fiber lines and the additional losses in the receiving fiber caused by bends are eliminated. By discussing in theory and experiment, the error of nonlinear is 2.9%, the measuring range reaches to 5-6mm and the relative accuracy is 2%.And this sensor has such characteristics as no electromagnetic interference, simple construction, high sensitivity, good accuracy and stability. Also the multi-point sensor system can be used to on-line and non-touch monitor in working locales.

Dissociating error-based and reinforcement-based loss functions during sensorimotor learning

PubMed Central

McGregor, Heather R.; Mohatarem, Ayman

2017-01-01

It has been proposed that the sensorimotor system uses a loss (cost) function to evaluate potential movements in the presence of random noise. Here we test this idea in the context of both error-based and reinforcement-based learning. In a reaching task, we laterally shifted a cursor relative to true hand position using a skewed probability distribution. This skewed probability distribution had its mean and mode separated, allowing us to dissociate the optimal predictions of an error-based loss function (corresponding to the mean of the lateral shifts) and a reinforcement-based loss function (corresponding to the mode). We then examined how the sensorimotor system uses error feedback and reinforcement feedback, in isolation and combination, when deciding where to aim the hand during a reach. We found that participants compensated differently to the same skewed lateral shift distribution depending on the form of feedback they received. When provided with error feedback, participants compensated based on the mean of the skewed noise. When provided with reinforcement feedback, participants compensated based on the mode. Participants receiving both error and reinforcement feedback continued to compensate based on the mean while repeatedly missing the target, despite receiving auditory, visual and monetary reinforcement feedback that rewarded hitting the target. Our work shows that reinforcement-based and error-based learning are separable and can occur independently. Further, when error and reinforcement feedback are in conflict, the sensorimotor system heavily weights error feedback over reinforcement feedback. PMID:28753634

Dissociating error-based and reinforcement-based loss functions during sensorimotor learning.

PubMed

Cashaback, Joshua G A; McGregor, Heather R; Mohatarem, Ayman; Gribble, Paul L

2017-07-01

It has been proposed that the sensorimotor system uses a loss (cost) function to evaluate potential movements in the presence of random noise. Here we test this idea in the context of both error-based and reinforcement-based learning. In a reaching task, we laterally shifted a cursor relative to true hand position using a skewed probability distribution. This skewed probability distribution had its mean and mode separated, allowing us to dissociate the optimal predictions of an error-based loss function (corresponding to the mean of the lateral shifts) and a reinforcement-based loss function (corresponding to the mode). We then examined how the sensorimotor system uses error feedback and reinforcement feedback, in isolation and combination, when deciding where to aim the hand during a reach. We found that participants compensated differently to the same skewed lateral shift distribution depending on the form of feedback they received. When provided with error feedback, participants compensated based on the mean of the skewed noise. When provided with reinforcement feedback, participants compensated based on the mode. Participants receiving both error and reinforcement feedback continued to compensate based on the mean while repeatedly missing the target, despite receiving auditory, visual and monetary reinforcement feedback that rewarded hitting the target. Our work shows that reinforcement-based and error-based learning are separable and can occur independently. Further, when error and reinforcement feedback are in conflict, the sensorimotor system heavily weights error feedback over reinforcement feedback.

Compensation of power drops in reflective semiconductor optical amplifier-based passive optical network with upstream data rate adjustment

NASA Astrophysics Data System (ADS)

Yeh, Chien-Hung; Chow, Chi-Wai; Chiang, Ming-Feng; Shih, Fu-Yuan; Pan, Ci-Ling

2011-09-01

In a wavelength division multiplexed-passive optical network (WDM-PON), different fiber lengths and optical components would introduce different power budgets to different optical networking units (ONUs). Besides, the power decay of the distributed optical carrier from the optical line terminal owing to aging of the optical transmitter could also reduce the injected power into the ONU. In this work, we propose and demonstrate a carrier distributed WDM-PON using a reflective semiconductor optical amplifier-based ONU that can adjust its upstream data rate to accommodate different injected optical powers. The WDM-PON is evaluated at standard-reach (25 km) and long-reach (100 km). Bit-error rate measurements at different injected optical powers and transmission lengths show that by adjusting the upstream data rate of the system (622 Mb/s, 1.25 and 2.5 Gb/s), error-free (<10-9) operation can still be achieved when the power budget drops.

A New Methodology for Vibration Error Compensation of Optical Encoders

PubMed Central

Lopez, Jesus; Artes, Mariano

2012-01-01

Optical encoders are sensors based on grating interference patterns. Tolerances inherent to the manufacturing process can induce errors in the position accuracy as the measurement signals stand apart from the ideal conditions. In case the encoder is working under vibrations, the oscillating movement of the scanning head is registered by the encoder system as a displacement, introducing an error into the counter to be added up to graduation, system and installation errors. Behavior improvement can be based on different techniques trying to compensate the error from measurement signals processing. In this work a new “ad hoc” methodology is presented to compensate the error of the encoder when is working under the influence of vibration. The methodology is based on fitting techniques to the Lissajous figure of the deteriorated measurement signals and the use of a look up table, giving as a result a compensation procedure in which a higher accuracy of the sensor is obtained. PMID:22666067

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

PubMed

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

2010-07-01

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

Piecewise compensation for the nonlinear error of fiber-optic gyroscope scale factor

NASA Astrophysics Data System (ADS)

Zhang, Yonggang; Wu, Xunfeng; Yuan, Shun; Wu, Lei

2013-08-01

Fiber-Optic Gyroscope (FOG) scale factor nonlinear error will result in errors in Strapdown Inertial Navigation System (SINS). In order to reduce nonlinear error of FOG scale factor in SINS, a compensation method is proposed in this paper based on curve piecewise fitting of FOG output. Firstly, reasons which can result in FOG scale factor error are introduced and the definition of nonlinear degree is provided. Then we introduce the method to divide the output range of FOG into several small pieces, and curve fitting is performed in each output range of FOG to obtain scale factor parameter. Different scale factor parameters of FOG are used in different pieces to improve FOG output precision. These parameters are identified by using three-axis turntable, and nonlinear error of FOG scale factor can be reduced. Finally, three-axis swing experiment of SINS verifies that the proposed method can reduce attitude output errors of SINS by compensating the nonlinear error of FOG scale factor and improve the precision of navigation. The results of experiments also demonstrate that the compensation scheme is easy to implement. It can effectively compensate the nonlinear error of FOG scale factor with slightly increased computation complexity. This method can be used in inertial technology based on FOG to improve precision.

A laboratory system for the investigation of rain fade compensation techniques for Ka-band satellites

NASA Technical Reports Server (NTRS)

Svoboda, James S.; Kachmar, Brian A.

1993-01-01

The design and performance of a rain fade simulation/counteraction system on a laboratory simulated 30/20 GHz, time division multiple access (TDMA) satellite communications testbed is evaluated. Severe rain attenuation of electromagnetic radiation at 30/20 GHz occurs due to the carrier wavelength approaching the water droplet size. Rain in the downlink path lowers the signal power present at the receiver, resulting in a higher number of bit errors induced in the digital ground terminal. The laboratory simulation performed at NASA Lewis Research Center uses a programmable PIN diode attenuator to simulate 20 GHz satellite downlink geographic rain fade profiles. A computer based network control system monitors the downlink power and informs the network of any power threshold violations, which then prompts the network to issue commands that temporarily increase the gain of the satellite based traveling wave tube (TWT) amplifier. After the rain subsides, the network returns the TWT to the normal energy conserving power mode. Bit error rate (BER) data taken at the receiving ground terminal serves as a measure of the severity of rain degradation, and also evaluates the extent to which the network can improve the faded channel.

Quality prediction modeling for sintered ores based on mechanism models of sintering and extreme learning machine based error compensation

NASA Astrophysics Data System (ADS)

Tiebin, Wu; Yunlian, Liu; Xinjun, Li; Yi, Yu; Bin, Zhang

2018-06-01

Aiming at the difficulty in quality prediction of sintered ores, a hybrid prediction model is established based on mechanism models of sintering and time-weighted error compensation on the basis of the extreme learning machine (ELM). At first, mechanism models of drum index, total iron, and alkalinity are constructed according to the chemical reaction mechanism and conservation of matter in the sintering process. As the process is simplified in the mechanism models, these models are not able to describe high nonlinearity. Therefore, errors are inevitable. For this reason, the time-weighted ELM based error compensation model is established. Simulation results verify that the hybrid model has a high accuracy and can meet the requirement for industrial applications.

A proportional integral estimator-based clock synchronization protocol for wireless sensor networks.

PubMed

Yang, Wenlun; Fu, Minyue

2017-11-01

Clock synchronization is an issue of vital importance in applications of WSNs. This paper proposes a proportional integral estimator-based protocol (EBP) to achieve clock synchronization for wireless sensor networks. As each local clock skew gradually drifts, synchronization accuracy will decline over time. Compared with existing consensus-based approaches, the proposed synchronization protocol improves synchronization accuracy under time-varying clock skews. Moreover, by restricting synchronization error of clock skew into a relative small quantity, it could reduce periodic re-synchronization frequencies. At last, a pseudo-synchronous implementation for skew compensation is introduced as synchronous protocol is unrealistic in practice. Numerical simulations are shown to illustrate the performance of the proposed protocol. Copyright © 2017 ISA. Published by Elsevier Ltd. All rights reserved.

Apply network coding for H.264/SVC multicasting

NASA Astrophysics Data System (ADS)

Wang, Hui; Kuo, C.-C. Jay

2008-08-01

In a packet erasure network environment, video streaming benefits from error control in two ways to achieve graceful degradation. The first approach is application-level (or the link-level) forward error-correction (FEC) to provide erasure protection. The second error control approach is error concealment at the decoder end to compensate lost packets. A large amount of research work has been done in the above two areas. More recently, network coding (NC) techniques have been proposed for efficient data multicast over networks. It was shown in our previous work that multicast video streaming benefits from NC for its throughput improvement. An algebraic model is given to analyze the performance in this work. By exploiting the linear combination of video packets along nodes in a network and the SVC video format, the system achieves path diversity automatically and enables efficient video delivery to heterogeneous receivers in packet erasure channels. The application of network coding can protect video packets against the erasure network environment. However, the rank defficiency problem of random linear network coding makes the error concealment inefficiently. It is shown by computer simulation that the proposed NC video multicast scheme enables heterogenous receiving according to their capacity constraints. But it needs special designing to improve the video transmission performance when applying network coding.

Design of a Base Station for MEMS CCR Localization in an Optical Sensor Network

PubMed Central

Park, Chan Gook; Jeon, Hyun Cheol; Kim, Hyoun Jin; Kim, Jae Yoon

2014-01-01

This paper introduces a design and implementation of a base station, capable of positioning sensor nodes using an optical scheme. The base station consists of a pulse laser module, optical detectors and beam splitter, which are mounted on a rotation-stage, and a Time to Digital Converter (TDC). The optical pulse signal transmitted to the sensor node with a Corner Cube Retro-reflector (CCR) is reflected to the base station, and the Time of Flight (ToF) data can be obtained from the two detectors. With the angle and flight time data, the position of the sensor node can be calculated. The performance of the system is evaluated by using a commercial CCR. The sensor nodes are placed at different angles from the base station and scanned using the laser. We analyze the node position error caused by the rotation and propose error compensation methods, namely the outlier sample exception and decreasing the confidence factor steadily using the recursive least square (RLS) methods. Based on the commercial CCR results, the MEMS CCR is also tested to demonstrate the compatibility between the base station and the proposed methods. The result shows that the localization performance of the system can be enhanced with the proposed compensation method using the MEMS CCR. PMID:24815681

Design of a base station for MEMS CCR localization in an optical sensor network.

PubMed

Park, Chan Gook; Jeon, Hyun Cheol; Kim, Hyoun Jin; Kim, Jae Yoon

2014-05-08

This paper introduces a design and implementation of a base station, capable of positioning sensor nodes using an optical scheme. The base station consists of a pulse laser module, optical detectors and beam splitter, which are mounted on a rotation-stage, and a Time to Digital Converter (TDC). The optical pulse signal transmitted to the sensor node with a Corner Cube Retro-reflector (CCR) is reflected to the base station, and the Time of Flight (ToF) data can be obtained from the two detectors. With the angle and flight time data, the position of the sensor node can be calculated. The performance of the system is evaluated by using a commercial CCR. The sensor nodes are placed at different angles from the base station and scanned using the laser. We analyze the node position error caused by the rotation and propose error compensation methods, namely the outlier sample exception and decreasing the confidence factor steadily using the recursive least square (RLS) methods. Based on the commercial CCR results, the MEMS CCR is also tested to demonstrate the compatibility between the base station and the proposed methods. The result shows that the localization performance of the system can be enhanced with the proposed compensation method using the MEMS CCR.

A Novel Extreme Learning Control Framework of Unmanned Surface Vehicles.

PubMed

Wang, Ning; Sun, Jing-Chao; Er, Meng Joo; Liu, Yan-Cheng

2016-05-01

In this paper, an extreme learning control (ELC) framework using the single-hidden-layer feedforward network (SLFN) with random hidden nodes for tracking an unmanned surface vehicle suffering from unknown dynamics and external disturbances is proposed. By combining tracking errors with derivatives, an error surface and transformed states are defined to encapsulate unknown dynamics and disturbances into a lumped vector field of transformed states. The lumped nonlinearity is further identified accurately by an extreme-learning-machine-based SLFN approximator which does not require a priori system knowledge nor tuning input weights. Only output weights of the SLFN need to be updated by adaptive projection-based laws derived from the Lyapunov approach. Moreover, an error compensator is incorporated to suppress approximation residuals, and thereby contributing to the robustness and global asymptotic stability of the closed-loop ELC system. Simulation studies and comprehensive comparisons demonstrate that the ELC framework achieves high accuracy in both tracking and approximation.

Laser Measurements Based for Volumetric Accuracy Improvement of Multi-axis Systems

NASA Astrophysics Data System (ADS)

Vladimir, Sokolov; Konstantin, Basalaev

The paper describes a new developed approach to CNC-controlled multi-axis systems geometric errors compensation based on optimal error correction strategy. Multi-axis CNC-controlled systems - machine-tools and CMM's are the basis of modern engineering industry. Similar design principles of both technological and measurement equipment allow usage of similar approaches to precision management. The approach based on geometric errors compensation are widely used at present time. The paper describes a system for compensation of geometric errors of multi-axis equipment based on the new approach. The hardware basis of the developed system is a multi-function laser interferometer. The principles of system's implementation, results of measurements and system's functioning simulation are described. The effectiveness of application of described principles to multi-axis equipment of different sizes and purposes for different machining directions and zones within workspace is presented. The concepts of optimal correction strategy is introduced and dynamic accuracy control is proposed.

Neural-Based Compensation of Nonlinearities in an Airplane Longitudinal Model with Dynamic-Inversion Control

PubMed Central

Li, YuHui; Jin, FeiTeng

2017-01-01

The inversion design approach is a very useful tool for the complex multiple-input-multiple-output nonlinear systems to implement the decoupling control goal, such as the airplane model and spacecraft model. In this work, the flight control law is proposed using the neural-based inversion design method associated with the nonlinear compensation for a general longitudinal model of the airplane. First, the nonlinear mathematic model is converted to the equivalent linear model based on the feedback linearization theory. Then, the flight control law integrated with this inversion model is developed to stabilize the nonlinear system and relieve the coupling effect. Afterwards, the inversion control combined with the neural network and nonlinear portion is presented to improve the transient performance and attenuate the uncertain effects on both external disturbances and model errors. Finally, the simulation results demonstrate the effectiveness of this controller. PMID:29410680

Design of an embedded inverse-feedforward biomolecular tracking controller for enzymatic reaction processes.

PubMed

Foo, Mathias; Kim, Jongrae; Sawlekar, Rucha; Bates, Declan G

2017-04-06

Feedback control is widely used in chemical engineering to improve the performance and robustness of chemical processes. Feedback controllers require a 'subtractor' that is able to compute the error between the process output and the reference signal. In the case of embedded biomolecular control circuits, subtractors designed using standard chemical reaction network theory can only realise one-sided subtraction, rendering standard controller design approaches inadequate. Here, we show how a biomolecular controller that allows tracking of required changes in the outputs of enzymatic reaction processes can be designed and implemented within the framework of chemical reaction network theory. The controller architecture employs an inversion-based feedforward controller that compensates for the limitations of the one-sided subtractor that generates the error signals for a feedback controller. The proposed approach requires significantly fewer chemical reactions to implement than alternative designs, and should have wide applicability throughout the fields of synthetic biology and biological engineering.

Adaptive Control of Truss Structures for Gossamer Spacecraft

NASA Technical Reports Server (NTRS)

Yang, Bong-Jun; Calise, Anthony J.; Craig, James I.; Whorton, Mark S.

2007-01-01

Neural network-based adaptive control is considered for active control of a highly flexible truss structure which may be used to support solar sail membranes. The objective is to suppress unwanted vibrations in SAFE (Solar Array Flight Experiment) boom, a test-bed located at NASA. Compared to previous tests that restrained truss structures in planar motion, full three dimensional motions are tested. Experimental results illustrate the potential of adaptive control in compensating for nonlinear actuation and modeling error, and in rejecting external disturbances.

Error-compensation model for simultaneous measurement of five degrees of freedom motion errors of a rotary axis

NASA Astrophysics Data System (ADS)

Bao, Chuanchen; Li, Jiakun; Feng, Qibo; Zhang, Bin

2018-07-01

This paper introduces an error-compensation model for our measurement method to measure five motion errors of a rotary axis based on fibre laser collimation. The error-compensation model is established in a matrix form using the homogeneous coordinate transformation theory. The influences of the installation errors, error crosstalk, and manufacturing errors are analysed. The model is verified by both ZEMAX simulation and measurement experiments. The repeatability values of the radial and axial motion errors are significantly suppressed by more than 50% after compensation. The repeatability experiments of five degrees of freedom motion errors and the comparison experiments of two degrees of freedom motion errors of an indexing table were performed by our measuring device and a standard instrument. The results show that the repeatability values of the angular positioning error ε z and tilt motion error around the Y axis ε y are 1.2″ and 4.4″, and the comparison deviations of the two motion errors are 4.0″ and 4.4″, respectively. The repeatability values of the radial and axial motion errors, δ y and δ z , are 1.3 and 0.6 µm, respectively. The repeatability value of the tilt motion error around the X axis ε x is 3.8″.

Introduction to the Application of Web-Based Surveys.

ERIC Educational Resources Information Center

Timmerman, Annemarie

This paper discusses some basic assumptions and issues concerning web-based surveys. Discussion includes: assumptions regarding cost and ease of use; disadvantages of web-based surveys, concerning the inability to compensate for four common errors of survey research: coverage error, sampling error, measurement error and nonresponse error; and…

Compensating additional optical power in the central zone of a multifocal contact lens forminimization of the shrinkage error of the shell mold in the injection molding process.

PubMed

Vu, Lien T; Chen, Chao-Chang A; Lee, Chia-Cheng; Yu, Chia-Wei

2018-04-20

This study aims to develop a compensating method to minimize the shrinkage error of the shell mold (SM) in the injection molding (IM) process to obtain uniform optical power in the central optical zone of soft axial symmetric multifocal contact lenses (CL). The Z-shrinkage error along the Z axis or axial axis of the anterior SM corresponding to the anterior surface of a dry contact lens in the IM process can be minimized by optimizing IM process parameters and then by compensating for additional (Add) powers in the central zone of the original lens design. First, the shrinkage error is minimized by optimizing three levels of four IM parameters, including mold temperature, injection velocity, packing pressure, and cooling time in 18 IM simulations based on an orthogonal array L 18 (2 1 ×3 4 ). Then, based on the Z-shrinkage error from IM simulation, three new contact lens designs are obtained by increasing the Add power in the central zone of the original multifocal CL design to compensate for the optical power errors. Results obtained from IM process simulations and the optical simulations show that the new CL design with 0.1 D increasing in Add power has the closest shrinkage profile to the original anterior SM profile with percentage of reduction in absolute Z-shrinkage error of 55% and more uniform power in the central zone than in the other two cases. Moreover, actual experiments of IM of SM for casting soft multifocal CLs have been performed. The final product of wet CLs has been completed for the original design and the new design. Results of the optical performance have verified the improvement of the compensated design of CLs. The feasibility of this compensating method has been proven based on the measurement results of the produced soft multifocal CLs of the new design. Results of this study can be further applied to predict or compensate for the total optical power errors of the soft multifocal CLs.

Effects of stinger axial dynamics and mass compensation methods on experimental modal analysis

NASA Astrophysics Data System (ADS)

Hu, Ximing

1992-06-01

A longitudinal bar model that includes both stinger elastic and inertia properties is used to analyze the stinger's axial dynamics as well as the mass compensation that is required to obtain accurate input forces when a stinger is installed between the excitation source, force transducer, and the structure under test. Stinger motion transmissibility and force transmissibility, axial resonance and excitation energy transfer problems are discussed in detail. Stinger mass compensation problems occur when the force transducer is mounted on the exciter end of the stinger. These problems are studied theoretically, numerically, and experimentally. It is found that the measured Frequency Response Function (FRF) can be underestimated if mass compensation is based on the stinger exciter-end acceleration and can be overestimated if the mass compensation is based on the structure-end acceleration due to the stinger's compliance. A new mass compensation method that is based on two accelerations is introduced and is seen to improve the accuracy considerably. The effects of the force transducer's compliance on the mass compensation are also discussed. A theoretical model is developed that describes the measurement system's FRD around a test structure's resonance. The model shows that very large measurement errors occur when there is a small relative phase shift between the force and acceleration measurements. These errors can be in hundreds of percent corresponding to a phase error on the order of one or two degrees. The physical reasons for this unexpected error pattern are explained. This error is currently unknown to the experimental modal analysis community. Two sample structures consisting of a rigid mass and a double cantilever beam are used in the numerical calculations and experiments.

Star centroiding error compensation for intensified star sensors.

PubMed

Jiang, Jie; Xiong, Kun; Yu, Wenbo; Yan, Jinyun; Zhang, Guangjun

2016-12-26

A star sensor provides high-precision attitude information by capturing a stellar image; however, the traditional star sensor has poor dynamic performance, which is attributed to its low sensitivity. Regarding the intensified star sensor, the image intensifier is utilized to improve the sensitivity, thereby further improving the dynamic performance of the star sensor. However, the introduction of image intensifier results in star centroiding accuracy decrease, further influencing the attitude measurement precision of the star sensor. A star centroiding error compensation method for intensified star sensors is proposed in this paper to reduce the influences. First, the imaging model of the intensified detector, which includes the deformation parameter of the optical fiber panel, is established based on the orthographic projection through the analysis of errors introduced by the image intensifier. Thereafter, the position errors at the target points based on the model are obtained by using the Levenberg-Marquardt (LM) optimization method. Last, the nearest trigonometric interpolation method is presented to compensate for the arbitrary centroiding error of the image plane. Laboratory calibration result and night sky experiment result show that the compensation method effectively eliminates the error introduced by the image intensifier, thus remarkably improving the precision of the intensified star sensors.

Error model of geomagnetic-field measurement and extended Kalman-filter based compensation method

PubMed Central

Ge, Zhilei; Liu, Suyun; Li, Guopeng; Huang, Yan; Wang, Yanni

2017-01-01

The real-time accurate measurement of the geomagnetic-field is the foundation to achieving high-precision geomagnetic navigation. The existing geomagnetic-field measurement models are essentially simplified models that cannot accurately describe the sources of measurement error. This paper, on the basis of systematically analyzing the source of geomagnetic-field measurement error, built a complete measurement model, into which the previously unconsidered geomagnetic daily variation field was introduced. This paper proposed an extended Kalman-filter based compensation method, which allows a large amount of measurement data to be used in estimating parameters to obtain the optimal solution in the sense of statistics. The experiment results showed that the compensated strength of the geomagnetic field remained close to the real value and the measurement error was basically controlled within 5nT. In addition, this compensation method has strong applicability due to its easy data collection and ability to remove the dependence on a high-precision measurement instrument. PMID:28445508

Dynamic neural network-based methods for compensation of nonlinear effects in multimode communication lines

NASA Astrophysics Data System (ADS)

Sidelnikov, O. S.; Redyuk, A. A.; Sygletos, S.

2017-12-01

We consider neural network-based schemes of digital signal processing. It is shown that the use of a dynamic neural network-based scheme of signal processing ensures an increase in the optical signal transmission quality in comparison with that provided by other methods for nonlinear distortion compensation.

An IMU-Aided Body-Shadowing Error Compensation Method for Indoor Bluetooth Positioning

PubMed Central

Deng, Zhongliang

2018-01-01

Research on indoor positioning technologies has recently become a hotspot because of the huge social and economic potential of indoor location-based services (ILBS). Wireless positioning signals have a considerable attenuation in received signal strength (RSS) when transmitting through human bodies, which would cause significant ranging and positioning errors in RSS-based systems. This paper mainly focuses on the body-shadowing impairment of RSS-based ranging and positioning, and derives a mathematical expression of the relation between the body-shadowing effect and the positioning error. In addition, an inertial measurement unit-aided (IMU-aided) body-shadowing detection strategy is designed, and an error compensation model is established to mitigate the effect of body-shadowing. A Bluetooth positioning algorithm with body-shadowing error compensation (BP-BEC) is then proposed to improve both the positioning accuracy and the robustness in indoor body-shadowing environments. Experiments are conducted in two indoor test beds, and the performance of both the BP-BEC algorithm and the algorithms without body-shadowing error compensation (named no-BEC) is evaluated. The results show that the BP-BEC outperforms the no-BEC by about 60.1% and 73.6% in terms of positioning accuracy and robustness, respectively. Moreover, the execution time of the BP-BEC algorithm is also evaluated, and results show that the convergence speed of the proposed algorithm has an insignificant effect on real-time localization. PMID:29361718

An IMU-Aided Body-Shadowing Error Compensation Method for Indoor Bluetooth Positioning.

PubMed

Deng, Zhongliang; Fu, Xiao; Wang, Hanhua

2018-01-20

Research on indoor positioning technologies has recently become a hotspot because of the huge social and economic potential of indoor location-based services (ILBS). Wireless positioning signals have a considerable attenuation in received signal strength (RSS) when transmitting through human bodies, which would cause significant ranging and positioning errors in RSS-based systems. This paper mainly focuses on the body-shadowing impairment of RSS-based ranging and positioning, and derives a mathematical expression of the relation between the body-shadowing effect and the positioning error. In addition, an inertial measurement unit-aided (IMU-aided) body-shadowing detection strategy is designed, and an error compensation model is established to mitigate the effect of body-shadowing. A Bluetooth positioning algorithm with body-shadowing error compensation (BP-BEC) is then proposed to improve both the positioning accuracy and the robustness in indoor body-shadowing environments. Experiments are conducted in two indoor test beds, and the performance of both the BP-BEC algorithm and the algorithms without body-shadowing error compensation (named no-BEC) is evaluated. The results show that the BP-BEC outperforms the no-BEC by about 60.1% and 73.6% in terms of positioning accuracy and robustness, respectively. Moreover, the execution time of the BP-BEC algorithm is also evaluated, and results show that the convergence speed of the proposed algorithm has an insignificant effect on real-time localization.

Neural-Network-Based Adaptive Decentralized Fault-Tolerant Control for a Class of Interconnected Nonlinear Systems.

PubMed

Li, Xiao-Jian; Yang, Guang-Hong

2018-01-01

This paper is concerned with the adaptive decentralized fault-tolerant tracking control problem for a class of uncertain interconnected nonlinear systems with unknown strong interconnections. An algebraic graph theory result is introduced to address the considered interconnections. In addition, to achieve the desirable tracking performance, a neural-network-based robust adaptive decentralized fault-tolerant control (FTC) scheme is given to compensate the actuator faults and system uncertainties. Furthermore, via the Lyapunov analysis method, it is proven that all the signals of the resulting closed-loop system are semiglobally bounded, and the tracking errors of each subsystem exponentially converge to a compact set, whose radius is adjustable by choosing different controller design parameters. Finally, the effectiveness and advantages of the proposed FTC approach are illustrated with two simulated examples.

Temperature-Compensated Clock Skew Adjustment

PubMed Central

Castillo-Secilla, Jose María; Palomares, Jose Manuel; Olivares, Joaquín

2013-01-01

This work analyzes several drift compensation mechanisms in wireless sensor networks (WSN). Temperature is an environmental factor that greatly affects oscillators shipped in every WSN mote. This behavior creates the need of improving drift compensation mechanisms in synchronization protocols. Using the Flooding Time Synchronization Protocol (FTSP), this work demonstrates that crystal oscillators are affected by temperature variations. Thus, the influence of temperature provokes a low performance of FTSP in changing conditions of temperature. This article proposes an innovative correction factor that minimizes the impact of temperature in the clock skew. By means of this factor, two new mechanisms are proposed in this paper: the Adjusted Temperature (AT) and the Advanced Adjusted Temperature (A2T). These mechanisms have been combined with FTSP to produce AT-FTSP and A2T-FTSP Both have been tested in a network of TelosB motes running TinyOS. Results show that both AT-FTSP and A2T-FTSP improve the average synchronization errors compared to FTSP and other temperature-compensated protocols (Environment-Aware Clock Skew Estimation and Synchronization for WSN (EACS) and Temperature Compensated Time Synchronization (TCTS)). PMID:23966192

Partial compensation interferometry measurement system for parameter errors of conicoid surface

NASA Astrophysics Data System (ADS)

Hao, Qun; Li, Tengfei; Hu, Yao; Wang, Shaopu; Ning, Yan; Chen, Zhuo

2018-06-01

Surface parameters, such as vertex radius of curvature and conic constant, are used to describe the shape of an aspheric surface. Surface parameter errors (SPEs) are deviations affecting the optical characteristics of an aspheric surface. Precise measurement of SPEs is critical in the evaluation of optical surfaces. In this paper, a partial compensation interferometry measurement system for SPE of a conicoid surface is proposed based on the theory of slope asphericity and the best compensation distance. The system is developed to measure the SPE-caused best compensation distance change and SPE-caused surface shape change and then calculate the SPEs with the iteration algorithm for accuracy improvement. Experimental results indicate that the average relative measurement accuracy of the proposed system could be better than 0.02% for the vertex radius of curvature error and 2% for the conic constant error.

Poster - 49: Assessment of Synchrony respiratory compensation error for CyberKnife liver treatment

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

Liu, Ming; Cygler,

The goal of this work is to quantify respiratory motion compensation errors for liver tumor patients treated by the CyberKnife system with Synchrony tracking, to identify patients with the smallest tracking errors and to eventually help coach patient’s breathing patterns to minimize dose delivery errors. The accuracy of CyberKnife Synchrony respiratory motion compensation was assessed for 37 patients treated for liver lesions by analyzing data from system logfiles. A predictive model is used to modulate the direction of individual beams during dose delivery based on the positions of internally implanted fiducials determined using an orthogonal x-ray imaging system and themore » current location of LED external markers. For each x-ray pair acquired, system logfiles report the prediction error, the difference between the measured and predicted fiducial positions, and the delivery error, which is an estimate of the statistical error in the model overcoming the latency between x-ray acquisition and robotic repositioning. The total error was calculated at the time of each x-ray pair, for the number of treatment fractions and the number of patients, giving the average respiratory motion compensation error in three dimensions. The 99{sup th} percentile for the total radial error is 3.85 mm, with the highest contribution of 2.79 mm in superior/inferior (S/I) direction. The absolute mean compensation error is 1.78 mm radially with a 1.27 mm contribution in the S/I direction. Regions of high total error may provide insight into features predicting groups of patients with larger or smaller total errors.« less

Identification method of laser gyro error model under changing physical field

NASA Astrophysics Data System (ADS)

Wang, Qingqing; Niu, Zhenzhong

2018-04-01

In this paper, the influence mechanism of temperature, temperature changing rate and temperature gradient on the inertial devices is studied. The two-order model of zero bias and the three-order model of the calibration factor of lster gyro under temperature variation are deduced. The calibration scheme of temperature error is designed, and the experiment is carried out. Two methods of stepwise regression analysis and BP neural network are used to identify the parameters of the temperature error model, and the effectiveness of the two methods is proved by the temperature error compensation.

Neural network approach to proximity effect corrections in electron-beam lithography

NASA Astrophysics Data System (ADS)

Frye, Robert C.; Cummings, Kevin D.; Rietman, Edward A.

1990-05-01

The proximity effect, caused by electron beam backscattering during resist exposure, is an important concern in writing submicron features. It can be compensated by appropriate local changes in the incident beam dose, but computation of the optimal correction usually requires a prohibitively long time. We present an example of such a computation on a small test pattern, which we performed by an iterative method. We then used this solution as a training set for an adaptive neural network. After training, the network computed the same correction as the iterative method, but in a much shorter time. Correcting the image with a software based neural network resulted in a decrease in the computation time by a factor of 30, and a hardware based network enhanced the computation speed by more than a factor of 1000. Both methods had an acceptably small error of 0.5% compared to the results of the iterative computation. Additionally, we verified that the neural network correctly generalized the solution of the problem to include patterns not contained in its training set.

Compensation for positioning error of industrial robot for flexible vision measuring system

NASA Astrophysics Data System (ADS)

Guo, Lei; Liang, Yajun; Song, Jincheng; Sun, Zengyu; Zhu, Jigui

2013-01-01

Positioning error of robot is a main factor of accuracy of flexible coordinate measuring system which consists of universal industrial robot and visual sensor. Present compensation methods for positioning error based on kinematic model of robot have a significant limitation that it isn't effective in the whole measuring space. A new compensation method for positioning error of robot based on vision measuring technique is presented. One approach is setting global control points in measured field and attaching an orientation camera to vision sensor. Then global control points are measured by orientation camera to calculate the transformation relation from the current position of sensor system to global coordinate system and positioning error of robot is compensated. Another approach is setting control points on vision sensor and two large field cameras behind the sensor. Then the three dimensional coordinates of control points are measured and the pose and position of sensor is calculated real-timely. Experiment result shows the RMS of spatial positioning is 3.422mm by single camera and 0.031mm by dual cameras. Conclusion is arithmetic of single camera method needs to be improved for higher accuracy and accuracy of dual cameras method is applicable.

Novel approaches to address spectral distortions in photon counting x-ray CT using artificial neural networks

NASA Astrophysics Data System (ADS)

Touch, M.; Clark, D. P.; Barber, W.; Badea, C. T.

2016-04-01

Spectral CT using a photon-counting x-ray detector (PCXD) can potentially increase accuracy of measuring tissue composition. However, PCXD spectral measurements suffer from distortion due to charge sharing, pulse pileup, and Kescape energy loss. This study proposes two novel artificial neural network (ANN)-based algorithms: one to model and compensate for the distortion, and another one to directly correct for the distortion. The ANN-based distortion model was obtained by training to learn the distortion from a set of projections with a calibration scan. The ANN distortion was then applied in the forward statistical model to compensate for distortion in the projection decomposition. ANN was also used to learn to correct distortions directly in projections. The resulting corrected projections were used for reconstructing the image, denoising via joint bilateral filtration, and decomposition into three-material basis functions: Compton scattering, the photoelectric effect, and iodine. The ANN-based distortion model proved to be more robust to noise and worked better compared to using an imperfect parametric distortion model. In the presence of noise, the mean relative errors in iodine concentration estimation were 11.82% (ANN distortion model) and 16.72% (parametric model). With distortion correction, the mean relative error in iodine concentration estimation was improved by 50% over direct decomposition from distorted data. With our joint bilateral filtration, the resulting material image quality and iodine detectability as defined by the contrast-to-noise ratio were greatly enhanced allowing iodine concentrations as low as 2 mg/ml to be detected. Future work will be dedicated to experimental evaluation of our ANN-based methods using 3D-printed phantoms.

Divergence compensation for hardware-in-the-loop simulation of stiffness-varying discrete contact in space

NASA Astrophysics Data System (ADS)

Qi, Chenkun; Zhao, Xianchao; Gao, Feng; Ren, Anye; Hu, Yan

2016-11-01

The hardware-in-the-loop (HIL) contact simulation for flying objects in space is challenging due to the divergence caused by the time delay. In this study, a divergence compensation approach is proposed for the stiffness-varying discrete contact. The dynamic response delay of the motion simulator and the force measurement delay are considered. For the force measurement delay, a phase lead based force compensation approach is used. For the dynamic response delay of the motion simulator, a response error based force compensation approach is used, where the compensation force is obtained from the real-time identified contact stiffness and real-time measured position response error. The dynamic response model of the motion simulator is not required. The simulations and experiments show that the simulation divergence can be compensated effectively and satisfactorily by using the proposed approach.

Processing and error compensation of diffractive optical element

NASA Astrophysics Data System (ADS)

Zhang, Yunlong; Wang, Zhibin; Zhang, Feng; Qin, Hui; Li, Junqi; Mai, Yuying

2014-09-01

Diffractive optical element (DOE) shows high diffraction efficiency and good dispersion performance, which makes the optical system becoming light-weight and more miniature. In this paper, the design, processing, testing, compensation of DOE are discussed, especially the analyzing of compensation technology which based on the analyzing the DOE measurement date from Taylor Hobson PGI 1250. In this method, the relationship between shadowing effect with diamond tool and processing accuracy are analyzed. According to verification processing on the Taylor Hobson NANOFORM 250 lathe, the results indicate that the PV reaches 0.539 micron, the surface roughness reaches 4nm, the step position error is smaller than λ /10 and the step height error is less than 0.23 micron after compensation processing one time.

Detection of micro gap weld joint by using magneto-optical imaging and Kalman filtering compensated with RBF neural network

NASA Astrophysics Data System (ADS)

Gao, Xiangdong; Chen, Yuquan; You, Deyong; Xiao, Zhenlin; Chen, Xiaohui

2017-02-01

An approach for seam tracking of micro gap weld whose width is less than 0.1 mm based on magneto optical (MO) imaging technique during butt-joint laser welding of steel plates is investigated. Kalman filtering(KF) technology with radial basis function(RBF) neural network for weld detection by an MO sensor was applied to track the weld center position. Because the laser welding system process noises and the MO sensor measurement noises were colored noises, the estimation accuracy of traditional KF for seam tracking was degraded by the system model with extreme nonlinearities and could not be solved by the linear state-space model. Also, the statistics characteristics of noises could not be accurately obtained in actual welding. Thus, a RBF neural network was applied to the KF technique to compensate for the weld tracking errors. The neural network can restrain divergence filter and improve the system robustness. In comparison of traditional KF algorithm, the RBF with KF was not only more effectively in improving the weld tracking accuracy but also reduced noise disturbance. Experimental results showed that magneto optical imaging technique could be applied to detect micro gap weld accurately, which provides a novel approach for micro gap seam tracking.

Integration of Error Compensation of Coordinate Measuring Machines into Feature Measurement: Part I—Model Development

PubMed Central

Calvo, Roque; D’Amato, Roberto; Gómez, Emilio; Domingo, Rosario

2016-01-01

The development of an error compensation model for coordinate measuring machines (CMMs) and its integration into feature measurement is presented. CMMs are widespread and dependable instruments in industry and laboratories for dimensional measurement. From the tip probe sensor to the machine display, there is a complex transformation of probed point coordinates through the geometrical feature model that makes the assessment of accuracy and uncertainty measurement results difficult. Therefore, error compensation is not standardized, conversely to other simpler instruments. Detailed coordinate error compensation models are generally based on CMM as a rigid-body and it requires a detailed mapping of the CMM’s behavior. In this paper a new model type of error compensation is proposed. It evaluates the error from the vectorial composition of length error by axis and its integration into the geometrical measurement model. The non-explained variability by the model is incorporated into the uncertainty budget. Model parameters are analyzed and linked to the geometrical errors and uncertainty of CMM response. Next, the outstanding measurement models of flatness, angle, and roundness are developed. The proposed models are useful for measurement improvement with easy integration into CMM signal processing, in particular in industrial environments where built-in solutions are sought. A battery of implementation tests are presented in Part II, where the experimental endorsement of the model is included. PMID:27690052

Compensation of significant parametric uncertainties using sliding mode online learning

NASA Astrophysics Data System (ADS)

Schnetter, Philipp; Kruger, Thomas

An augmented nonlinear inverse dynamics (NID) flight control strategy using sliding mode online learning for a small unmanned aircraft system (UAS) is presented. Because parameter identification for this class of aircraft often is not valid throughout the complete flight envelope, aerodynamic parameters used for model based control strategies may show significant deviations. For the concept of feedback linearization this leads to inversion errors that in combination with the distinctive susceptibility of small UAS towards atmospheric turbulence pose a demanding control task for these systems. In this work an adaptive flight control strategy using feedforward neural networks for counteracting such nonlinear effects is augmented with the concept of sliding mode control (SMC). SMC-learning is derived from variable structure theory. It considers a neural network and its training as a control problem. It is shown that by the dynamic calculation of the learning rates, stability can be guaranteed and thus increase the robustness against external disturbances and system failures. With the resulting higher speed of convergence a wide range of simultaneously occurring disturbances can be compensated. The SMC-based flight controller is tested and compared to the standard gradient descent (GD) backpropagation algorithm under the influence of significant model uncertainties and system failures.

Analysis and Compensation of Modulation Angular Rate Error Based on Missile-Borne Rotation Semi-Strapdown Inertial Navigation System.

PubMed

Zhang, Jiayu; Li, Jie; Zhang, Xi; Che, Xiaorui; Huang, Yugang; Feng, Kaiqiang

2018-05-04

The Semi-Strapdown Inertial Navigation System (SSINS) provides a new solution to attitude measurement of a high-speed rotating missile. However, micro-electro-mechanical-systems (MEMS) inertial measurement unit (MIMU) outputs are corrupted by significant sensor errors. In order to improve the navigation precision, a rotation modulation technology method called Rotation Semi-Strapdown Inertial Navigation System (RSSINS) is introduced into SINS. In fact, the stability of the modulation angular rate is difficult to achieve in a high-speed rotation environment. The changing rotary angular rate has an impact on the inertial sensor error self-compensation. In this paper, the influence of modulation angular rate error, including acceleration-deceleration process, and instability of the angular rate on the navigation accuracy of RSSINS is deduced and the error characteristics of the reciprocating rotation scheme are analyzed. A new compensation method is proposed to remove or reduce sensor errors so as to make it possible to maintain high precision autonomous navigation performance by MIMU when there is no external aid. Experiments have been carried out to validate the performance of the method. In addition, the proposed method is applicable for modulation angular rate error compensation under various dynamic conditions.

Friction Compensation for Enhancing Transparency of a Teleoperator with Compliant Transmission

PubMed Central

Mahvash, Mohsen; Okamura, Allison

2009-01-01

This article presents a model-based compensator for canceling friction in the tendon-driven joints of a haptic-feedback teleoperator. Unlike position-tracking systems, a teleoperator involves an unknown environment force that prevents the use of tracking position error as a feedback to the compensator. Thus, we use a model-based feedforward friction compensator to cancel the friction forces. We provide conditions for selecting compensator parameters to ensure passivity of the teleoperator and demonstrate performance experimentally. PMID:20514151

Thermal Error Test and Intelligent Modeling Research on the Spindle of High Speed CNC Machine Tools

NASA Astrophysics Data System (ADS)

Luo, Zhonghui; Peng, Bin; Xiao, Qijun; Bai, Lu

2018-03-01

Thermal error is the main factor affecting the accuracy of precision machining. Through experiments, this paper studies the thermal error test and intelligent modeling for the spindle of vertical high speed CNC machine tools in respect of current research focuses on thermal error of machine tool. Several testing devices for thermal error are designed, of which 7 temperature sensors are used to measure the temperature of machine tool spindle system and 2 displacement sensors are used to detect the thermal error displacement. A thermal error compensation model, which has a good ability in inversion prediction, is established by applying the principal component analysis technology, optimizing the temperature measuring points, extracting the characteristic values closely associated with the thermal error displacement, and using the artificial neural network technology.

SAR System for UAV Operation with Motion Error Compensation beyond the Resolution Cell

PubMed Central

González-Partida, José-Tomás; Almorox-González, Pablo; Burgos-García, Mateo; Dorta-Naranjo, Blas-Pablo

2008-01-01

This paper presents an experimental Synthetic Aperture Radar (SAR) system that is under development in the Universidad Politécnica de Madrid. The system uses Linear Frequency Modulated Continuous Wave (LFM-CW) radar with a two antenna configuration for transmission and reception. The radar operates in the millimeter-wave band with a maximum transmitted bandwidth of 2 GHz. The proposed system is being developed for Unmanned Aerial Vehicle (UAV) operation. Motion errors in UAV operation can be critical. Therefore, this paper proposes a method for focusing SAR images with movement errors larger than the resolution cell. Typically, this problem is solved using two processing steps: first, coarse motion compensation based on the information provided by an Inertial Measuring Unit (IMU); and second, fine motion compensation for the residual errors within the resolution cell based on the received raw data. The proposed technique tries to focus the image without using data of an IMU. The method is based on a combination of the well known Phase Gradient Autofocus (PGA) for SAR imagery and typical algorithms for translational motion compensation on Inverse SAR (ISAR). This paper shows the first real experiments for obtaining high resolution SAR images using a car as a mobile platform for our radar. PMID:27879884

SAR System for UAV Operation with Motion Error Compensation beyond the Resolution Cell.

PubMed

González-Partida, José-Tomás; Almorox-González, Pablo; Burgos-Garcia, Mateo; Dorta-Naranjo, Blas-Pablo

2008-05-23

This paper presents an experimental Synthetic Aperture Radar (SAR) system that is under development in the Universidad Politécnica de Madrid. The system uses Linear Frequency Modulated Continuous Wave (LFM-CW) radar with a two antenna configuration for transmission and reception. The radar operates in the millimeter-wave band with a maximum transmitted bandwidth of 2 GHz. The proposed system is being developed for Unmanned Aerial Vehicle (UAV) operation. Motion errors in UAV operation can be critical. Therefore, this paper proposes a method for focusing SAR images with movement errors larger than the resolution cell. Typically, this problem is solved using two processing steps: first, coarse motion compensation based on the information provided by an Inertial Measuring Unit (IMU); and second, fine motion compensation for the residual errors within the resolution cell based on the received raw data. The proposed technique tries to focus the image without using data of an IMU. The method is based on a combination of the well known Phase Gradient Autofocus (PGA) for SAR imagery and typical algorithms for translational motion compensation on Inverse SAR (ISAR). This paper shows the first real experiments for obtaining high resolution SAR images using a car as a mobile platform for our radar.

In-Band Asymmetry Compensation for Accurate Time/Phase Transport over Optical Transport Network

PubMed Central

Siu, Sammy; Hu, Hsiu-fang; Lin, Shinn-Yan; Liao, Chia-Shu; Lai, Yi-Liang

2014-01-01

The demands of precise time/phase synchronization have been increasing recently due to the next generation of telecommunication synchronization. This paper studies the issues that are relevant to distributing accurate time/phase over optical transport network (OTN). Each node and link can introduce asymmetry, which affects the adequate time/phase accuracy over the networks. In order to achieve better accuracy, protocol level full timing support is used (e.g., Telecom-Boundary clock). Due to chromatic dispersion, the use of different wavelengths consequently causes fiber link delay asymmetry. The analytical result indicates that it introduces significant time error (i.e., phase offset) within 0.3397 ns/km in C-band or 0.3943 ns/km in L-band depending on the wavelength spacing. With the proposed scheme in this paper, the fiber link delay asymmetry can be compensated relying on the estimated mean fiber link delay by the Telecom-Boundary clock, while the OTN control plane is responsible for processing the fiber link delay asymmetry to determine the asymmetry compensation in the timing chain. PMID:24982948

Identification and compensation of the temperature influences in a miniature three-axial accelerometer based on the least squares method

NASA Astrophysics Data System (ADS)

Grigorie, Teodor Lucian; Corcau, Ileana Jenica; Tudosie, Alexandru Nicolae

2017-06-01

The paper presents a way to obtain an intelligent miniaturized three-axial accelerometric sensor, based on the on-line estimation and compensation of the sensor errors generated by the environmental temperature variation. Taking into account that this error's value is a strongly nonlinear complex function of the values of environmental temperature and of the acceleration exciting the sensor, its correction may not be done off-line and it requires the presence of an additional temperature sensor. The proposed identification methodology for the error model is based on the least square method which process off-line the numerical values obtained from the accelerometer experimental testing for different values of acceleration applied to its axes of sensitivity and for different values of operating temperature. A final analysis of the error level after the compensation highlights the best variant for the matrix in the error model. In the sections of the paper are shown the results of the experimental testing of the accelerometer on all the three sensitivity axes, the identification of the error models on each axis by using the least square method, and the validation of the obtained models with experimental values. For all of the three detection channels was obtained a reduction by almost two orders of magnitude of the acceleration absolute maximum error due to environmental temperature variation.

Analysis and Compensation for Lateral Chromatic Aberration in a Color Coding Structured Light 3D Measurement System.

PubMed

Huang, Junhui; Xue, Qi; Wang, Zhao; Gao, Jianmin

2016-09-03

While color-coding methods have improved the measuring efficiency of a structured light three-dimensional (3D) measurement system, they decreased the measuring accuracy significantly due to lateral chromatic aberration (LCA). In this study, the LCA in a structured light measurement system is analyzed, and a method is proposed to compensate the error caused by the LCA. Firstly, based on the projective transformation, a 3D error map of LCA is constructed in the projector images by using a flat board and comparing the image coordinates of red, green and blue circles with the coordinates of white circles at preselected sample points within the measurement volume. The 3D map consists of the errors, which are the equivalent errors caused by LCA of the camera and projector. Then in measurements, error values of LCA are calculated and compensated to correct the projector image coordinates through the 3D error map and a tri-linear interpolation method. Eventually, 3D coordinates with higher accuracy are re-calculated according to the compensated image coordinates. The effectiveness of the proposed method is verified in the following experiments.

Analysis and Compensation for Lateral Chromatic Aberration in a Color Coding Structured Light 3D Measurement System

PubMed Central

Huang, Junhui; Xue, Qi; Wang, Zhao; Gao, Jianmin

2016-01-01

While color-coding methods have improved the measuring efficiency of a structured light three-dimensional (3D) measurement system, they decreased the measuring accuracy significantly due to lateral chromatic aberration (LCA). In this study, the LCA in a structured light measurement system is analyzed, and a method is proposed to compensate the error caused by the LCA. Firstly, based on the projective transformation, a 3D error map of LCA is constructed in the projector images by using a flat board and comparing the image coordinates of red, green and blue circles with the coordinates of white circles at preselected sample points within the measurement volume. The 3D map consists of the errors, which are the equivalent errors caused by LCA of the camera and projector. Then in measurements, error values of LCA are calculated and compensated to correct the projector image coordinates through the 3D error map and a tri-linear interpolation method. Eventually, 3D coordinates with higher accuracy are re-calculated according to the compensated image coordinates. The effectiveness of the proposed method is verified in the following experiments. PMID:27598174

10-Gbps optical duobinary signal generated by bandwidth-limited reflective semiconductor optical amplifier in colorless optical network units and compensated by fiber Bragg grating-based equalizer in optical line terminal

NASA Astrophysics Data System (ADS)

Fu, Meixia; Zhang, Min; Wang, Danshi; Cui, Yue; Han, Huanhuan

2016-10-01

We propose a scheme of optical duobinary-modulated upstream transmission system for reflective semiconductor optical amplifier-based colorless optical network units in 10-Gbps wavelength-division multiplexed passive optical network (WDM-PON), where a fiber Bragg grating (FBG) is adopted as an optical equalizer for better performance. The demodulation module is extremely simple, only needing a binary intensity modulation direct detection receiver. A better received sensitivity of -16.98 dBm at bit rate error (BER)=1.0×10-4 can be achieved at 120 km without FBG, and the BER at the sensitivity of -18.49 dBm can be up to 2.1×10-5 at the transmission distance of 160 km with FBG, which demonstrates the feasibility of our proposed scheme. Moreover, it could be a high cost-effectiveness scheme for WDM-PON in the future.

Analysis and Compensation of Modulation Angular Rate Error Based on Missile-Borne Rotation Semi-Strapdown Inertial Navigation System

PubMed Central

Zhang, Jiayu; Li, Jie; Zhang, Xi; Che, Xiaorui; Huang, Yugang; Feng, Kaiqiang

2018-01-01

The Semi-Strapdown Inertial Navigation System (SSINS) provides a new solution to attitude measurement of a high-speed rotating missile. However, micro-electro-mechanical-systems (MEMS) inertial measurement unit (MIMU) outputs are corrupted by significant sensor errors. In order to improve the navigation precision, a rotation modulation technology method called Rotation Semi-Strapdown Inertial Navigation System (RSSINS) is introduced into SINS. In fact, the stability of the modulation angular rate is difficult to achieve in a high-speed rotation environment. The changing rotary angular rate has an impact on the inertial sensor error self-compensation. In this paper, the influence of modulation angular rate error, including acceleration-deceleration process, and instability of the angular rate on the navigation accuracy of RSSINS is deduced and the error characteristics of the reciprocating rotation scheme are analyzed. A new compensation method is proposed to remove or reduce sensor errors so as to make it possible to maintain high precision autonomous navigation performance by MIMU when there is no external aid. Experiments have been carried out to validate the performance of the method. In addition, the proposed method is applicable for modulation angular rate error compensation under various dynamic conditions. PMID:29734707

Decomposition and correction overlapping peaks of LIBS using an error compensation method combined with curve fitting.

PubMed

Tan, Bing; Huang, Min; Zhu, Qibing; Guo, Ya; Qin, Jianwei

2017-09-01

The laser induced breakdown spectroscopy (LIBS) technique is an effective method to detect material composition by obtaining the plasma emission spectrum. The overlapping peaks in the spectrum are a fundamental problem in the qualitative and quantitative analysis of LIBS. Based on a curve fitting method, this paper studies an error compensation method to achieve the decomposition and correction of overlapping peaks. The vital step is that the fitting residual is fed back to the overlapping peaks and performs multiple curve fitting processes to obtain a lower residual result. For the quantitative experiments of Cu, the Cu-Fe overlapping peaks in the range of 321-327 nm obtained from the LIBS spectrum of five different concentrations of CuSO 4 ·5H 2 O solution were decomposed and corrected using curve fitting and error compensation methods. Compared with the curve fitting method, the error compensation reduced the fitting residual about 18.12-32.64% and improved the correlation about 0.86-1.82%. Then, the calibration curve between the intensity and concentration of the Cu was established. It can be seen that the error compensation method exhibits a higher linear correlation between the intensity and concentration of Cu, which can be applied to the decomposition and correction of overlapping peaks in the LIBS spectrum.

A CT-based software tool for evaluating compensator quality in passively scattered proton therapy

NASA Astrophysics Data System (ADS)

Li, Heng; Zhang, Lifei; Dong, Lei; Sahoo, Narayan; Gillin, Michael T.; Zhu, X. Ronald

2010-11-01

We have developed a quantitative computed tomography (CT)-based quality assurance (QA) tool for evaluating the accuracy of manufactured compensators used in passively scattered proton therapy. The thickness of a manufactured compensator was measured from its CT images and compared with the planned thickness defined by the treatment planning system. The difference between the measured and planned thicknesses was calculated with use of the Euclidean distance transformation and the kd-tree search method. Compensator accuracy was evaluated by examining several parameters including mean distance, maximum distance, global thickness error and central axis shifts. Two rectangular phantoms were used to validate the performance of the QA tool. Nine patients and 20 compensators were included in this study. We found that mean distances, global thickness errors and central axis shifts were all within 1 mm for all compensators studied, with maximum distances ranging from 1.1 to 3.8 mm. Although all compensators passed manual verification at selected points, about 5% of the pixels still had maximum distances of >2 mm, most of which correlated with large depth gradients. The correlation between the mean depth gradient of the compensator and the percentage of pixels with mean distance <1 mm is -0.93 with p < 0.001, which suggests that the mean depth gradient is a good indicator of compensator complexity. These results demonstrate that the CT-based compensator QA tool can be used to quantitatively evaluate manufactured compensators.

Transfer Alignment Error Compensator Design Based on Robust State Estimation

NASA Astrophysics Data System (ADS)

Lyou, Joon; Lim, You-Chol

This paper examines the transfer alignment problem of the StrapDown Inertial Navigation System (SDINS), which is subject to the ship’s roll and pitch. Major error sources for velocity and attitude matching are lever arm effect, measurement time delay and ship-body flexure. To reduce these alignment errors, an error compensation method based on state augmentation and robust state estimation is devised. A linearized error model for the velocity and attitude matching transfer alignment system is derived first by linearizing the nonlinear measurement equation with respect to its time delay and dominant Y-axis flexure, and by augmenting the delay state and flexure state into conventional linear state equations. Then an H∞ filter is introduced to account for modeling uncertainties of time delay and the ship-body flexure. The simulation results show that this method considerably decreases azimuth alignment errors considerably.

Reciprocally-Benefited Secure Transmission for Spectrum Sensing-Based Cognitive Radio Sensor Networks

PubMed Central

Wang, Dawei; Ren, Pinyi; Du, Qinghe; Sun, Li; Wang, Yichen

2016-01-01

The rapid proliferation of independently-designed and -deployed wireless sensor networks extremely crowds the wireless spectrum and promotes the emergence of cognitive radio sensor networks (CRSN). In CRSN, the sensor node (SN) can make full use of the unutilized licensed spectrum, and the spectrum efficiency is greatly improved. However, inevitable spectrum sensing errors will adversely interfere with the primary transmission, which may result in primary transmission outage. To compensate the adverse effect of spectrum sensing errors, we propose a reciprocally-benefited secure transmission strategy, in which SN’s interference to the eavesdropper is employed to protect the primary confidential messages while the CRSN is also rewarded with a loose spectrum sensing error probability constraint. Specifically, according to the spectrum sensing results and primary users’ activities, there are four system states in this strategy. For each state, we analyze the primary secrecy rate and the SN’s transmission rate by taking into account the spectrum sensing errors. Then, the SN’s transmit power is optimally allocated for each state so that the average transmission rate of CRSN is maximized under the constraint of the primary maximum permitted secrecy outage probability. In addition, the performance tradeoff between the transmission rate of CRSN and the primary secrecy outage probability is investigated. Moreover, we analyze the primary secrecy rate for the asymptotic scenarios and derive the closed-form expression of the SN’s transmission outage probability. Simulation results show that: (1) the performance of the SN’s average throughput in the proposed strategy outperforms the conventional overlay strategy; (2) both the primary network and CRSN benefit from the proposed strategy. PMID:27897988

Method, apparatus and system to compensate for drift by physically unclonable function circuitry

DOEpatents

Hamlet, Jason

2016-11-22

Techniques and mechanisms to detect and compensate for drift by a physically uncloneable function (PUF) circuit. In an embodiment, first state information is registered as reference information to be made available for subsequent evaluation of whether drift by PUF circuitry has occurred. The first state information is associated with a first error correction strength. The first state information is generated based on a first PUF value output by the PUF circuitry. In another embodiment, second state information is determined based on a second PUF value that is output by the PUF circuitry. An evaluation of whether drift has occurred is performed based on the first state information and the second state information, the evaluation including determining whether a threshold error correction strength is exceeded concurrent with a magnitude of error being less than the first error correction strength.

Gravity Compensation Using EGM2008 for High-Precision Long-Term Inertial Navigation Systems

PubMed Central

Wu, Ruonan; Wu, Qiuping; Han, Fengtian; Liu, Tianyi; Hu, Peida; Li, Haixia

2016-01-01

The gravity disturbance vector is one of the major error sources in high-precision and long-term inertial navigation applications. Specific to the inertial navigation systems (INSs) with high-order horizontal damping networks, analyses of the error propagation show that the gravity-induced errors exist almost exclusively in the horizontal channels and are mostly caused by deflections of the vertical (DOV). Low-frequency components of the DOV propagate into the latitude and longitude errors at a ratio of 1:1 and time-varying fluctuations in the DOV excite Schuler oscillation. This paper presents two gravity compensation methods using the Earth Gravitational Model 2008 (EGM2008), namely, interpolation from the off-line database and computing gravity vectors directly using the spherical harmonic model. Particular attention is given to the error contribution of the gravity update interval and computing time delay. It is recommended for the marine navigation that a gravity vector should be calculated within 1 s and updated every 100 s at most. To meet this demand, the time duration of calculating the current gravity vector using EGM2008 has been reduced to less than 1 s by optimizing the calculation procedure. A few off-line experiments were conducted using the data of a shipborne INS collected during an actual sea test. With the aid of EGM2008, most of the low-frequency components of the position errors caused by the gravity disturbance vector have been removed and the Schuler oscillation has been attenuated effectively. In the rugged terrain, the horizontal position error could be reduced at best 48.85% of its regional maximum. The experimental results match with the theoretical analysis and indicate that EGM2008 is suitable for gravity compensation of the high-precision and long-term INSs. PMID:27999351

Gravity Compensation Using EGM2008 for High-Precision Long-Term Inertial Navigation Systems.

PubMed

Wu, Ruonan; Wu, Qiuping; Han, Fengtian; Liu, Tianyi; Hu, Peida; Li, Haixia

2016-12-18

The gravity disturbance vector is one of the major error sources in high-precision and long-term inertial navigation applications. Specific to the inertial navigation systems (INSs) with high-order horizontal damping networks, analyses of the error propagation show that the gravity-induced errors exist almost exclusively in the horizontal channels and are mostly caused by deflections of the vertical (DOV). Low-frequency components of the DOV propagate into the latitude and longitude errors at a ratio of 1:1 and time-varying fluctuations in the DOV excite Schuler oscillation. This paper presents two gravity compensation methods using the Earth Gravitational Model 2008 (EGM2008), namely, interpolation from the off-line database and computing gravity vectors directly using the spherical harmonic model. Particular attention is given to the error contribution of the gravity update interval and computing time delay. It is recommended for the marine navigation that a gravity vector should be calculated within 1 s and updated every 100 s at most. To meet this demand, the time duration of calculating the current gravity vector using EGM2008 has been reduced to less than 1 s by optimizing the calculation procedure. A few off-line experiments were conducted using the data of a shipborne INS collected during an actual sea test. With the aid of EGM2008, most of the low-frequency components of the position errors caused by the gravity disturbance vector have been removed and the Schuler oscillation has been attenuated effectively. In the rugged terrain, the horizontal position error could be reduced at best 48.85% of its regional maximum. The experimental results match with the theoretical analysis and indicate that EGM2008 is suitable for gravity compensation of the high-precision and long-term INSs.

Off-Policy Actor-Critic Structure for Optimal Control of Unknown Systems With Disturbances.

PubMed

Song, Ruizhuo; Lewis, Frank L; Wei, Qinglai; Zhang, Huaguang

2016-05-01

An optimal control method is developed for unknown continuous-time systems with unknown disturbances in this paper. The integral reinforcement learning (IRL) algorithm is presented to obtain the iterative control. Off-policy learning is used to allow the dynamics to be completely unknown. Neural networks are used to construct critic and action networks. It is shown that if there are unknown disturbances, off-policy IRL may not converge or may be biased. For reducing the influence of unknown disturbances, a disturbances compensation controller is added. It is proven that the weight errors are uniformly ultimately bounded based on Lyapunov techniques. Convergence of the Hamiltonian function is also proven. The simulation study demonstrates the effectiveness of the proposed optimal control method for unknown systems with disturbances.

The Neural-fuzzy Thermal Error Compensation Controller on CNC Machining Center

NASA Astrophysics Data System (ADS)

Tseng, Pai-Chung; Chen, Shen-Len

The geometric errors and structural thermal deformation are factors that influence the machining accuracy of Computer Numerical Control (CNC) machining center. Therefore, researchers pay attention to thermal error compensation technologies on CNC machine tools. Some real-time error compensation techniques have been successfully demonstrated in both laboratories and industrial sites. The compensation results still need to be enhanced. In this research, the neural-fuzzy theory has been conducted to derive a thermal prediction model. An IC-type thermometer has been used to detect the heat sources temperature variation. The thermal drifts are online measured by a touch-triggered probe with a standard bar. A thermal prediction model is then derived by neural-fuzzy theory based on the temperature variation and the thermal drifts. A Graphic User Interface (GUI) system is also built to conduct the user friendly operation interface with Insprise C++ Builder. The experimental results show that the thermal prediction model developed by neural-fuzzy theory methodology can improve machining accuracy from 80µm to 3µm. Comparison with the multi-variable linear regression analysis the compensation accuracy is increased from ±10µm to ±3µm.

Neural network disturbance observer-based distributed finite-time formation tracking control for multiple unmanned helicopters.

PubMed

Wang, Dandan; Zong, Qun; Tian, Bailing; Shao, Shikai; Zhang, Xiuyun; Zhao, Xinyi

2018-02-01

The distributed finite-time formation tracking control problem for multiple unmanned helicopters is investigated in this paper. The control object is to maintain the positions of follower helicopters in formation with external interferences. The helicopter model is divided into a second order outer-loop subsystem and a second order inner-loop subsystem based on multiple-time scale features. Using radial basis function neural network (RBFNN) technique, we first propose a novel finite-time multivariable neural network disturbance observer (FMNNDO) to estimate the external disturbance and model uncertainty, where the neural network (NN) approximation errors can be dynamically compensated by adaptive law. Next, based on FMNNDO, a distributed finite-time formation tracking controller and a finite-time attitude tracking controller are designed using the nonsingular fast terminal sliding mode (NFTSM) method. In order to estimate the second derivative of the virtual desired attitude signal, a novel finite-time sliding mode integral filter is designed. Finally, Lyapunov analysis and multiple-time scale principle ensure the realization of control goal in finite-time. The effectiveness of the proposed FMNNDO and controllers are then verified by numerical simulations. Copyright © 2017 ISA. Published by Elsevier Ltd. All rights reserved.

A Novel Gravity Compensation Method for High Precision Free-INS Based on “Extreme Learning Machine”

PubMed Central

Zhou, Xiao; Yang, Gongliu; Cai, Qingzhong; Wang, Jing

2016-01-01

In recent years, with the emergency of high precision inertial sensors (accelerometers and gyros), gravity compensation has become a major source influencing the navigation accuracy in inertial navigation systems (INS), especially for high-precision INS. This paper presents preliminary results concerning the effect of gravity disturbance on INS. Meanwhile, this paper proposes a novel gravity compensation method for high-precision INS, which estimates the gravity disturbance on the track using the extreme learning machine (ELM) method based on measured gravity data on the geoid and processes the gravity disturbance to the height where INS has an upward continuation, then compensates the obtained gravity disturbance into the error equations of INS to restrain the INS error propagation. The estimation accuracy of the gravity disturbance data is verified by numerical tests. The root mean square error (RMSE) of the ELM estimation method can be improved by 23% and 44% compared with the bilinear interpolation method in plain and mountain areas, respectively. To further validate the proposed gravity compensation method, field experiments with an experimental vehicle were carried out in two regions. Test 1 was carried out in a plain area and Test 2 in a mountain area. The field experiment results also prove that the proposed gravity compensation method can significantly improve the positioning accuracy. During the 2-h field experiments, the positioning accuracy can be improved by 13% and 29% respectively, in Tests 1 and 2, when the navigation scheme is compensated by the proposed gravity compensation method. PMID:27916856

Global optimization method based on ray tracing to achieve optimum figure error compensation

NASA Astrophysics Data System (ADS)

Liu, Xiaolin; Guo, Xuejia; Tang, Tianjin

2017-02-01

Figure error would degrade the performance of optical system. When predicting the performance and performing system assembly, compensation by clocking of optical components around the optical axis is a conventional but user-dependent method. Commercial optical software cannot optimize this clocking. Meanwhile existing automatic figure-error balancing methods can introduce approximate calculation error and the build process of optimization model is complex and time-consuming. To overcome these limitations, an accurate and automatic global optimization method of figure error balancing is proposed. This method is based on precise ray tracing to calculate the wavefront error, not approximate calculation, under a given elements' rotation angles combination. The composite wavefront error root-mean-square (RMS) acts as the cost function. Simulated annealing algorithm is used to seek the optimal combination of rotation angles of each optical element. This method can be applied to all rotational symmetric optics. Optimization results show that this method is 49% better than previous approximate analytical method.

Differential Laser Doppler based Non-Contact Sensor for Dimensional Inspection with Error Propagation Evaluation

PubMed Central

Mekid, Samir; Vacharanukul, Ketsaya

2006-01-01

To achieve dynamic error compensation in CNC machine tools, a non-contact laser probe capable of dimensional measurement of a workpiece while it is being machined has been developed and presented in this paper. The measurements are automatically fed back to the machine controller for intelligent error compensations. Based on a well resolved laser Doppler technique and real time data acquisition, the probe delivers a very promising dimensional accuracy at few microns over a range of 100 mm. The developed optical measuring apparatus employs a differential laser Doppler arrangement allowing acquisition of information from the workpiece surface. In addition, the measurements are traceable to standards of frequency allowing higher precision.

Adaptive Approximation-Based Regulation Control for a Class of Uncertain Nonlinear Systems Without Feedback Linearizability.

PubMed

Wang, Ning; Sun, Jing-Chao; Han, Min; Zheng, Zhongjiu; Er, Meng Joo

2017-09-06

In this paper, for a general class of uncertain nonlinear (cascade) systems, including unknown dynamics, which are not feedback linearizable and cannot be solved by existing approaches, an innovative adaptive approximation-based regulation control (AARC) scheme is developed. Within the framework of adding a power integrator (API), by deriving adaptive laws for output weights and prediction error compensation pertaining to single-hidden-layer feedforward network (SLFN) from the Lyapunov synthesis, a series of SLFN-based approximators are explicitly constructed to exactly dominate completely unknown dynamics. By the virtue of significant advancements on the API technique, an adaptive API methodology is eventually established in combination with SLFN-based adaptive approximators, and it contributes to a recursive mechanism for the AARC scheme. As a consequence, the output regulation error can asymptotically converge to the origin, and all other signals of the closed-loop system are uniformly ultimately bounded. Simulation studies and comprehensive comparisons with backstepping- and API-based approaches demonstrate that the proposed AARC scheme achieves remarkable performance and superiority in dealing with unknown dynamics.

Research on error control and compensation in magnetorheological finishing.

PubMed

Dai, Yifan; Hu, Hao; Peng, Xiaoqiang; Wang, Jianmin; Shi, Feng

2011-07-01

Although magnetorheological finishing (MRF) is a deterministic finishing technology, the machining results always fall short of simulation precision in the actual process, and it cannot meet the precision requirements just through a single treatment but after several iterations. We investigate the reasons for this problem through simulations and experiments. Through controlling and compensating the chief errors in the manufacturing procedure, such as removal function calculation error, positioning error of the removal function, and dynamic performance limitation of the CNC machine, the residual error convergence ratio (ratio of figure error before and after processing) in a single process is obviously increased, and higher figure precision is achieved. Finally, an improved technical process is presented based on these researches, and the verification experiment is accomplished on the experimental device we developed. The part is a circular plane mirror of fused silica material, and the surface figure error is improved from the initial λ/5 [peak-to-valley (PV) λ=632.8 nm], λ/30 [root-mean-square (rms)] to the final λ/40 (PV), λ/330 (rms) just through one iteration in 4.4 min. Results show that a higher convergence ratio and processing precision can be obtained by adopting error control and compensation techniques in MRF.

Numerical tilting compensation in microscopy based on wavefront sensing using transport of intensity equation method

NASA Astrophysics Data System (ADS)

Hu, Junbao; Meng, Xin; Wei, Qi; Kong, Yan; Jiang, Zhilong; Xue, Liang; Liu, Fei; Liu, Cheng; Wang, Shouyu

2018-03-01

Wide-field microscopy is commonly used for sample observations in biological research and medical diagnosis. However, the tilting error induced by the oblique location of the image recorder or the sample, as well as the inclination of the optical path often deteriorates the imaging quality. In order to eliminate the tilting in microscopy, a numerical tilting compensation technique based on wavefront sensing using transport of intensity equation method is proposed in this paper. Both the provided numerical simulations and practical experiments prove that the proposed technique not only accurately determines the tilting angle with simple setup and procedures, but also compensates the tilting error for imaging quality improvement even in the large tilting cases. Considering its simple systems and operations, as well as image quality improvement capability, it is believed the proposed method can be applied for tilting compensation in the optical microscopy.

Optimizing symmetry-based recoupling sequences in solid-state NMR by pulse-transient compensation and asynchronous implementation

NASA Astrophysics Data System (ADS)

Hellwagner, Johannes; Sharma, Kshama; Tan, Kong Ooi; Wittmann, Johannes J.; Meier, Beat H.; Madhu, P. K.; Ernst, Matthias

2017-06-01

Pulse imperfections like pulse transients and radio-frequency field maladjustment or inhomogeneity are the main sources of performance degradation and limited reproducibility in solid-state nuclear magnetic resonance experiments. We quantitatively analyze the influence of such imperfections on the performance of symmetry-based pulse sequences and describe how they can be compensated. Based on a triple-mode Floquet analysis, we develop a theoretical description of symmetry-based dipolar recoupling sequences, in particular, R2 6411, calculating first- and second-order effective Hamiltonians using real pulse shapes. We discuss the various origins of effective fields, namely, pulse transients, deviation from the ideal flip angle, and fictitious fields, and develop strategies to counteract them for the restoration of full transfer efficiency. We compare experimental applications of transient-compensated pulses and an asynchronous implementation of the sequence to a supercycle, SR26, which is known to be efficient in compensating higher-order error terms. We are able to show the superiority of R26 compared to the supercycle, SR26, given the ability to reduce experimental error on the pulse sequence by pulse-transient compensation and a complete theoretical understanding of the sequence.

A compensation method of lever arm effect for tri-axis hybrid inertial navigation system based on fiber optic gyro

NASA Astrophysics Data System (ADS)

Liu, Zengjun; Wang, Lei; Li, Kui; Gao, Jiaxin

2017-05-01

Hybrid inertial navigation system (HINS) is a new kind of inertial navigation system (INS), which combines advantages of platform INS, strap-down INS and rotational INS. HINS has a physical platform to isolate the angular motion as platform INS does, HINS also uses strap-down attitude algorithms and applies rotation modulation technique. Tri-axis HINS has three gimbals to isolate the angular motion in the dynamic base, in which way the system can reduce the effects of angular motion and improve the positioning precision. However, the angular motion will affect the compensation of some error parameters, especially for the lever arm effect. The lever arm effect caused by position errors between the accelerometers and rotation center cannot be ignored due to the rapid rotation of inertial measurement unit (IMU) and it will cause fluctuation and stage in velocity in HINS. The influences of angular motion on the lever arm effect compensation are analyzed firstly in this paper, and then the compensation method of lever arm effect based on the photoelectric encoders in dynamic base is proposed. Results of experiments on turntable show that after compensation, the fluctuations and stages in velocity curve disappear.

Sensitivity of geographic information system outputs to errors in remotely sensed data

NASA Technical Reports Server (NTRS)

Ramapriyan, H. K.; Boyd, R. K.; Gunther, F. J.; Lu, Y. C.

1981-01-01

The sensitivity of the outputs of a geographic information system (GIS) to errors in inputs derived from remotely sensed data (RSD) is investigated using a suitability model with per-cell decisions and a gridded geographic data base whose cells are larger than the RSD pixels. The process of preparing RSD as input to a GIS is analyzed, and the errors associated with classification and registration are examined. In the case of the model considered, it is found that the errors caused during classification and registration are partially compensated by the aggregation of pixels. The compensation is quantified by means of an analytical model, a Monte Carlo simulation, and experiments with Landsat data. The results show that error reductions of the order of 50% occur because of aggregation when 25 pixels of RSD are used per cell in the geographic data base.

High-speed tracking control of piezoelectric actuators using an ellipse-based hysteresis model.

PubMed

Gu, Guoying; Zhu, Limin

2010-08-01

In this paper, an ellipse-based mathematic model is developed to characterize the rate-dependent hysteresis in piezoelectric actuators. Based on the proposed model, an expanded input space is constructed to describe the multivalued hysteresis function H[u](t) by a multiple input single output (MISO) mapping Gamma:R(2)-->R. Subsequently, the inverse MISO mapping Gamma(-1)(H[u](t),H[u](t);u(t)) is proposed for real-time hysteresis compensation. In controller design, a hybrid control strategy combining a model-based feedforward controller and a proportional integral differential (PID) feedback loop is used for high-accuracy and high-speed tracking control of piezoelectric actuators. The real-time feedforward controller is developed to cancel the rate-dependent hysteresis based on the inverse hysteresis model, while the PID controller is used to compensate for the creep, modeling errors, and parameter uncertainties. Finally, experiments with and without hysteresis compensation are conducted and the experimental results are compared. The experimental results show that the hysteresis compensation in the feedforward path can reduce the hysteresis-caused error by up to 88% and the tracking performance of the hybrid controller is greatly improved in high-speed tracking control applications, e.g., the root-mean-square tracking error is reduced to only 0.34% of the displacement range under the input frequency of 100 Hz.

Sagnac secret sharing over telecom fiber networks.

PubMed

Bogdanski, Jan; Ahrens, Johan; Bourennane, Mohamed

2009-01-19

We report the first Sagnac quantum secret sharing (in three-and four-party implementations) over 1550 nm single mode fiber (SMF) networks, using a single qubit protocol with phase encoding. Our secret sharing experiment has been based on a single qubit protocol, which has opened the door to practical secret sharing implementation over fiber telecom channels and in free-space. The previous quantum secret sharing proposals were based on multiparticle entangled states, difficult in the practical implementation and not scalable. Our experimental data in the three-party implementation show stable (in regards to birefringence drift) quantum secret sharing transmissions at the total Sagnac transmission loop distances of 55-75 km with the quantum bit error rates (QBER) of 2.3-2.4% for the mean photon number micro?= 0.1 and 1.7-2.1% for micro= 0.3. In the four-party case we have achieved quantum secret sharing transmissions at the total Sagnac transmission loop distances of 45-55 km with the quantum bit error rates (QBER) of 3.0-3.7% for the mean photon number micro= 0.1 and 1.8-3.0% for micro?= 0.3. The stability of quantum transmission has been achieved thanks to our new concept for compensation of SMF birefringence effects in Sagnac, based on a polarization control system and a polarization insensitive phase modulator. The measurement results have showed feasibility of quantum secret sharing over telecom fiber networks in Sagnac configuration, using standard fiber telecom components.

Antenna analysis using neural networks

NASA Technical Reports Server (NTRS)

Smith, William T.

1992-01-01

Conventional computing schemes have long been used to analyze problems in electromagnetics (EM). The vast majority of EM applications require computationally intensive algorithms involving numerical integration and solutions to large systems of equations. The feasibility of using neural network computing algorithms for antenna analysis is investigated. The ultimate goal is to use a trained neural network algorithm to reduce the computational demands of existing reflector surface error compensation techniques. Neural networks are computational algorithms based on neurobiological systems. Neural nets consist of massively parallel interconnected nonlinear computational elements. They are often employed in pattern recognition and image processing problems. Recently, neural network analysis has been applied in the electromagnetics area for the design of frequency selective surfaces and beam forming networks. The backpropagation training algorithm was employed to simulate classical antenna array synthesis techniques. The Woodward-Lawson (W-L) and Dolph-Chebyshev (D-C) array pattern synthesis techniques were used to train the neural network. The inputs to the network were samples of the desired synthesis pattern. The outputs are the array element excitations required to synthesize the desired pattern. Once trained, the network is used to simulate the W-L or D-C techniques. Various sector patterns and cosecant-type patterns (27 total) generated using W-L synthesis were used to train the network. Desired pattern samples were then fed to the neural network. The outputs of the network were the simulated W-L excitations. A 20 element linear array was used. There were 41 input pattern samples with 40 output excitations (20 real parts, 20 imaginary). A comparison between the simulated and actual W-L techniques is shown for a triangular-shaped pattern. Dolph-Chebyshev is a different class of synthesis technique in that D-C is used for side lobe control as opposed to pattern shaping. The interesting thing about D-C synthesis is that the side lobes have the same amplitude. Five-element arrays were used. Again, 41 pattern samples were used for the input. Nine actual D-C patterns ranging from -10 dB to -30 dB side lobe levels were used to train the network. A comparison between simulated and actual D-C techniques for a pattern with -22 dB side lobe level is shown. The goal for this research was to evaluate the performance of neural network computing with antennas. Future applications will employ the backpropagation training algorithm to drastically reduce the computational complexity involved in performing EM compensation for surface errors in large space reflector antennas.

Antenna analysis using neural networks

NASA Astrophysics Data System (ADS)

Smith, William T.

1992-09-01

Conventional computing schemes have long been used to analyze problems in electromagnetics (EM). The vast majority of EM applications require computationally intensive algorithms involving numerical integration and solutions to large systems of equations. The feasibility of using neural network computing algorithms for antenna analysis is investigated. The ultimate goal is to use a trained neural network algorithm to reduce the computational demands of existing reflector surface error compensation techniques. Neural networks are computational algorithms based on neurobiological systems. Neural nets consist of massively parallel interconnected nonlinear computational elements. They are often employed in pattern recognition and image processing problems. Recently, neural network analysis has been applied in the electromagnetics area for the design of frequency selective surfaces and beam forming networks. The backpropagation training algorithm was employed to simulate classical antenna array synthesis techniques. The Woodward-Lawson (W-L) and Dolph-Chebyshev (D-C) array pattern synthesis techniques were used to train the neural network. The inputs to the network were samples of the desired synthesis pattern. The outputs are the array element excitations required to synthesize the desired pattern. Once trained, the network is used to simulate the W-L or D-C techniques. Various sector patterns and cosecant-type patterns (27 total) generated using W-L synthesis were used to train the network. Desired pattern samples were then fed to the neural network. The outputs of the network were the simulated W-L excitations. A 20 element linear array was used. There were 41 input pattern samples with 40 output excitations (20 real parts, 20 imaginary).

A prototype automatic phase compensation module

NASA Technical Reports Server (NTRS)

Terry, John D.

1992-01-01

The growing demands for high gain and accurate satellite communication systems will necessitate the utilization of large reflector systems. One area of concern of reflector based satellite communication is large scale surface deformations due to thermal effects. These distortions, when present, can degrade the performance of the reflector system appreciable. This performance degradation is manifested by a decrease in peak gain, and increase in sidelobe level, and pointing errors. It is essential to compensate for these distortion effects and to maintain the required system performance in the operating space environment. For this reason the development of a technique to offset the degradation effects is highly desirable. Currently, most research is direct at developing better material for the reflector. These materials have a lower coefficient of linear expansion thereby reducing the surface errors. Alternatively, one can minimize the distortion effects of these large scale errors by adaptive phased array compensation. Adaptive phased array techniques have been studied extensively at NASA and elsewhere. Presented in this paper is a prototype automatic phase compensation module designed and built at NASA Lewis Research Center which is the first stage of development for an adaptive array compensation module.

Analysis of physical layer performance of data center with optical wavelength switches based on advanced modulation formats

NASA Astrophysics Data System (ADS)

Ahmad, Iftikhar; Chughtai, Mohsan Niaz

2018-05-01

In this paper the IRIS (Integrated Router Interconnected spectrally), an optical domain architecture for datacenter network is analyzed. The IRIS integrated with advanced modulation formats (M-QAM) and coherent optical receiver is analyzed. The channel impairments are compensated using the DSP algorithms following the coherent receiver. The proposed scheme allows N2 multiplexed wavelengths for N×N size. The performance of the N×N-IRIS switch with and without wavelength conversion is analyzed for different Baud rates over M-QAM modulation formats. The performance of the system is analyzed in terms of bit error rate (BER) vs OSNR curves.

Study of ecological compensation in complex river networks based on a mathematical model.

PubMed

Wang, Xiao; Shen, Chunqi; Wei, Jun; Niu, Yong

2018-05-31

Transboundary water pollution has resulted in increasing conflicts between upstream and downstream administrative districts. Ecological compensation is an efficient means of restricting pollutant discharge and achieving sustainable utilization of water resources. The tri-provincial region of Taihu Basin is a typical river networks area. Pollutant flux across provincial boundaries in the Taihu Basin is hard to determine due to complex hydrologic and hydrodynamic conditions. In this study, ecological compensation estimation for the tri-provincial area based on a mathematical model is investigated for better environmental management. River discharge and water quality are predicted with the one-dimensional mathematical model and validated with field measurements. Different ecological compensation criteria are identified considering the notable regional discrepancy in sewage treatment costs. Finally, the total compensation payment is estimated. Our study indicates that Shanghai should be the receiver of payment from both Jiangsu and Zhenjiang in 2013, with 305 million and 300 million CNY, respectively. Zhejiang also contributes more pollutants to Jiangsu, and the compensation to Jiangsu is estimated as 9.3 million CNY. The proposed ecological compensation method provides an efficient way for solving the transboundary conflicts in a complex river networks area and is instructive for future policy-making.

Dependence of the compensation error on the error of a sensor and corrector in an adaptive optics phase-conjugating system

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

Kiyko, V V; Kislov, V I; Ofitserov, E N

2015-08-31

In the framework of a statistical model of an adaptive optics system (AOS) of phase conjugation, three algorithms based on an integrated mathematical approach are considered, each of them intended for minimisation of one of the following characteristics: the sensor error (in the case of an ideal corrector), the corrector error (in the case of ideal measurements) and the compensation error (with regard to discreteness and measurement noises and to incompleteness of a system of response functions of the corrector actuators). Functional and statistical relationships between the algorithms are studied and a relation is derived to ensure calculation of themore » mean-square compensation error as a function of the errors of the sensor and corrector with an accuracy better than 10%. Because in adjusting the AOS parameters, it is reasonable to proceed from the equality of the sensor and corrector errors, in the case the Hartmann sensor is used as a wavefront sensor, the required number of actuators in the absence of the noise component in the sensor error turns out 1.5 – 2.5 times less than the number of counts, and that difference grows with increasing measurement noise. (adaptive optics)« less

Nonlinear bias compensation of ZiYuan-3 satellite imagery with cubic splines

NASA Astrophysics Data System (ADS)

Cao, Jinshan; Fu, Jianhong; Yuan, Xiuxiao; Gong, Jianya

2017-11-01

Like many high-resolution satellites such as the ALOS, MOMS-2P, QuickBird, and ZiYuan1-02C satellites, the ZiYuan-3 satellite suffers from different levels of attitude oscillations. As a result of such oscillations, the rational polynomial coefficients (RPCs) obtained using a terrain-independent scenario often have nonlinear biases. In the sensor orientation of ZiYuan-3 imagery based on a rational function model (RFM), these nonlinear biases cannot be effectively compensated by an affine transformation. The sensor orientation accuracy is thereby worse than expected. In order to eliminate the influence of attitude oscillations on the RFM-based sensor orientation, a feasible nonlinear bias compensation approach for ZiYuan-3 imagery with cubic splines is proposed. In this approach, no actual ground control points (GCPs) are required to determine the cubic splines. First, the RPCs are calculated using a three-dimensional virtual control grid generated based on a physical sensor model. Second, one cubic spline is used to model the residual errors of the virtual control points in the row direction and another cubic spline is used to model the residual errors in the column direction. Then, the estimated cubic splines are used to compensate the nonlinear biases in the RPCs. Finally, the affine transformation parameters are used to compensate the residual biases in the RPCs. Three ZiYuan-3 images were tested. The experimental results showed that before the nonlinear bias compensation, the residual errors of the independent check points were nonlinearly biased. Even if the number of GCPs used to determine the affine transformation parameters was increased from 4 to 16, these nonlinear biases could not be effectively compensated. After the nonlinear bias compensation with the estimated cubic splines, the influence of the attitude oscillations could be eliminated. The RFM-based sensor orientation accuracies of the three ZiYuan-3 images reached 0.981 pixels, 0.890 pixels, and 1.093 pixels, which were respectively 42.1%, 48.3%, and 54.8% better than those achieved before the nonlinear bias compensation.

Compensator-based 6-DOF control for probe asteroid-orbital-frame hovering with actuator limitations

NASA Astrophysics Data System (ADS)

Liu, Xiaosong; Zhang, Peng; Liu, Keping; Li, Yuanchun

2016-05-01

This paper is concerned with 6-DOF control of a probe hovering in the orbital frame of an asteroid. Considering the requirements of the scientific instruments pointing direction and orbital position in practical missions, the coordinate control of relative attitude and orbit between the probe and target asteroid is imperative. A 6-DOF dynamic equation describing the relative translational and rotational motion of a probe in the asteroid's orbital frame is derived, taking the irregular gravitation, model and parameter uncertainties and external disturbances into account. An adaptive sliding mode controller is employed to guarantee the convergence of the state error, where the adaptation law is used to estimate the unknown upper bound of system uncertainty. Then the controller is improved to deal with the practical problem of actuator limitations by introducing a RBF neural network compensator, which is used to approximate the difference between the actual control with magnitude constraint and the designed nominal control law. The closed-loop system is proved to be asymptotically stable through the Lyapunov stability analysis. Numerical simulations are performed to compare the performances of the preceding designed control laws. Simulation results demonstrate the validity of the control scheme using the compensator-based adaptive sliding mode control law in the presence of actuator limitations, system uncertainty and external disturbance.

Research on effects of phase error in phase-shifting interferometer

NASA Astrophysics Data System (ADS)

Wang, Hongjun; Wang, Zhao; Zhao, Hong; Tian, Ailing; Liu, Bingcai

2007-12-01

Referring to phase-shifting interferometry technology, the phase shifting error from the phase shifter is the main factor that directly affects the measurement accuracy of the phase shifting interferometer. In this paper, the resources and sorts of phase shifting error were introduction, and some methods to eliminate errors were mentioned. Based on the theory of phase shifting interferometry, the effects of phase shifting error were analyzed in detail. The Liquid Crystal Display (LCD) as a new shifter has advantage as that the phase shifting can be controlled digitally without any mechanical moving and rotating element. By changing coded image displayed on LCD, the phase shifting in measuring system was induced. LCD's phase modulation characteristic was analyzed in theory and tested. Based on Fourier transform, the effect model of phase error coming from LCD was established in four-step phase shifting interferometry. And the error range was obtained. In order to reduce error, a new error compensation algorithm was put forward. With this method, the error can be obtained by process interferogram. The interferogram can be compensated, and the measurement results can be obtained by four-step phase shifting interferogram. Theoretical analysis and simulation results demonstrate the feasibility of this approach to improve measurement accuracy.

2x2 MIMO-OFDM Gigabit fiber-wireless access system based on polarization division multiplexed WDM-PON.

PubMed

Deng, Lei; Pang, Xiaodan; Zhao, Ying; Othman, M B; Jensen, Jesper Bevensee; Zibar, Darko; Yu, Xianbin; Liu, Deming; Monroy, Idelfonso Tafur

2012-02-13

We propose a spectral efficient radio over wavelength division multiplexed passive optical network (WDM-PON) system by combining optical polarization division multiplexing (PDM) and wireless multiple input multiple output (MIMO) spatial multiplexing techniques. In our experiment, a training-based zero forcing (ZF) channel estimation algorithm is designed to compensate the polarization rotation and wireless multipath fading. A 797 Mb/s net data rate QPSK-OFDM signal with error free (<1 × 10(5)) performance and a 1.59 Gb/s net data rate 16QAM-OFDM signal with BER performance of 1.2 × 10(2) are achieved after transmission of 22.8 km single mode fiber followed by 3 m and 1 m air distances, respectively.

Partial compensation interferometry for measurement of surface parameter error of high-order aspheric surfaces

NASA Astrophysics Data System (ADS)

Hao, Qun; Li, Tengfei; Hu, Yao

2018-01-01

Surface parameters are the properties to describe the shape characters of aspheric surface, which mainly include vertex radius of curvature (VROC) and conic constant (CC). The VROC affects the basic properties, such as focal length of an aspheric surface, while the CC is the basis of classification for aspheric surface. The deviations of the two parameters are defined as surface parameter error (SPE). Precisely measuring SPE is critical for manufacturing and aligning aspheric surface. Generally, SPE of aspheric surface is measured directly by curvature fitting on the absolute profile measurement data from contact or non-contact testing. And most interferometry-based methods adopt null compensators or null computer-generated holograms to measure SPE. To our knowledge, there is no effective way to measure SPE of highorder aspheric surface with non-null interferometry. In this paper, based on the theory of slope asphericity and the best compensation distance (BCD) established in our previous work, we propose a SPE measurement method for high-order aspheric surface in partial compensation interferometry (PCI) system. In the procedure, firstly, we establish the system of two element equations by utilizing the SPE-caused BCD change and surface shape change. Then, we can simultaneously obtain the VROC error and CC error in PCI system by solving the equations. Simulations are made to verify the method, and the results show a high relative accuracy.

The analysis and compensation of errors of precise simple harmonic motion control under high speed and large load conditions based on servo electric cylinder

NASA Astrophysics Data System (ADS)

Ma, Chen-xi; Ding, Guo-qing

2017-10-01

Simple harmonic waves and synthesized simple harmonic waves are widely used in the test of instruments. However, because of the errors caused by clearance of gear and time-delay error of FPGA, it is difficult to control servo electric cylinder in precise simple harmonic motion under high speed, high frequency and large load conditions. To solve the problem, a method of error compensation is proposed in this paper. In the method, a displacement sensor is fitted on the piston rod of the electric cylinder. By using the displacement sensor, the real-time displacement of the piston rod is obtained and fed back to the input of servo motor, then a closed loop control is realized. There is compensation of pulses in the next period of the synthetic waves. This paper uses FPGA as the processing core. The software mainly comprises a waveform generator, an Ethernet module, a memory module, a pulse generator, a pulse selector, a protection module, an error compensation module. A durability of shock absorbers is used as the testing platform. The durability mainly comprises a single electric cylinder, a servo motor for driving the electric cylinder, and the servo motor driver.

Feedback Error Learning Controller for Functional Electrical Stimulation Assistance in a Hybrid Robotic System for Reaching Rehabilitation

PubMed Central

Resquín, Francisco; Gonzalez-Vargas, Jose; Ibáñez, Jaime; Brunetti, Fernando; Pons, José Luis

2016-01-01

Hybrid robotic systems represent a novel research field, where functional electrical stimulation (FES) is combined with a robotic device for rehabilitation of motor impairment. Under this approach, the design of robust FES controllers still remains an open challenge. In this work, we aimed at developing a learning FES controller to assist in the performance of reaching movements in a simple hybrid robotic system setting. We implemented a Feedback Error Learning (FEL) control strategy consisting of a feedback PID controller and a feedforward controller based on a neural network. A passive exoskeleton complemented the FES controller by compensating the effects of gravity. We carried out experiments with healthy subjects to validate the performance of the system. Results show that the FEL control strategy is able to adjust the FES intensity to track the desired trajectory accurately without the need of a previous mathematical model. PMID:27990245

Quasi-eccentricity error modeling and compensation in vision metrology

NASA Astrophysics Data System (ADS)

Shen, Yijun; Zhang, Xu; Cheng, Wei; Zhu, Limin

2018-04-01

Circular targets are commonly used in vision applications for its detection accuracy and robustness. The eccentricity error of the circular target caused by perspective projection is one of the main factors of measurement error which needs to be compensated in high-accuracy measurement. In this study, the impact of the lens distortion on the eccentricity error is comprehensively investigated. The traditional eccentricity error turns to a quasi-eccentricity error in the non-linear camera model. The quasi-eccentricity error model is established by comparing the quasi-center of the distorted ellipse with the true projection of the object circle center. Then, an eccentricity error compensation framework is proposed which compensates the error by iteratively refining the image point to the true projection of the circle center. Both simulation and real experiment confirm the effectiveness of the proposed method in several vision applications.

Fault-tolerant nonlinear adaptive flight control using sliding mode online learning.

PubMed

Krüger, Thomas; Schnetter, Philipp; Placzek, Robin; Vörsmann, Peter

2012-08-01

An expanded nonlinear model inversion flight control strategy using sliding mode online learning for neural networks is presented. The proposed control strategy is implemented for a small unmanned aircraft system (UAS). This class of aircraft is very susceptible towards nonlinearities like atmospheric turbulence, model uncertainties and of course system failures. Therefore, these systems mark a sensible testbed to evaluate fault-tolerant, adaptive flight control strategies. Within this work the concept of feedback linearization is combined with feed forward neural networks to compensate for inversion errors and other nonlinear effects. Backpropagation-based adaption laws of the network weights are used for online training. Within these adaption laws the standard gradient descent backpropagation algorithm is augmented with the concept of sliding mode control (SMC). Implemented as a learning algorithm, this nonlinear control strategy treats the neural network as a controlled system and allows a stable, dynamic calculation of the learning rates. While considering the system's stability, this robust online learning method therefore offers a higher speed of convergence, especially in the presence of external disturbances. The SMC-based flight controller is tested and compared with the standard gradient descent backpropagation algorithm in the presence of system failures. Copyright © 2012 Elsevier Ltd. All rights reserved.

An observer-based compensator for distributed delays

NASA Technical Reports Server (NTRS)

Luck, Rogelio; Ray, Asok

1990-01-01

This paper presents an algorithm for compensating delays that are distributed between the sensor(s), controller and actuator(s) within a control loop. This observer-based algorithm is specially suited to compensation of network-induced delays in integrated communication and control systems. The robustness of the algorithm relative to plant model uncertainties has been examined.

Performance of Older Persons in a Simulated Shopping Task Is Influenced by Priming with Age Stereotypes

PubMed Central

Akpinar, Selçuk

2016-01-01

Previous research suggests that older persons show cognitive deficits in standardized laboratory tests, but not in more natural tests such as the Multiple Errands Task (MET). The absence of deficits in the latter tests has been attributed to the compensation of deficits by strategies based on life-long experience. To scrutinize this view, we primed older participants with positive or negative stereotypes about old age before administering MET. We found that compared to unprimed controls, priming with positive age stereotypes reduced the number of errors without changing response times, while priming with negative stereotypes changed neither errors not response times. We interpret our findings as evidence that positive age priming improved participants’ cognitive functions while leaving intact their experience-based compensation, and that negative age priming degraded participants’ cognitive functions which, however, was balanced by an even stronger experience-based compensation. PMID:27649296

Performance of Older Persons in a Simulated Shopping Task Is Influenced by Priming with Age Stereotypes.

PubMed

Bock, Otmar; Akpinar, Selçuk

2016-01-01

Previous research suggests that older persons show cognitive deficits in standardized laboratory tests, but not in more natural tests such as the Multiple Errands Task (MET). The absence of deficits in the latter tests has been attributed to the compensation of deficits by strategies based on life-long experience. To scrutinize this view, we primed older participants with positive or negative stereotypes about old age before administering MET. We found that compared to unprimed controls, priming with positive age stereotypes reduced the number of errors without changing response times, while priming with negative stereotypes changed neither errors not response times. We interpret our findings as evidence that positive age priming improved participants' cognitive functions while leaving intact their experience-based compensation, and that negative age priming degraded participants' cognitive functions which, however, was balanced by an even stronger experience-based compensation.

Online absolute pose compensation and steering control of industrial robot based on six degrees of freedom laser measurement

NASA Astrophysics Data System (ADS)

Yang, Juqing; Wang, Dayong; Fan, Baixing; Dong, Dengfeng; Zhou, Weihu

2017-03-01

In-situ intelligent manufacturing for large-volume equipment requires industrial robots with absolute high-accuracy positioning and orientation steering control. Conventional robots mainly employ an offline calibration technology to identify and compensate key robotic parameters. However, the dynamic and static parameters of a robot change nonlinearly. It is not possible to acquire a robot's actual parameters and control the absolute pose of the robot with a high accuracy within a large workspace by offline calibration in real-time. This study proposes a real-time online absolute pose steering control method for an industrial robot based on six degrees of freedom laser tracking measurement, which adopts comprehensive compensation and correction of differential movement variables. First, the pose steering control system and robot kinematics error model are constructed, and then the pose error compensation mechanism and algorithm are introduced in detail. By accurately achieving the position and orientation of the robot end-tool, mapping the computed Jacobian matrix of the joint variable and correcting the joint variable, the real-time online absolute pose compensation for an industrial robot is accurately implemented in simulations and experimental tests. The average positioning error is 0.048 mm and orientation accuracy is better than 0.01 deg. The results demonstrate that the proposed method is feasible, and the online absolute accuracy of a robot is sufficiently enhanced.

Recurrent Neural Network Applications for Astronomical Time Series

NASA Astrophysics Data System (ADS)

Protopapas, Pavlos

2017-06-01

The benefits of good predictive models in astronomy lie in early event prediction systems and effective resource allocation. Current time series methods applicable to regular time series have not evolved to generalize for irregular time series. In this talk, I will describe two Recurrent Neural Network methods, Long Short-Term Memory (LSTM) and Echo State Networks (ESNs) for predicting irregular time series. Feature engineering along with a non-linear modeling proved to be an effective predictor. For noisy time series, the prediction is improved by training the network on error realizations using the error estimates from astronomical light curves. In addition to this, we propose a new neural network architecture to remove correlation from the residuals in order to improve prediction and compensate for the noisy data. Finally, I show how to set hyperparameters for a stable and performant solution correctly. In this work, we circumvent this obstacle by optimizing ESN hyperparameters using Bayesian optimization with Gaussian Process priors. This automates the tuning procedure, enabling users to employ the power of RNN without needing an in-depth understanding of the tuning procedure.

A multi-frequency inverse-phase error compensation method for projector nonlinear in 3D shape measurement

NASA Astrophysics Data System (ADS)

Mao, Cuili; Lu, Rongsheng; Liu, Zhijian

2018-07-01

In fringe projection profilometry, the phase errors caused by the nonlinear intensity response of digital projectors needs to be correctly compensated. In this paper, a multi-frequency inverse-phase method is proposed. The theoretical model of periodical phase errors is analyzed. The periodical phase errors can be adaptively compensated in the wrapped maps by using a set of fringe patterns. The compensated phase is then unwrapped with multi-frequency method. Compared with conventional methods, the proposed method can greatly reduce the periodical phase error without calibrating measurement system. Some simulation and experimental results are presented to demonstrate the validity of the proposed approach.

Study on elevated-temperature flow behavior of Ni-Cr-Mo-B ultra-heavy-plate steel via experiment and modelling

NASA Astrophysics Data System (ADS)

Gao, Zhi-yu; Kang, Yu; Li, Yan-shuai; Meng, Chao; Pan, Tao

2018-04-01

Elevated-temperature flow behavior of a novel Ni-Cr-Mo-B ultra-heavy-plate steel was investigated by conducting hot compressive deformation tests on a Gleeble-3800 thermo-mechanical simulator at a temperature range of 1123 K–1423 K with a strain rate range from 0.01 s‑1 to10 s‑1 and a height reduction of 70%. Based on the experimental results, classic strain-compensated Arrhenius-type, a new revised strain-compensated Arrhenius-type and classic modified Johnson-Cook constitutive models were developed for predicting the high-temperature deformation behavior of the steel. The predictability of these models were comparatively evaluated in terms of statistical parameters including correlation coefficient (R), average absolute relative error (AARE), average root mean square error (RMSE), normalized mean bias error (NMBE) and relative error. The statistical results indicate that the new revised strain-compensated Arrhenius-type model could give prediction of elevated-temperature flow stress for the steel accurately under the entire process conditions. However, the predicted values by the classic modified Johnson-Cook model could not agree well with the experimental values, and the classic strain-compensated Arrhenius-type model could track the deformation behavior more accurately compared with the modified Johnson-Cook model, but less accurately with the new revised strain-compensated Arrhenius-type model. In addition, reasons of differences in predictability of these models were discussed in detail.

Hysteresis compensation for piezoelectric actuators in single-point diamond turning

NASA Astrophysics Data System (ADS)

Wang, Haifeng; Hu, Dejin; Wan, Daping; Liu, Hongbin

2006-02-01

In recent years, interests have been growing for fast tool servo (FTS) systems to increase the capability of existing single-point diamond turning machines. Although piezoelectric actuator is the most universal base of FTS system due to its high stiffness, accuracy and bandwidth, nonlinearity in piezoceramics limits both the static and dynamic performance of piezoelectric-actuated control systems evidently. To compensate the nonlinear hysteresis behavior of piezoelectric actuators, a hybrid model coupled with Preisach model and feedforward neural network (FNN) has been described. Since the training of FNN does not require a special calibration sequence, it is possible for on-line identification and real-time implementation with general operating data of a specific piezoelectric actuator. To describe the rate dependent behavior of piezoelectric actuators, a hybrid dynamic model was developed to predict the response of piezoelectric actuators in a wider range of input frequency. Experimental results show that a maximal error of less than 3% was accomplished by this dynamic model.

Error compensation of single-antenna attitude determination using GNSS for Low-dynamic applications

NASA Astrophysics Data System (ADS)

Chen, Wen; Yu, Chao; Cai, Miaomiao

2017-04-01

GNSS-based single-antenna pseudo-attitude determination method has attracted more and more attention from the field of high-dynamic navigation due to its low cost, low system complexity, and no temporal accumulated errors. Related researches indicate that this method can be an important complement or even an alternative to the traditional sensors for general accuracy requirement (such as small UAV navigation). The application of single-antenna attitude determining method to low-dynamic carrier has just started. Different from the traditional multi-antenna attitude measurement technique, the pseudo-attitude attitude determination method calculates the rotation angle of the carrier trajectory relative to the earth. Thus it inevitably contains some deviations comparing with the real attitude angle. In low-dynamic application, these deviations are particularly noticeable, which may not be ignored. The causes of the deviations can be roughly classified into three categories, including the measurement error, the offset error, and the lateral error. Empirical correction strategies for the formal two errors have been promoted in previous study, but lack of theoretical support. In this paper, we will provide quantitative description of the three type of errors and discuss the related error compensation methods. Vehicle and shipborne experiments were carried out to verify the feasibility of the proposed correction methods. Keywords: Error compensation; Single-antenna; GNSS; Attitude determination; Low-dynamic

Landmark-Based Drift Compensation Algorithm for Inertial Pedestrian Navigation

PubMed Central

Munoz Diaz, Estefania; Caamano, Maria; Fuentes Sánchez, Francisco Javier

2017-01-01

The navigation of pedestrians based on inertial sensors, i.e., accelerometers and gyroscopes, has experienced a great growth over the last years. However, the noise of medium- and low-cost sensors causes a high error in the orientation estimation, particularly in the yaw angle. This error, called drift, is due to the bias of the z-axis gyroscope and other slow changing errors, such as temperature variations. We propose a seamless landmark-based drift compensation algorithm that only uses inertial measurements. The proposed algorithm adds a great value to the state of the art, because the vast majority of the drift elimination algorithms apply corrections to the estimated position, but not to the yaw angle estimation. Instead, the presented algorithm computes the drift value and uses it to prevent yaw errors and therefore position errors. In order to achieve this goal, a detector of landmarks, i.e., corners and stairs, and an association algorithm have been developed. The results of the experiments show that it is possible to reliably detect corners and stairs using only inertial measurements eliminating the need that the user takes any action, e.g., pressing a button. Associations between re-visited landmarks are successfully made taking into account the uncertainty of the position. After that, the drift is computed out of all associations and used during a post-processing stage to obtain a low-drifted yaw angle estimation, that leads to successfully drift compensated trajectories. The proposed algorithm has been tested with quasi-error-free turn rate measurements introducing known biases and with medium-cost gyroscopes in 3D indoor and outdoor scenarios. PMID:28671622

Calibration and compensation method of three-axis geomagnetic sensor based on pre-processing total least square iteration

NASA Astrophysics Data System (ADS)

Zhou, Y.; Zhang, X.; Xiao, W.

2018-04-01

As the geomagnetic sensor is susceptible to interference, a pre-processing total least square iteration method is proposed for calibration compensation. Firstly, the error model of the geomagnetic sensor is analyzed and the correction model is proposed, then the characteristics of the model are analyzed and converted into nine parameters. The geomagnetic data is processed by Hilbert transform (HHT) to improve the signal-to-noise ratio, and the nine parameters are calculated by using the combination of Newton iteration method and the least squares estimation method. The sifter algorithm is used to filter the initial value of the iteration to ensure that the initial error is as small as possible. The experimental results show that this method does not need additional equipment and devices, can continuously update the calibration parameters, and better than the two-step estimation method, it can compensate geomagnetic sensor error well.

Integral Sliding Mode Fault-Tolerant Control for Uncertain Linear Systems Over Networks With Signals Quantization.

PubMed

Hao, Li-Ying; Park, Ju H; Ye, Dan

2017-09-01

In this paper, a new robust fault-tolerant compensation control method for uncertain linear systems over networks is proposed, where only quantized signals are assumed to be available. This approach is based on the integral sliding mode (ISM) method where two kinds of integral sliding surfaces are constructed. One is the continuous-state-dependent surface with the aim of sliding mode stability analysis and the other is the quantization-state-dependent surface, which is used for ISM controller design. A scheme that combines the adaptive ISM controller and quantization parameter adjustment strategy is then proposed. Through utilizing H ∞ control analytical technique, once the system is in the sliding mode, the nature of performing disturbance attenuation and fault tolerance from the initial time can be found without requiring any fault information. Finally, the effectiveness of our proposed ISM control fault-tolerant schemes against quantization errors is demonstrated in the simulation.

Cognitive error as the most frequent contributory factor in cases of medical injury: a study on verdict's judgment among closed claims in Japan.

PubMed

Tokuda, Yasuharu; Kishida, Naoki; Konishi, Ryota; Koizumi, Shunzo

2011-03-01

Cognitive errors in the course of clinical decision-making are prevalent in many cases of medical injury. We used information on verdict's judgment from closed claims files to determine the important cognitive factors associated with cases of medical injury. Data were collected from claims closed between 2001 to 2005 at district courts in Tokyo and Osaka, Japan. In each case, we recorded all the contributory cognitive, systemic, and patient-related factors judged in the verdicts to be causally related to the medical injury. We also analyzed the association between cognitive factors and cases involving paid compensation using a multivariable logistic regression model. Among 274 cases (mean age 49 years old; 45% women), there were 122 (45%) deaths and 67 (24%) major injuries (incomplete recovery within a year). In 103 cases (38%), the verdicts ordered hospitals to pay compensation (median; 8,000,000 Japanese Yen). An error in judgment (199/274, 73%) and failure of vigilance (177/274, 65%) were the most prevalent causative cognitive factors, and error in judgment was also significantly associated with paid compensation (odds ratio, 1.9; 95% confidence interval [CI], 1.0-3.4). Systemic causative factors including poor teamwork (11/274, 4%) and technology failure (5/274, 2%) were less common. The closed claims analysis based on verdict's judgment showed that cognitive errors were common in cases of medical injury, with an error in judgment being most prevalent and closely associated with compensation payment. Reduction of this type of error is required to produce safer healthcare. 2010 Society of Hospital Medicine.

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

NASA Astrophysics Data System (ADS)

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

2004-10-01

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

Robust leader-follower formation tracking control of multiple underactuated surface vessels

NASA Astrophysics Data System (ADS)

Peng, Zhou-hua; Wang, Dan; Lan, Wei-yao; Sun, Gang

2012-09-01

This paper is concerned with the formation control problem of multiple underactuated surface vessels moving in a leader-follower formation. The formation is achieved by the follower to track a virtual target defined relative to the leader. A robust adaptive target tracking law is proposed by using neural network and backstepping techniques. The advantage of the proposed control scheme is that the uncertain nonlinear dynamics caused by Coriolis/centripetal forces, nonlinear damping, unmodeled hydrodynamics and disturbances from the environment can be compensated by on line learning. Based on Lyapunov analysis, the proposed controller guarantees the tracking errors converge to a small neighborhood of the origin. Simulation results demonstrate the effectiveness of the control strategy.

Adaptive Formation Control of Electrically Driven Nonholonomic Mobile Robots With Limited Information.

PubMed

Bong Seok Park; Jin Bae Park; Yoon Ho Choi

2011-08-01

We present a leader-follower-based adaptive formation control method for electrically driven nonholonomic mobile robots with limited information. First, an adaptive observer is developed under the condition that the velocity measurement is not available. With the proposed adaptive observer, the formation control part is designed to achieve the desired formation and guarantee the collision avoidance. In addition, neural network is employed to compensate the actuator saturation, and the projection algorithm is used to estimate the velocity information of the leader. It is shown, by using the Lyapunov theory, that all errors of the closed-loop system are uniformly ultimately bounded. Simulation results are presented to illustrate the performance of the proposed control system.

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

NASA Astrophysics Data System (ADS)

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

2014-07-01

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

A novel validation and calibration method for motion capture systems based on micro-triangulation.

PubMed

Nagymáté, Gergely; Tuchband, Tamás; Kiss, Rita M

2018-06-06

Motion capture systems are widely used to measure human kinematics. Nevertheless, users must consider system errors when evaluating their results. Most validation techniques for these systems are based on relative distance and displacement measurements. In contrast, our study aimed to analyse the absolute volume accuracy of optical motion capture systems by means of engineering surveying reference measurement of the marker coordinates (uncertainty: 0.75 mm). The method is exemplified on an 18 camera OptiTrack Flex13 motion capture system. The absolute accuracy was defined by the root mean square error (RMSE) between the coordinates measured by the camera system and by engineering surveying (micro-triangulation). The original RMSE of 1.82 mm due to scaling error was managed to be reduced to 0.77 mm while the correlation of errors to their distance from the origin reduced from 0.855 to 0.209. A simply feasible but less accurate absolute accuracy compensation method using tape measure on large distances was also tested, which resulted in similar scaling compensation compared to the surveying method or direct wand size compensation by a high precision 3D scanner. The presented validation methods can be less precise in some respects as compared to previous techniques, but they address an error type, which has not been and cannot be studied with the previous validation methods. Copyright © 2018 Elsevier Ltd. All rights reserved.

An observer-based compensator for distributed delays in integrated control systems

NASA Technical Reports Server (NTRS)

Luck, Rogelio; Ray, Asok

1989-01-01

This paper presents an algorithm for compensation of delays that are distributed within a control loop. The observer-based algorithm is especially suitable for compensating network-induced delays that are likely to occur in integrated control systems of the future generation aircraft. The robustness of the algorithm relative to uncertainties in the plant model have been examined.

Attitude-error compensation for airborne down-looking synthetic-aperture imaging lidar

NASA Astrophysics Data System (ADS)

Li, Guang-yuan; Sun, Jian-feng; Zhou, Yu; Lu, Zhi-yong; Zhang, Guo; Cai, Guang-yu; Liu, Li-ren

2017-11-01

Target-coordinate transformation in the lidar spot of the down-looking synthetic-aperture imaging lidar (SAIL) was performed, and the attitude errors were deduced in the process of imaging, according to the principle of the airborne down-looking SAIL. The influence of the attitude errors on the imaging quality was analyzed theoretically. A compensation method for the attitude errors was proposed and theoretically verified. An airborne down-looking SAIL experiment was performed and yielded the same results. A point-by-point error-compensation method for solving the azimuthal-direction space-dependent attitude errors was also proposed.

Compensating Unknown Time-Varying Delay in Opto-Electronic Platform Tracking Servo System.

PubMed

Xie, Ruihong; Zhang, Tao; Li, Jiaquan; Dai, Ming

2017-05-09

This paper investigates the problem of compensating miss-distance delay in opto-electronic platform tracking servo system. According to the characteristic of LOS (light-of-sight) motion, we setup the Markovian process model and compensate this unknown time-varying delay by feed-forward forecasting controller based on robust H∞ control. Finally, simulation based on double closed-loop PI (Proportion Integration) control system indicates that the proposed method is effective for compensating unknown time-varying delay. Tracking experiments on the opto-electronic platform indicate that RMS (root-mean-square) error is 1.253 mrad when tracking 10° 0.2 Hz signal.

The 64 meter antenna operation at K sub A band

NASA Technical Reports Server (NTRS)

Potter, P. D.

1980-01-01

The future potential of the 32 GHz K sub A band frequency region to planetary exploration, and the expected performance of the 64 m antenna network at 32 GHz is addressed. A modest level of noninterference upgrade work is assumed to achieve reasonable antenna aperture efficiency and alleviate antenna pointing difficulties. Electronic compensation of antenna aperture phasing errors is briefly considered as an alternative to the physical upgrade.

A Combined Gravity Compensation Method for INS Using the Simplified Gravity Model and Gravity Database.

PubMed

Zhou, Xiao; Yang, Gongliu; Wang, Jing; Wen, Zeyang

2018-05-14

In recent decades, gravity compensation has become an important way to reduce the position error of an inertial navigation system (INS), especially for a high-precision INS, because of the extensive application of high precision inertial sensors (accelerometers and gyros). This paper first deducts the INS's solution error considering gravity disturbance and simulates the results. Meanwhile, this paper proposes a combined gravity compensation method using a simplified gravity model and gravity database. This new combined method consists of two steps all together. Step 1 subtracts the normal gravity using a simplified gravity model. Step 2 first obtains the gravity disturbance on the trajectory of the carrier with the help of ELM training based on the measured gravity data (provided by Institute of Geodesy and Geophysics; Chinese Academy of sciences), and then compensates it into the error equations of the INS, considering the gravity disturbance, to further improve the navigation accuracy. The effectiveness and feasibility of this new gravity compensation method for the INS are verified through vehicle tests in two different regions; one is in flat terrain with mild gravity variation and the other is in complex terrain with fierce gravity variation. During 2 h vehicle tests, the positioning accuracy of two tests can improve by 20% and 38% respectively, after the gravity is compensated by the proposed method.

A Combined Gravity Compensation Method for INS Using the Simplified Gravity Model and Gravity Database

PubMed Central

Zhou, Xiao; Yang, Gongliu; Wang, Jing; Wen, Zeyang

2018-01-01

In recent decades, gravity compensation has become an important way to reduce the position error of an inertial navigation system (INS), especially for a high-precision INS, because of the extensive application of high precision inertial sensors (accelerometers and gyros). This paper first deducts the INS’s solution error considering gravity disturbance and simulates the results. Meanwhile, this paper proposes a combined gravity compensation method using a simplified gravity model and gravity database. This new combined method consists of two steps all together. Step 1 subtracts the normal gravity using a simplified gravity model. Step 2 first obtains the gravity disturbance on the trajectory of the carrier with the help of ELM training based on the measured gravity data (provided by Institute of Geodesy and Geophysics; Chinese Academy of sciences), and then compensates it into the error equations of the INS, considering the gravity disturbance, to further improve the navigation accuracy. The effectiveness and feasibility of this new gravity compensation method for the INS are verified through vehicle tests in two different regions; one is in flat terrain with mild gravity variation and the other is in complex terrain with fierce gravity variation. During 2 h vehicle tests, the positioning accuracy of two tests can improve by 20% and 38% respectively, after the gravity is compensated by the proposed method. PMID:29757983

The discrete-time compensated Kalman filter

NASA Technical Reports Server (NTRS)

Lee, W. H.; Athans, M.

1978-01-01

A suboptimal dynamic compensator to be used in conjunction with the ordinary discrete time Kalman filter was derived. The resultant compensated Kalman Filter has the property that steady state bias estimation errors, resulting from modelling errors, were eliminated.

To Each According to its Degree: The Meritocracy and Topocracy of Embedded Markets

NASA Astrophysics Data System (ADS)

Borondo, J.; Borondo, F.; Rodriguez-Sickert, C.; Hidalgo, C. A.

2014-01-01

A system is said to be meritocratic if the compensation and power available to individuals is determined by their abilities and merits. A system is topocratic if the compensation and power available to an individual is determined primarily by her position in a network. Here we introduce a model that is perfectly meritocratic for fully connected networks but that becomes topocratic for sparse networks-like the ones in society. In the model, individuals produce and sell content, but also distribute the content produced by others when they belong to the shortest path connecting a buyer and a seller. The production and distribution of content defines two channels of compensation: a meritocratic channel, where individuals are compensated for the content they produce, and a topocratic channel, where individual compensation is based on the number of shortest paths that go through them in the network. We solve the model analytically and show that the distribution of payoffs is meritocratic only if the average degree of the nodes is larger than a root of the total number of nodes. We conclude that, in the light of this model, the sparsity and structure of networks represents a fundamental constraint to the meritocracy of societies.

To each according to its degree: the meritocracy and topocracy of embedded markets.

PubMed

Borondo, J; Borondo, F; Rodriguez-Sickert, C; Hidalgo, C A

2014-01-21

A system is said to be meritocratic if the compensation and power available to individuals is determined by their abilities and merits. A system is topocratic if the compensation and power available to an individual is determined primarily by her position in a network. Here we introduce a model that is perfectly meritocratic for fully connected networks but that becomes topocratic for sparse networks-like the ones in society. In the model, individuals produce and sell content, but also distribute the content produced by others when they belong to the shortest path connecting a buyer and a seller. The production and distribution of content defines two channels of compensation: a meritocratic channel, where individuals are compensated for the content they produce, and a topocratic channel, where individual compensation is based on the number of shortest paths that go through them in the network. We solve the model analytically and show that the distribution of payoffs is meritocratic only if the average degree of the nodes is larger than a root of the total number of nodes. We conclude that, in the light of this model, the sparsity and structure of networks represents a fundamental constraint to the meritocracy of societies.

Research on the compensation of laser launch optics to improve the performance of the LGS spot.

PubMed

Liu, Jie; Wang, Jianli; Wang, Yuning; Tian, Donghe; Zheng, Quan; Lin, Xudong; Wang, Liang; Yang, Qingyun

2018-02-01

To improve the beam quality of the uplink laser, a 37 channel piezo-ceramic deformable mirror was inserted into the laser launch optics to compensate the static aberrations. An interferometer was used as the calibration light source as well as the wavefront sensor to perform closed-loop correction for the moment. About 0.38λ root mean square (rms) aberrations, including the deformable mirror's initial figure error, were compensated, and the residual error was less than 0.07λ rms. Field observations with a 2 m optical telescope demonstrated that the peak intensity value of the laser guide star (LGS) spot increased from 5650 to 7658, and the full width at half-maximum (FWHM) size reduced from 4.07 arcseconds to 3.52 arcseconds. With the compensation, an improved guide star spot can be obtained, which is crucial for the adaptive optics systems of ground-based large telescopes.

The Application of Social Characteristic and L1 Optimization in the Error Correction for Network Coding in Wireless Sensor Networks

PubMed Central

Zhang, Guangzhi; Cai, Shaobin; Xiong, Naixue

2018-01-01

One of the remarkable challenges about Wireless Sensor Networks (WSN) is how to transfer the collected data efficiently due to energy limitation of sensor nodes. Network coding will increase network throughput of WSN dramatically due to the broadcast nature of WSN. However, the network coding usually propagates a single original error over the whole network. Due to the special property of error propagation in network coding, most of error correction methods cannot correct more than C/2 corrupted errors where C is the max flow min cut of the network. To maximize the effectiveness of network coding applied in WSN, a new error-correcting mechanism to confront the propagated error is urgently needed. Based on the social network characteristic inherent in WSN and L1 optimization, we propose a novel scheme which successfully corrects more than C/2 corrupted errors. What is more, even if the error occurs on all the links of the network, our scheme also can correct errors successfully. With introducing a secret channel and a specially designed matrix which can trap some errors, we improve John and Yi’s model so that it can correct the propagated errors in network coding which usually pollute exactly 100% of the received messages. Taking advantage of the social characteristic inherent in WSN, we propose a new distributed approach that establishes reputation-based trust among sensor nodes in order to identify the informative upstream sensor nodes. With referred theory of social networks, the informative relay nodes are selected and marked with high trust value. The two methods of L1 optimization and utilizing social characteristic coordinate with each other, and can correct the propagated error whose fraction is even exactly 100% in WSN where network coding is performed. The effectiveness of the error correction scheme is validated through simulation experiments. PMID:29401668

The Application of Social Characteristic and L1 Optimization in the Error Correction for Network Coding in Wireless Sensor Networks.

PubMed

Zhang, Guangzhi; Cai, Shaobin; Xiong, Naixue

2018-02-03

One of the remarkable challenges about Wireless Sensor Networks (WSN) is how to transfer the collected data efficiently due to energy limitation of sensor nodes. Network coding will increase network throughput of WSN dramatically due to the broadcast nature of WSN. However, the network coding usually propagates a single original error over the whole network. Due to the special property of error propagation in network coding, most of error correction methods cannot correct more than C /2 corrupted errors where C is the max flow min cut of the network. To maximize the effectiveness of network coding applied in WSN, a new error-correcting mechanism to confront the propagated error is urgently needed. Based on the social network characteristic inherent in WSN and L1 optimization, we propose a novel scheme which successfully corrects more than C /2 corrupted errors. What is more, even if the error occurs on all the links of the network, our scheme also can correct errors successfully. With introducing a secret channel and a specially designed matrix which can trap some errors, we improve John and Yi's model so that it can correct the propagated errors in network coding which usually pollute exactly 100% of the received messages. Taking advantage of the social characteristic inherent in WSN, we propose a new distributed approach that establishes reputation-based trust among sensor nodes in order to identify the informative upstream sensor nodes. With referred theory of social networks, the informative relay nodes are selected and marked with high trust value. The two methods of L1 optimization and utilizing social characteristic coordinate with each other, and can correct the propagated error whose fraction is even exactly 100% in WSN where network coding is performed. The effectiveness of the error correction scheme is validated through simulation experiments.

Neonatal infrared thermography imaging: Analysis of heat flux during different clinical scenarios

NASA Astrophysics Data System (ADS)

Abbas, Abbas K.; Heimann, Konrad; Blazek, Vladimir; Orlikowsky, Thorsten; Leonhardt, Steffen

2012-11-01

IntroductionAn accurate skin temperature measurement of Neonatal Infrared Thermography (NIRT) imaging requires an appropriate calibration process for compensation of external effects (e.g. variation of environmental temperature, variable air velocity or humidity). Although modern infrared cameras can perform such calibration, an additional compensation is required for highly accurate thermography. This compensation which corrects any temperature drift should occur during the NIRT imaging process. We introduce a compensation technique which is based on modeling the physical interactions within the measurement scene and derived the detected temperature signal of the object. Materials and methodsIn this work such compensation was performed for different NIRT imaging application in neonatology (e.g. convective incubators, kangaroo mother care (KMC), and an open radiant warmer). The spatially distributed temperatures of 12 preterm infants (average gestation age 31 weeks) were measured under these different infant care arrangements (i.e. closed care system like a convective incubator, and open care system like kangaroo mother care, and open radiant warmer). ResultsAs errors in measurement of temperature were anticipated, a novel compensation method derived from infrared thermography of the neonate's skin was developed. Moreover, the differences in temperature recording for the 12 preterm infants varied from subject to subject. This variation could be arising from individual experimental setting applied to the same region of interest over the neonate's body. The experimental results for the model-based corrections is verified over the selected patient group. ConclusionThe proposed technique relies on applying model-based correction to the measured temperature and reducing extraneous errors during NIRT. This application specific method is based on different heat flux compartments present in neonatal thermography scene. Furthermore, these results are considered to be groundwork for further investigation, especially when using NIRT imaging arrangement with additional compensation settings together with reference temperature measurements.

Neural Flight Control System

NASA Technical Reports Server (NTRS)

Gundy-Burlet, Karen

2003-01-01

The Neural Flight Control System (NFCS) was developed to address the need for control systems that can be produced and tested at lower cost, easily adapted to prototype vehicles and for flight systems that can accommodate damaged control surfaces or changes to aircraft stability and control characteristics resulting from failures or accidents. NFCS utilizes on a neural network-based flight control algorithm which automatically compensates for a broad spectrum of unanticipated damage or failures of an aircraft in flight. Pilot stick and rudder pedal inputs are fed into a reference model which produces pitch, roll and yaw rate commands. The reference model frequencies and gains can be set to provide handling quality characteristics suitable for the aircraft of interest. The rate commands are used in conjunction with estimates of the aircraft s stability and control (S&C) derivatives by a simplified Dynamic Inverse controller to produce virtual elevator, aileron and rudder commands. These virtual surface deflection commands are optimally distributed across the aircraft s available control surfaces using linear programming theory. Sensor data is compared with the reference model rate commands to produce an error signal. A Proportional/Integral (PI) error controller "winds up" on the error signal and adds an augmented command to the reference model output with the effect of zeroing the error signal. In order to provide more consistent handling qualities for the pilot, neural networks learn the behavior of the error controller and add in the augmented command before the integrator winds up. In the case of damage sufficient to affect the handling qualities of the aircraft, an Adaptive Critic is utilized to reduce the reference model frequencies and gains to stay within a flyable envelope of the aircraft.

Refraction-compensated motion tracking of unrestrained small animals in positron emission tomography.

PubMed

Kyme, Andre; Meikle, Steven; Baldock, Clive; Fulton, Roger

2012-08-01

Motion-compensated radiotracer imaging of fully conscious rodents represents an important paradigm shift for preclinical investigations. In such studies, if motion tracking is performed through a transparent enclosure containing the awake animal, light refraction at the interface will introduce errors in stereo pose estimation. We have performed a thorough investigation of how this impacts the accuracy of pose estimates and the resulting motion correction, and developed an efficient method to predict and correct for refraction-based error. The refraction model underlying this study was validated using a state-of-the-art motion tracking system. Refraction-based error was shown to be dependent on tracking marker size, working distance, and interface thickness and tilt. Correcting for refraction error improved the spatial resolution and quantitative accuracy of motion-corrected positron emission tomography images. Since the methods are general, they may also be useful in other contexts where data are corrupted by refraction effects. Crown Copyright © 2012. Published by Elsevier B.V. All rights reserved.

Observability Analysis of a MEMS INS/GPS Integration System with Gyroscope G-Sensitivity Errors

PubMed Central

Fan, Chen; Hu, Xiaoping; He, Xiaofeng; Tang, Kanghua; Luo, Bing

2014-01-01

Gyroscopes based on micro-electromechanical system (MEMS) technology suffer in high-dynamic applications due to obvious g-sensitivity errors. These errors can induce large biases in the gyroscope, which can directly affect the accuracy of attitude estimation in the integration of the inertial navigation system (INS) and the Global Positioning System (GPS). The observability determines the existence of solutions for compensating them. In this paper, we investigate the observability of the INS/GPS system with consideration of the g-sensitivity errors. In terms of two types of g-sensitivity coefficients matrix, we add them as estimated states to the Kalman filter and analyze the observability of three or nine elements of the coefficient matrix respectively. A global observable condition of the system is presented and validated. Experimental results indicate that all the estimated states, which include position, velocity, attitude, gyro and accelerometer bias, and g-sensitivity coefficients, could be made observable by maneuvering based on the conditions. Compared with the integration system without compensation for the g-sensitivity errors, the attitude accuracy is raised obviously. PMID:25171122

Observability analysis of a MEMS INS/GPS integration system with gyroscope G-sensitivity errors.

PubMed

Fan, Chen; Hu, Xiaoping; He, Xiaofeng; Tang, Kanghua; Luo, Bing

2014-08-28

Gyroscopes based on micro-electromechanical system (MEMS) technology suffer in high-dynamic applications due to obvious g-sensitivity errors. These errors can induce large biases in the gyroscope, which can directly affect the accuracy of attitude estimation in the integration of the inertial navigation system (INS) and the Global Positioning System (GPS). The observability determines the existence of solutions for compensating them. In this paper, we investigate the observability of the INS/GPS system with consideration of the g-sensitivity errors. In terms of two types of g-sensitivity coefficients matrix, we add them as estimated states to the Kalman filter and analyze the observability of three or nine elements of the coefficient matrix respectively. A global observable condition of the system is presented and validated. Experimental results indicate that all the estimated states, which include position, velocity, attitude, gyro and accelerometer bias, and g-sensitivity coefficients, could be made observable by maneuvering based on the conditions. Compared with the integration system without compensation for the g-sensitivity errors, the attitude accuracy is raised obviously.

A flexible and cost-effective compensation method for leveling using large-scale coordinate measuring machines and its application in aircraft digital assembly

NASA Astrophysics Data System (ADS)

Deng, Zhengping; Li, Shuanggao; Huang, Xiang

2018-06-01

In the assembly process of large-size aerospace products, the leveling and horizontal alignment of large components are essential prior to the installation of an inertial navigation system (INS) and the final quality inspection. In general, the inherent coordinate systems of large-scale coordinate measuring devices are not coincident with the geodetic horizontal system, and a dual-axis compensation system is commonly required for the measurement of difference in heights. These compensation systems are expensive and dedicated designs for different devices at present. Considering that a large-size assembly site usually needs more than one measuring device, a compensation approach which is versatile for different devices would be a more convenient and economic choice for manufacturers. In this paper, a flexible and cost-effective compensation method is proposed. Firstly, an auxiliary measuring device called a versatile compensation fixture (VCF) is designed, which mainly comprises reference points for coordinate transformation and a dual-axis inclinometer, and a kind of network tighten points (NTPs) are introduced and temporarily deployed in the large measuring space to further reduce transformation error. Secondly, the measuring principle of height difference is studied, based on coordinate transformation theory and trigonometry while considering the effects of earth curvature, and the coordinate transformation parameters are derived by least squares adjustment. Thirdly, the analytical solution of leveling uncertainty is analyzed, based on which the key parameters of the VCF and the proper deployment of NTPs are determined according to the leveling accuracy requirement. Furthermore, the proposed method is practically applied to the assembly of a large helicopter by developing an automatic leveling and alignment system. By measuring four NTPs, the leveling uncertainty (2σ) is reduced by 29.4% to about 0.12 mm, compared with that without NTPs.

Enzymatic creatinine assays allow estimation of glomerular filtration rate in stages 1 and 2 chronic kidney disease using CKD-EPI equation.

PubMed

Kuster, Nils; Cristol, Jean-Paul; Cavalier, Etienne; Bargnoux, Anne-Sophie; Halimi, Jean-Michel; Froissart, Marc; Piéroni, Laurence; Delanaye, Pierre

2014-01-20

The National Kidney Disease Education Program group demonstrated that MDRD equation is sensitive to creatinine measurement error, particularly at higher glomerular filtration rates. Thus, MDRD-based eGFR above 60 mL/min/1.73 m² should not be reported numerically. However, little is known about the impact of analytical error on CKD-EPI-based estimates. This study aimed at assessing the impact of analytical characteristics (bias and imprecision) of 12 enzymatic and 4 compensated Jaffe previously characterized creatinine assays on MDRD and CKD-EPI eGFR. In a simulation study, the impact of analytical error was assessed on a hospital population of 24084 patients. Ability using each assay to correctly classify patients according to chronic kidney disease (CKD) stages was evaluated. For eGFR between 60 and 90 mL/min/1.73 m², both equations were sensitive to analytical error. Compensated Jaffe assays displayed high bias in this range and led to poorer sensitivity/specificity for classification according to CKD stages than enzymatic assays. As compared to MDRD equation, CKD-EPI equation decreases impact of analytical error in creatinine measurement above 90 mL/min/1.73 m². Compensated Jaffe creatinine assays lead to important errors in eGFR and should be avoided. Accurate enzymatic assays allow estimation of eGFR until 90 mL/min/1.73 m² with MDRD and 120 mL/min/1.73 m² with CKD-EPI equation. Copyright © 2013 Elsevier B.V. All rights reserved.

Error analysis and experiments of attitude measurement using laser gyroscope

NASA Astrophysics Data System (ADS)

Ren, Xin-ran; Ma, Wen-li; Jiang, Ping; Huang, Jin-long; Pan, Nian; Guo, Shuai; Luo, Jun; Li, Xiao

2018-03-01

The precision of photoelectric tracking and measuring equipment on the vehicle and vessel is deteriorated by the platform's movement. Specifically, the platform's movement leads to the deviation or loss of the target, it also causes the jitter of visual axis and then produces image blur. In order to improve the precision of photoelectric equipment, the attitude of photoelectric equipment fixed with the platform must be measured. Currently, laser gyroscope is widely used to measure the attitude of the platform. However, the measurement accuracy of laser gyro is affected by its zero bias, scale factor, installation error and random error. In this paper, these errors were analyzed and compensated based on the laser gyro's error model. The static and dynamic experiments were carried out on a single axis turntable, and the error model was verified by comparing the gyro's output with an encoder with an accuracy of 0.1 arc sec. The accuracy of the gyroscope has increased from 7000 arc sec to 5 arc sec for an hour after error compensation. The method used in this paper is suitable for decreasing the laser gyro errors in inertial measurement applications.

Non-linear dynamic compensation system

NASA Technical Reports Server (NTRS)

Lin, Yu-Hwan (Inventor); Lurie, Boris J. (Inventor)

1992-01-01

A non-linear dynamic compensation subsystem is added in the feedback loop of a high precision optical mirror positioning control system to smoothly alter the control system response bandwidth from a relatively wide response bandwidth optimized for speed of control system response to a bandwidth sufficiently narrow to reduce position errors resulting from the quantization noise inherent in the inductosyn used to measure mirror position. The non-linear dynamic compensation system includes a limiter for limiting the error signal within preselected limits, a compensator for modifying the limiter output to achieve the reduced bandwidth response, and an adder for combining the modified error signal with the difference between the limited and unlimited error signals. The adder output is applied to control system motor so that the system response is optimized for accuracy when the error signal is within the preselected limits, optimized for speed of response when the error signal is substantially beyond the preselected limits and smoothly varied therebetween as the error signal approaches the preselected limits.

Synchronized motion control and precision positioning compensation of a 3-DOFs macro-micro parallel manipulator fully actuated by piezoelectric actuators

NASA Astrophysics Data System (ADS)

Zhang, Quan; Li, Chaodong; Zhang, Jiantao; Zhang, Xu

2017-11-01

The macro-micro combined approach, as an effective way to realize trans-scale nano-precision positioning with multi-dimensions and high velocity, plays a significant role in integrated circuit manufacturing field. A 3-degree-of-freedoms (3-DOFs) macro-micro manipulator is designed and analyzed to compromise the conflictions among the large stroke, high precision and multi-DOFs. The macro manipulator is a 3-Prismatic-Revolute-Revolute (3-PRR) structure parallel manipulator which is driven by three linear ultrasonic motors. The dynamic model and the cross-coupling error based synchronized motion controller of the 3-PRR parallel manipulator are theoretical analyzed and experimental tested. To further improve the positioning accuracy, a 3-DOFs monolithic compliant manipulator actuated by three piezoelectric stack actuators is designed. Then a multilayer BP neural network based inverse kinematic model identifier is developed to perform the positioning control. Finally, by forming the macro-micro structure, the dual stage manipulator successfully achieved the positioning task from the point (2 mm, 2 mm, 0 rad) back to the original point (0 mm, 0 mm, 0 rad) with the translation errors in X and Y directions less than ±50 nm and the rotation error around Z axis less than ±1 μrad, respectively.

Data-driven robust approximate optimal tracking control for unknown general nonlinear systems using adaptive dynamic programming method.

PubMed

Zhang, Huaguang; Cui, Lili; Zhang, Xin; Luo, Yanhong

2011-12-01

In this paper, a novel data-driven robust approximate optimal tracking control scheme is proposed for unknown general nonlinear systems by using the adaptive dynamic programming (ADP) method. In the design of the controller, only available input-output data is required instead of known system dynamics. A data-driven model is established by a recurrent neural network (NN) to reconstruct the unknown system dynamics using available input-output data. By adding a novel adjustable term related to the modeling error, the resultant modeling error is first guaranteed to converge to zero. Then, based on the obtained data-driven model, the ADP method is utilized to design the approximate optimal tracking controller, which consists of the steady-state controller and the optimal feedback controller. Further, a robustifying term is developed to compensate for the NN approximation errors introduced by implementing the ADP method. Based on Lyapunov approach, stability analysis of the closed-loop system is performed to show that the proposed controller guarantees the system state asymptotically tracking the desired trajectory. Additionally, the obtained control input is proven to be close to the optimal control input within a small bound. Finally, two numerical examples are used to demonstrate the effectiveness of the proposed control scheme.

Synchronization of multiple 3-DOF helicopters under actuator faults and saturations with prescribed performance.

PubMed

Yang, Huiliao; Jiang, Bin; Yang, Hao; Liu, Hugh H T

2018-04-01

The distributed cooperative control strategy is proposed to make the networked nonlinear 3-DOF helicopters achieve the attitude synchronization in the presence of actuator faults and saturations. Based on robust adaptive control, the proposed control method can both compensate the uncertain partial loss of control effectiveness and deal with the system uncertainties. To address actuator saturation problem, the control scheme is designed to ensure that the saturation constraint on the actuation will not be violated during the operation in spite of the actuator faults. It is shown that with the proposed control strategy, both the tracking errors of the leading helicopter and the attitude synchronization errors of each following helicopter are bounded in the existence of faulty actuators and actuator saturations. Moreover, the state responses of the entire group would not exceed the predesigned performance functions which are totally independent from the underlaying interaction topology. Simulation results illustrate the effectiveness of the proposed control scheme. Copyright © 2018 ISA. Published by Elsevier Ltd. All rights reserved.

Feasibility study of a synthesis procedure for array feeds to improve radiation performance of large distorted reflector antennas

NASA Technical Reports Server (NTRS)

Stutzman, W. L.; Smith, W. T.

1990-01-01

Surface errors on parabolic reflector antennas degrade the overall performance of the antenna. Space antenna structures are difficult to build, deploy and control. They must maintain a nearly perfect parabolic shape in a harsh environment and must be lightweight. Electromagnetic compensation for surface errors in large space reflector antennas can be used to supplement mechanical compensation. Electromagnetic compensation for surface errors in large space reflector antennas has been the topic of several research studies. Most of these studies try to correct the focal plane fields of the reflector near the focal point and, hence, compensate for the distortions over the whole radiation pattern. An alternative approach to electromagnetic compensation is presented. The proposed technique uses pattern synthesis to compensate for the surface errors. The pattern synthesis approach uses a localized algorithm in which pattern corrections are directed specifically towards portions of the pattern requiring improvement. The pattern synthesis technique does not require knowledge of the reflector surface. It uses radiation pattern data to perform the compensation.

Analysis and compensation of synchronous measurement error for multi-channel laser interferometer

NASA Astrophysics Data System (ADS)

Du, Shengwu; Hu, Jinchun; Zhu, Yu; Hu, Chuxiong

2017-05-01

Dual-frequency laser interferometer has been widely used in precision motion system as a displacement sensor, to achieve nanoscale positioning or synchronization accuracy. In a multi-channel laser interferometer synchronous measurement system, signal delays are different in the different channels, which will cause asynchronous measurement, and then lead to measurement error, synchronous measurement error (SME). Based on signal delay analysis of the measurement system, this paper presents a multi-channel SME framework for synchronous measurement, and establishes the model between SME and motion velocity. Further, a real-time compensation method for SME is proposed. This method has been verified in a self-developed laser interferometer signal processing board (SPB). The experiment result showed that, using this compensation method, at a motion velocity 0.89 m s-1, the max SME between two measuring channels in the SPB is 1.1 nm. This method is more easily implemented and applied to engineering than the method of directly testing smaller signal delay.

Sculling Compensation Algorithm for SINS Based on Two-Time Scale Perturbation Model of Inertial Measurements

PubMed Central

Wang, Lingling; Fu, Li

2018-01-01

In order to decrease the velocity sculling error under vibration environments, a new sculling error compensation algorithm for strapdown inertial navigation system (SINS) using angular rate and specific force measurements as inputs is proposed in this paper. First, the sculling error formula in incremental velocity update is analytically derived in terms of the angular rate and specific force. Next, two-time scale perturbation models of the angular rate and specific force are constructed. The new sculling correction term is derived and a gravitational search optimization method is used to determine the parameters in the two-time scale perturbation models. Finally, the performance of the proposed algorithm is evaluated in a stochastic real sculling environment, which is different from the conventional algorithms simulated in a pure sculling circumstance. A series of test results demonstrate that the new sculling compensation algorithm can achieve balanced real/pseudo sculling correction performance during velocity update with the advantage of less computation load compared with conventional algorithms. PMID:29346323

Error compensation for hybrid-computer solution of linear differential equations

NASA Technical Reports Server (NTRS)

Kemp, N. H.

1970-01-01

Z-transform technique compensates for digital transport delay and digital-to-analog hold. Method determines best values for compensation constants in multi-step and Taylor series projections. Technique also provides hybrid-calculation error compared to continuous exact solution, plus system stability properties.

Fault tolerant control of multivariable processes using auto-tuning PID controller.

PubMed

Yu, Ding-Li; Chang, T K; Yu, Ding-Wen

2005-02-01

Fault tolerant control of dynamic processes is investigated in this paper using an auto-tuning PID controller. A fault tolerant control scheme is proposed composing an auto-tuning PID controller based on an adaptive neural network model. The model is trained online using the extended Kalman filter (EKF) algorithm to learn system post-fault dynamics. Based on this model, the PID controller adjusts its parameters to compensate the effects of the faults, so that the control performance is recovered from degradation. The auto-tuning algorithm for the PID controller is derived with the Lyapunov method and therefore, the model predicted tracking error is guaranteed to converge asymptotically. The method is applied to a simulated two-input two-output continuous stirred tank reactor (CSTR) with various faults, which demonstrate the applicability of the developed scheme to industrial processes.

Imaging and dosimetric errors in 4D PET/CT-guided radiotherapy from patient-specific respiratory patterns: a dynamic motion phantom end-to-end study

NASA Astrophysics Data System (ADS)

Bowen, S. R.; Nyflot, M. J.; Herrmann, C.; Groh, C. M.; Meyer, J.; Wollenweber, S. D.; Stearns, C. W.; Kinahan, P. E.; Sandison, G. A.

2015-05-01

Effective positron emission tomography / computed tomography (PET/CT) guidance in radiotherapy of lung cancer requires estimation and mitigation of errors due to respiratory motion. An end-to-end workflow was developed to measure patient-specific motion-induced uncertainties in imaging, treatment planning, and radiation delivery with respiratory motion phantoms and dosimeters. A custom torso phantom with inserts mimicking normal lung tissue and lung lesion was filled with [18F]FDG. The lung lesion insert was driven by six different patient-specific respiratory patterns or kept stationary. PET/CT images were acquired under motionless ground truth, tidal breathing motion-averaged (3D), and respiratory phase-correlated (4D) conditions. Target volumes were estimated by standardized uptake value (SUV) thresholds that accurately defined the ground-truth lesion volume. Non-uniform dose-painting plans using volumetrically modulated arc therapy were optimized for fixed normal lung and spinal cord objectives and variable PET-based target objectives. Resulting plans were delivered to a cylindrical diode array at rest, in motion on a platform driven by the same respiratory patterns (3D), or motion-compensated by a robotic couch with an infrared camera tracking system (4D). Errors were estimated relative to the static ground truth condition for mean target-to-background (T/Bmean) ratios, target volumes, planned equivalent uniform target doses, and 2%-2 mm gamma delivery passing rates. Relative to motionless ground truth conditions, PET/CT imaging errors were on the order of 10-20%, treatment planning errors were 5-10%, and treatment delivery errors were 5-30% without motion compensation. Errors from residual motion following compensation methods were reduced to 5-10% in PET/CT imaging, <5% in treatment planning, and <2% in treatment delivery. We have demonstrated that estimation of respiratory motion uncertainty and its propagation from PET/CT imaging to RT planning, and RT delivery under a dose painting paradigm is feasible within an integrated respiratory motion phantom workflow. For a limited set of cases, the magnitude of errors was comparable during PET/CT imaging and treatment delivery without motion compensation. Errors were moderately mitigated during PET/CT imaging and significantly mitigated during RT delivery with motion compensation. This dynamic motion phantom end-to-end workflow provides a method for quality assurance of 4D PET/CT-guided radiotherapy, including evaluation of respiratory motion compensation methods during imaging and treatment delivery.

Imaging and dosimetric errors in 4D PET/CT-guided radiotherapy from patient-specific respiratory patterns: a dynamic motion phantom end-to-end study.

PubMed

Bowen, S R; Nyflot, M J; Herrmann, C; Groh, C M; Meyer, J; Wollenweber, S D; Stearns, C W; Kinahan, P E; Sandison, G A

2015-05-07

Effective positron emission tomography / computed tomography (PET/CT) guidance in radiotherapy of lung cancer requires estimation and mitigation of errors due to respiratory motion. An end-to-end workflow was developed to measure patient-specific motion-induced uncertainties in imaging, treatment planning, and radiation delivery with respiratory motion phantoms and dosimeters. A custom torso phantom with inserts mimicking normal lung tissue and lung lesion was filled with [(18)F]FDG. The lung lesion insert was driven by six different patient-specific respiratory patterns or kept stationary. PET/CT images were acquired under motionless ground truth, tidal breathing motion-averaged (3D), and respiratory phase-correlated (4D) conditions. Target volumes were estimated by standardized uptake value (SUV) thresholds that accurately defined the ground-truth lesion volume. Non-uniform dose-painting plans using volumetrically modulated arc therapy were optimized for fixed normal lung and spinal cord objectives and variable PET-based target objectives. Resulting plans were delivered to a cylindrical diode array at rest, in motion on a platform driven by the same respiratory patterns (3D), or motion-compensated by a robotic couch with an infrared camera tracking system (4D). Errors were estimated relative to the static ground truth condition for mean target-to-background (T/Bmean) ratios, target volumes, planned equivalent uniform target doses, and 2%-2 mm gamma delivery passing rates. Relative to motionless ground truth conditions, PET/CT imaging errors were on the order of 10-20%, treatment planning errors were 5-10%, and treatment delivery errors were 5-30% without motion compensation. Errors from residual motion following compensation methods were reduced to 5-10% in PET/CT imaging, <5% in treatment planning, and <2% in treatment delivery. We have demonstrated that estimation of respiratory motion uncertainty and its propagation from PET/CT imaging to RT planning, and RT delivery under a dose painting paradigm is feasible within an integrated respiratory motion phantom workflow. For a limited set of cases, the magnitude of errors was comparable during PET/CT imaging and treatment delivery without motion compensation. Errors were moderately mitigated during PET/CT imaging and significantly mitigated during RT delivery with motion compensation. This dynamic motion phantom end-to-end workflow provides a method for quality assurance of 4D PET/CT-guided radiotherapy, including evaluation of respiratory motion compensation methods during imaging and treatment delivery.

Imaging and dosimetric errors in 4D PET/CT-guided radiotherapy from patient-specific respiratory patterns: a dynamic motion phantom end-to-end study

PubMed Central

Bowen, S R; Nyflot, M J; Hermann, C; Groh, C; Meyer, J; Wollenweber, S D; Stearns, C W; Kinahan, P E; Sandison, G A

2015-01-01

Effective positron emission tomography/computed tomography (PET/CT) guidance in radiotherapy of lung cancer requires estimation and mitigation of errors due to respiratory motion. An end-to-end workflow was developed to measure patient-specific motion-induced uncertainties in imaging, treatment planning, and radiation delivery with respiratory motion phantoms and dosimeters. A custom torso phantom with inserts mimicking normal lung tissue and lung lesion was filled with [18F]FDG. The lung lesion insert was driven by 6 different patient-specific respiratory patterns or kept stationary. PET/CT images were acquired under motionless ground truth, tidal breathing motion-averaged (3D), and respiratory phase-correlated (4D) conditions. Target volumes were estimated by standardized uptake value (SUV) thresholds that accurately defined the ground-truth lesion volume. Non-uniform dose-painting plans using volumetrically modulated arc therapy (VMAT) were optimized for fixed normal lung and spinal cord objectives and variable PET-based target objectives. Resulting plans were delivered to a cylindrical diode array at rest, in motion on a platform driven by the same respiratory patterns (3D), or motion-compensated by a robotic couch with an infrared camera tracking system (4D). Errors were estimated relative to the static ground truth condition for mean target-to-background (T/Bmean) ratios, target volumes, planned equivalent uniform target doses (EUD), and 2%-2mm gamma delivery passing rates. Relative to motionless ground truth conditions, PET/CT imaging errors were on the order of 10–20%, treatment planning errors were 5–10%, and treatment delivery errors were 5–30% without motion compensation. Errors from residual motion following compensation methods were reduced to 5–10% in PET/CT imaging, < 5% in treatment planning, and < 2% in treatment delivery. We have demonstrated that estimation of respiratory motion uncertainty and its propagation from PET/CT imaging to RT planning, and RT delivery under a dose painting paradigm is feasible within an integrated respiratory motion phantom workflow. For a limited set of cases, the magnitude of errors was comparable during PET/CT imaging and treatment delivery without motion compensation. Errors were moderately mitigated during PET/CT imaging and significantly mitigated during RT delivery with motion compensation. This dynamic motion phantom end-to-end workflow provides a method for quality assurance of 4D PET/CT-guided radiotherapy, including evaluation of respiratory motion compensation methods during imaging and treatment delivery. PMID:25884892

Claims, errors, and compensation payments in medical malpractice litigation.

PubMed

Studdert, David M; Mello, Michelle M; Gawande, Atul A; Gandhi, Tejal K; Kachalia, Allen; Yoon, Catherine; Puopolo, Ann Louise; Brennan, Troyen A

2006-05-11

In the current debate over tort reform, critics of the medical malpractice system charge that frivolous litigation--claims that lack evidence of injury, substandard care, or both--is common and costly. Trained physicians reviewed a random sample of 1452 closed malpractice claims from five liability insurers to determine whether a medical injury had occurred and, if so, whether it was due to medical error. We analyzed the prevalence, characteristics, litigation outcomes, and costs of claims that lacked evidence of error. For 3 percent of the claims, there were no verifiable medical injuries, and 37 percent did not involve errors. Most of the claims that were not associated with errors (370 of 515 [72 percent]) or injuries (31 of 37 [84 percent]) did not result in compensation; most that involved injuries due to error did (653 of 889 [73 percent]). Payment of claims not involving errors occurred less frequently than did the converse form of inaccuracy--nonpayment of claims associated with errors. When claims not involving errors were compensated, payments were significantly lower on average than were payments for claims involving errors (313,205 dollars vs. 521,560 dollars, P=0.004). Overall, claims not involving errors accounted for 13 to 16 percent of the system's total monetary costs. For every dollar spent on compensation, 54 cents went to administrative expenses (including those involving lawyers, experts, and courts). Claims involving errors accounted for 78 percent of total administrative costs. Claims that lack evidence of error are not uncommon, but most are denied compensation. The vast majority of expenditures go toward litigation over errors and payment of them. The overhead costs of malpractice litigation are exorbitant. Copyright 2006 Massachusetts Medical Society.

Contact-force distribution optimization and control for quadruped robots using both gradient and adaptive neural networks.

PubMed

Li, Zhijun; Ge, Shuzhi Sam; Liu, Sibang

2014-08-01

This paper investigates optimal feet forces' distribution and control of quadruped robots under external disturbance forces. First, we formulate a constrained dynamics of quadruped robots and derive a reduced-order dynamical model of motion/force. Consider an external wrench on quadruped robots; the distribution of required forces and moments on the supporting legs of a quadruped robot is handled as a tip-point force distribution and used to equilibrate the external wrench. Then, a gradient neural network is adopted to deal with the optimized objective function formulated as to minimize this quadratic objective function subjected to linear equality and inequality constraints. For the obtained optimized tip-point force and the motion of legs, we propose the hybrid motion/force control based on an adaptive neural network to compensate for the perturbations in the environment and approximate feedforward force and impedance of the leg joints. The proposed control can confront the uncertainties including approximation error and external perturbation. The verification of the proposed control is conducted using a simulation.

Feedforward compensation for novel dynamics depends on force field orientation but is similar for the left and right arms.

PubMed

Reuter, Eva-Maria; Cunnington, Ross; Mattingley, Jason B; Riek, Stephan; Carroll, Timothy J

2016-11-01

There are well-documented differences in the way that people typically perform identical motor tasks with their dominant and the nondominant arms. According to Yadav and Sainburg's (Neuroscience 196: 153-167, 2011) hybrid-control model, this is because the two arms rely to different degrees on impedance control versus predictive control processes. Here, we assessed whether differences in limb control mechanisms influence the rate of feedforward compensation to a novel dynamic environment. Seventy-five healthy, right-handed participants, divided into four subsamples depending on the arm (left, right) and direction of the force field (ipsilateral, contralateral), reached to central targets in velocity-dependent curl force fields. We assessed the rate at which participants developed predictive compensation for the force field using intermittent error-clamp trials and assessed both kinematic errors and initial aiming angles in the field trials. Participants who were exposed to fields that pushed the limb toward ipsilateral space reduced kinematic errors more slowly, built up less predictive field compensation, and relied more on strategic reaiming than those exposed to contralateral fields. However, there were no significant differences in predictive field compensation or kinematic errors between limbs, suggesting that participants using either the left or the right arm could adapt equally well to novel dynamics. It therefore appears that the distinct preferences in control mechanisms typically observed for the dominant and nondominant arms reflect a default mode that is based on habitual functional requirements rather than an absolute limit in capacity to access the controller specialized for the opposite limb. Copyright © 2016 the American Physiological Society.

Feedforward compensation for novel dynamics depends on force field orientation but is similar for the left and right arms

PubMed Central

Cunnington, Ross; Mattingley, Jason B.; Riek, Stephan; Carroll, Timothy J.

2016-01-01

There are well-documented differences in the way that people typically perform identical motor tasks with their dominant and the nondominant arms. According to Yadav and Sainburg's (Neuroscience 196: 153–167, 2011) hybrid-control model, this is because the two arms rely to different degrees on impedance control versus predictive control processes. Here, we assessed whether differences in limb control mechanisms influence the rate of feedforward compensation to a novel dynamic environment. Seventy-five healthy, right-handed participants, divided into four subsamples depending on the arm (left, right) and direction of the force field (ipsilateral, contralateral), reached to central targets in velocity-dependent curl force fields. We assessed the rate at which participants developed predictive compensation for the force field using intermittent error-clamp trials and assessed both kinematic errors and initial aiming angles in the field trials. Participants who were exposed to fields that pushed the limb toward ipsilateral space reduced kinematic errors more slowly, built up less predictive field compensation, and relied more on strategic reaiming than those exposed to contralateral fields. However, there were no significant differences in predictive field compensation or kinematic errors between limbs, suggesting that participants using either the left or the right arm could adapt equally well to novel dynamics. It therefore appears that the distinct preferences in control mechanisms typically observed for the dominant and nondominant arms reflect a default mode that is based on habitual functional requirements rather than an absolute limit in capacity to access the controller specialized for the opposite limb. PMID:27582293

Modeling and analysis of pinhole occulter experiment

NASA Technical Reports Server (NTRS)

Ring, J. R.

1986-01-01

The objectives were to improve pointing control system implementation by converting the dynamic compensator from a continuous domain representation to a discrete one; to determine pointing stability sensitivites to sensor and actuator errors by adding sensor and actuator error models to treetops and by developing an error budget for meeting pointing stability requirements; and to determine pointing performance for alternate mounting bases (space station for example).

Adaptive NN tracking control of uncertain nonlinear discrete-time systems with nonaffine dead-zone input.

PubMed

Liu, Yan-Jun; Tong, Shaocheng

2015-03-01

In the paper, an adaptive tracking control design is studied for a class of nonlinear discrete-time systems with dead-zone input. The considered systems are of the nonaffine pure-feedback form and the dead-zone input appears nonlinearly in the systems. The contributions of the paper are that: 1) it is for the first time to investigate the control problem for this class of discrete-time systems with dead-zone; 2) there are major difficulties for stabilizing such systems and in order to overcome the difficulties, the systems are transformed into an n-step-ahead predictor but nonaffine function is still existent; and 3) an adaptive compensative term is constructed to compensate for the parameters of the dead-zone. The neural networks are used to approximate the unknown functions in the transformed systems. Based on the Lyapunov theory, it is proven that all the signals in the closed-loop system are semi-globally uniformly ultimately bounded and the tracking error converges to a small neighborhood of zero. Two simulation examples are provided to verify the effectiveness of the control approach in the paper.

The impact of occupational health service network and reporting system in Taiwan.

PubMed

Chu, Po-Ching; Fuh, Hwan-Ran; Luo, Jiin-Chyuan; Du, Chung-Li; Chuang, Hung-Yi; Guo, How-Ran; Liu, Chiu-Shong; Su, Chien-Tien; Tang, Feng-Cheng; Chen, Chun-Chieh; Yang, Hsiao-Yu; Guo, Yue Leon

2013-01-01

Underreporting occupational disease cases has been a long-standing problem in Taiwan, which hinders the progress in occupational health and safety. To address this problem, the government has founded the Network of Occupational Diseases and Injuries Service (NODIS) for occupational disease and injury services and established a new Internet-based reporting system. The aims of this study are to analyze the possible influence of the NODIS, comprised of Center for Occupational Disease and Injury Services and their local network hospitals, on compensable occupational diseases and describe the distribution of occupational diseases across occupations and industries from 2005 to 2010 in Taiwan. We conducted a secondary analysis of two datasets, including the NODIS reporting dataset and the National Labor Insurance scheme's dataset of compensated cases. For the NODIS dataset, demographics, disease distribution, and the time trends of occupational diseases were analyzed. The data of the Labor Insurance dataset was used to calculate the annual incidence of compensated cases. Furthermore, the annual incidence of reported occupational diseases from the NODIS was further compared with the annual incidence of compensable occupational diseases from the compensated dataset during the same period. After the establishment of the NODIS, the two annual incidence rates of reported and compensable occupational disease cases have increased by 1.2 and 2.0 folds from 2007 to 2010, respectively. The reason for this increased reporting may be the implementation of the new government-funded Internet-based system. The reason for the increased compensable cases may be the increasing availability of hospitals and clinics to provide occupational health services. During the 2008-2010 period, the most frequently reported occupational diseases were carpal tunnel syndrome, lumbar disc disorder, upper limb musculoskeletal disorders, and contact dermatitis. The new network and reporting system was successful in providing more occupational health services, providing more workers with compensation for occupational diseases, and reducing underreporting of occupational diseases. Therefore, the experience in Taiwan could serve as an example for other newly developed countries in a similar situation.

Complete PMD compensation in 40-Gbit/s optical transmission system

NASA Astrophysics Data System (ADS)

Luo, Rui; Li, Tangjun; Wang, Muguang; Cui, Jie; Jian, Shuisheng

2004-04-01

In this paper, we successfully demonstrated automatic PMD compensation in 40Gbit/s NRZ transmission for the first time. Using a PMD monitor of 20GHz intensity extracted from the receive 40Gbit/s NRZ base band signal, we accomplished the feedback control of an optical PMD compensator consisting of a polarization controller and a polarization-maintaining fiber. And we report the statistical assessment of an adaptive optical PMD compensator at 40Gbit/s. The mitigator, described in, is experimentally tested in many PMD conditions (not limited to first order) covering Maxwellian-like PMD statistics. Experimental results, including bit error rate measurements, are successfully compared with theory, hereby demonstrating the compensator efficiency at 40Gbit/s. Furthermore, this letter introduces a two-stage PMD compensator. Our experimental results shows that, the compensators based on the two-stages of compensator can be used to PMD compensation in a 40Gbit/s OTDM system with 60 km high PMD fiber. The first-order PMD was max.274ps before PMD compensation. It was smaller than 7ps after PMD compensation. At the same time, the tunable FBG have a function of dispersion compensation.

Study of wave form compensation at CSNS/RCS magnets

NASA Astrophysics Data System (ADS)

Xu, S. Y.; Fu, S. N.; Wang, S.; Kang, W.; Qi, X.; Li, L.; Deng, C. D.; Zhou, J. X.

2018-07-01

A method of wave form compensation for magnets of the Rapid Cycling Synchrotron (RCS), which is based on transfer function between magnetic field and exciting current, was investigated on the magnets of RCS of Chinese Spallation Neutron Source (CSNS). By performing wave form compensation, the magnetic field ramping function for RCS magnets can be accurately controlled to the given wave form, which is not limited to sine function. The method of wave form compensation introduced in this paper can be used to reduce the magnetic field tracking errors, and can also be used to accurately control the betatron tune for RCS.

Two-Dimensional Micro-/Nanoradian Angle Generator with High Resolution and Repeatability Based on Piezo-Driven Double-Axis Flexure Hinge and Three Capacitive Sensors.

PubMed

Tan, Xinran; Zhu, Fan; Wang, Chao; Yu, Yang; Shi, Jian; Qi, Xue; Yuan, Feng; Tan, Jiubin

2017-11-19

This study presents a two-dimensional micro-/nanoradian angle generator (2D-MNAG) that achieves high angular displacement resolution and repeatability using a piezo-driven flexure hinge for two-dimensional deflections and three capacitive sensors for output angle monitoring and feedback control. The principal error of the capacitive sensor for precision microangle measurement is analyzed and compensated for; so as to achieve a high angle output resolution of 10 nrad (0.002 arcsec) and positioning repeatability of 120 nrad (0.024 arcsec) over a large angular range of ±4363 μrad (±900 arcsec) for the 2D-MNAG. The impact of each error component, together with the synthetic error of the 2D-MNAG after principal error compensation are determined using Monte Carlo simulation for further improvement of the 2D-MNAG.

Two-Dimensional Micro-/Nanoradian Angle Generator with High Resolution and Repeatability Based on Piezo-Driven Double-Axis Flexure Hinge and Three Capacitive Sensors

PubMed Central

Tan, Xinran; Zhu, Fan; Wang, Chao; Yu, Yang; Shi, Jian; Qi, Xue; Yuan, Feng; Tan, Jiubin

2017-01-01

This study presents a two-dimensional micro-/nanoradian angle generator (2D-MNAG) that achieves high angular displacement resolution and repeatability using a piezo-driven flexure hinge for two-dimensional deflections and three capacitive sensors for output angle monitoring and feedback control. The principal error of the capacitive sensor for precision microangle measurement is analyzed and compensated for; so as to achieve a high angle output resolution of 10 nrad (0.002 arcsec) and positioning repeatability of 120 nrad (0.024 arcsec) over a large angular range of ±4363 μrad (±900 arcsec) for the 2D-MNAG. The impact of each error component, together with the synthetic error of the 2D-MNAG after principal error compensation are determined using Monte Carlo simulation for further improvement of the 2D-MNAG. PMID:29156595

Gaze Compensation as a Technique for Improving Hand–Eye Coordination in Prosthetic Vision

PubMed Central

Titchener, Samuel A.; Shivdasani, Mohit N.; Fallon, James B.; Petoe, Matthew A.

2018-01-01

Purpose Shifting the region-of-interest within the input image to compensate for gaze shifts (“gaze compensation”) may improve hand–eye coordination in visual prostheses that incorporate an external camera. The present study investigated the effects of eye movement on hand-eye coordination under simulated prosthetic vision (SPV), and measured the coordination benefits of gaze compensation. Methods Seven healthy-sighted subjects performed a target localization-pointing task under SPV. Three conditions were tested, modeling: retinally stabilized phosphenes (uncompensated); gaze compensation; and no phosphene movement (center-fixed). The error in pointing was quantified for each condition. Results Gaze compensation yielded a significantly smaller pointing error than the uncompensated condition for six of seven subjects, and a similar or smaller pointing error than the center-fixed condition for all subjects (two-way ANOVA, P < 0.05). Pointing error eccentricity and gaze eccentricity were moderately correlated in the uncompensated condition (azimuth: R2 = 0.47; elevation: R2 = 0.51) but not in the gaze-compensated condition (azimuth: R2 = 0.01; elevation: R2 = 0.00). Increased variability in gaze at the time of pointing was correlated with greater reduction in pointing error in the center-fixed condition compared with the uncompensated condition (R2 = 0.64). Conclusions Eccentric eye position impedes hand–eye coordination in SPV. While limiting eye eccentricity in uncompensated viewing can reduce errors, gaze compensation is effective in improving coordination for subjects unable to maintain fixation. Translational Relevance The results highlight the present necessity for suppressing eye movement and support the use of gaze compensation to improve hand–eye coordination and localization performance in prosthetic vision. PMID:29321945

Compensation strategy for machining optical freeform surfaces by the combined on- and off-machine measurement.

PubMed

Zhang, Xiaodong; Zeng, Zhen; Liu, Xianlei; Fang, Fengzhou

2015-09-21

Freeform surface is promising to be the next generation optics, however it needs high form accuracy for excellent performance. The closed-loop of fabrication-measurement-compensation is necessary for the improvement of the form accuracy. It is difficult to do an off-machine measurement during the freeform machining because the remounting inaccuracy can result in significant form deviations. On the other side, on-machine measurement may hides the systematic errors of the machine because the measuring device is placed in situ on the machine. This study proposes a new compensation strategy based on the combination of on-machine and off-machine measurement. The freeform surface is measured in off-machine mode with nanometric accuracy, and the on-machine probe achieves accurate relative position between the workpiece and machine after remounting. The compensation cutting path is generated according to the calculated relative position and shape errors to avoid employing extra manual adjustment or highly accurate reference-feature fixture. Experimental results verified the effectiveness of the proposed method.

Compensation of kinematic geometric parameters error and comparative study of accuracy testing for robot

NASA Astrophysics Data System (ADS)

Du, Liang; Shi, Guangming; Guan, Weibin; Zhong, Yuansheng; Li, Jin

2014-12-01

Geometric error is the main error of the industrial robot, and it plays a more significantly important fact than other error facts for robot. The compensation model of kinematic error is proposed in this article. Many methods can be used to test the robot accuracy, therefore, how to compare which method is better one. In this article, a method is used to compare two methods for robot accuracy testing. It used Laser Tracker System (LTS) and Three Coordinate Measuring instrument (TCM) to test the robot accuracy according to standard. According to the compensation result, it gets the better method which can improve the robot accuracy apparently.

A high accuracy magnetic heading system composed of fluxgate magnetometers and a microcomputer

NASA Astrophysics Data System (ADS)

Liu, Sheng-Wu; Zhang, Zhao-Nian; Hung, James C.

The authors present a magnetic heading system consisting of two fluxgate magnetometers and a single-chip microcomputer. The system, when compared to gyro compasses, is smaller in size, lighter in weight, simpler in construction, quicker in reaction time, free from drift, and more reliable. Using a microcomputer in the system, heading error due to compass deviation, sensor offsets, scale factor uncertainty, and sensor tilts can be compensated with the help of an error model. The laboratory test of a typical system showed that the accuracy of the system was improved from more than 8 deg error without error compensation to less than 0.3 deg error with compensation.

Semiparametric modeling: Correcting low-dimensional model error in parametric models

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

Berry, Tyrus, E-mail: thb11@psu.edu; Harlim, John, E-mail: jharlim@psu.edu; Department of Meteorology, the Pennsylvania State University, 503 Walker Building, University Park, PA 16802-5013

2016-03-01

In this paper, a semiparametric modeling approach is introduced as a paradigm for addressing model error arising from unresolved physical phenomena. Our approach compensates for model error by learning an auxiliary dynamical model for the unknown parameters. Practically, the proposed approach consists of the following steps. Given a physics-based model and a noisy data set of historical observations, a Bayesian filtering algorithm is used to extract a time-series of the parameter values. Subsequently, the diffusion forecast algorithm is applied to the retrieved time-series in order to construct the auxiliary model for the time evolving parameters. The semiparametric forecasting algorithm consistsmore » of integrating the existing physics-based model with an ensemble of parameters sampled from the probability density function of the diffusion forecast. To specify initial conditions for the diffusion forecast, a Bayesian semiparametric filtering method that extends the Kalman-based filtering framework is introduced. In difficult test examples, which introduce chaotically and stochastically evolving hidden parameters into the Lorenz-96 model, we show that our approach can effectively compensate for model error, with forecasting skill comparable to that of the perfect model.« less

Social aspects of clinical errors.

PubMed

Richman, Joel; Mason, Tom; Mason-Whitehead, Elizabeth; McIntosh, Annette; Mercer, Dave

2009-08-01

Clinical errors, whether committed by doctors, nurses or other professions allied to healthcare, remain a sensitive issue requiring open debate and policy formulation in order to reduce them. The literature suggests that the issues underpinning errors made by healthcare professionals involve concerns about patient safety, professional disclosure, apology, litigation, compensation, processes of recording and policy development to enhance quality service. Anecdotally, we are aware of narratives of minor errors, which may well have been covered up and remain officially undisclosed whilst the major errors resulting in damage and death to patients alarm both professionals and public with resultant litigation and compensation. This paper attempts to unravel some of these issues by highlighting the historical nature of clinical errors and drawing parallels to contemporary times by outlining the 'compensation culture'. We then provide an overview of what constitutes a clinical error and review the healthcare professional strategies for managing such errors.

Artificial neural network implementation of a near-ideal error prediction controller

NASA Technical Reports Server (NTRS)

Mcvey, Eugene S.; Taylor, Lynore Denise

1992-01-01

A theory has been developed at the University of Virginia which explains the effects of including an ideal predictor in the forward loop of a linear error-sampled system. It has been shown that the presence of this ideal predictor tends to stabilize the class of systems considered. A prediction controller is merely a system which anticipates a signal or part of a signal before it actually occurs. It is understood that an exact prediction controller is physically unrealizable. However, in systems where the input tends to be repetitive or limited, (i.e., not random) near ideal prediction is possible. In order for the controller to act as a stability compensator, the predictor must be designed in a way that allows it to learn the expected error response of the system. In this way, an unstable system will become stable by including the predicted error in the system transfer function. Previous and current prediction controller include pattern recognition developments and fast-time simulation which are applicable to the analysis of linear sampled data type systems. The use of pattern recognition techniques, along with a template matching scheme, has been proposed as one realizable type of near-ideal prediction. Since many, if not most, systems are repeatedly subjected to similar inputs, it was proposed that an adaptive mechanism be used to 'learn' the correct predicted error response. Once the system has learned the response of all the expected inputs, it is necessary only to recognize the type of input with a template matching mechanism and then to use the correct predicted error to drive the system. Suggested here is an alternate approach to the realization of a near-ideal error prediction controller, one designed using Neural Networks. Neural Networks are good at recognizing patterns such as system responses, and the back-propagation architecture makes use of a template matching scheme. In using this type of error prediction, it is assumed that the system error responses be known for a particular input and modeled plant. These responses are used in the error prediction controller. An analysis was done on the general dynamic behavior that results from including a digital error predictor in a control loop and these were compared to those including the near-ideal Neural Network error predictor. This analysis was done for a second and third order system.

Fronto-Parietal Subnetworks Flexibility Compensates For Cognitive Decline Due To Mental Fatigue.

PubMed

Taya, Fumihiko; Dimitriadis, Stavros I; Dragomir, Andrei; Lim, Julian; Sun, Yu; Wong, Kian Foong; Thakor, Nitish V; Bezerianos, Anastasios

2018-04-24

Fronto-parietal subnetworks were revealed to compensate for cognitive decline due to mental fatigue by community structure analysis. Here, we investigate changes in topology of subnetworks of resting-state fMRI networks due to mental fatigue induced by prolonged performance of a cognitively demanding task, and their associations with cognitive decline. As it is well established that brain networks have modular organization, community structure analyses can provide valuable information about mesoscale network organization and serve as a bridge between standard fMRI approaches and brain connectomics that quantify the topology of whole brain networks. We developed inter- and intramodule network metrics to quantify topological characteristics of subnetworks, based on our hypothesis that mental fatigue would impact on functional relationships of subnetworks. Functional networks were constructed with wavelet correlation and a data-driven thresholding scheme based on orthogonal minimum spanning trees, which allowed detection of communities with weak connections. A change from pre- to posttask runs was found for the intermodule density between the frontal and the temporal subnetworks. Seven inter- or intramodule network metrics, mostly at the frontal or the parietal subnetworks, showed significant predictive power of individual cognitive decline, while the network metrics for the whole network were less effective in the predictions. Our results suggest that the control-type fronto-parietal networks have a flexible topological architecture to compensate for declining cognitive ability due to mental fatigue. This community structure analysis provides valuable insight into connectivity dynamics under different cognitive states including mental fatigue. © 2018 Wiley Periodicals, Inc.

Magnitude error bounds for sampled-data frequency response obtained from the truncation of an infinite series, and compensator improvement program

NASA Technical Reports Server (NTRS)

Mitchell, J. R.

1972-01-01

The frequency response method of analyzing control system performance is discussed, and the difficulty of obtaining the sampled frequency response of the continuous system is considered. An upper bound magnitude error equation is obtained which yields reasonable estimates of the actual error. Finalization of the compensator improvement program is also reported, and the program was used to design compensators for Saturn 5/S1-C dry workshop and Saturn 5/S1-C Skylab.

The high accuracy data processing system of laser interferometry signals based on MSP430

NASA Astrophysics Data System (ADS)

Qi, Yong-yue; Lin, Yu-chi; Zhao, Mei-rong

2009-07-01

Generally speaking there are two orthogonal signals used in single-frequency laser interferometer for differentiating direction and electronic subdivision. However there usually exist three errors with the interferential signals: zero offsets error, unequal amplitude error and quadrature phase shift error. These three errors have a serious impact on subdivision precision. Based on Heydemann error compensation algorithm, it is proposed to achieve compensation of the three errors. Due to complicated operation of the Heydemann mode, a improved arithmetic is advanced to decrease the calculating time effectively in accordance with the special characteristic that only one item of data will be changed in each fitting algorithm operation. Then a real-time and dynamic compensatory circuit is designed. Taking microchip MSP430 as the core of hardware system, two input signals with the three errors are turned into digital quantity by the AD7862. After data processing in line with improved arithmetic, two ideal signals without errors are output by the AD7225. At the same time two original signals are turned into relevant square wave and imported to the differentiating direction circuit. The impulse exported from the distinguishing direction circuit is counted by the timer of the microchip. According to the number of the pulse and the soft subdivision the final result is showed by LED. The arithmetic and the circuit are adopted to test the capability of a laser interferometer with 8 times optical path difference and the measuring accuracy of 12-14nm is achieved.

A simple method for evaluating the wavefront compensation error of diffractive liquid-crystal wavefront correctors.

PubMed

Cao, Zhaoliang; Mu, Quanquan; Hu, Lifa; Lu, Xinghai; Xuan, Li

2009-09-28

A simple method for evaluating the wavefront compensation error of diffractive liquid-crystal wavefront correctors (DLCWFCs) for atmospheric turbulence correction is reported. A simple formula which describes the relationship between pixel number, DLCWFC aperture, quantization level, and atmospheric coherence length was derived based on the calculated atmospheric turbulence wavefronts using Kolmogorov atmospheric turbulence theory. It was found that the pixel number across the DLCWFC aperture is a linear function of the telescope aperture and the quantization level, and it is an exponential function of the atmosphere coherence length. These results are useful for people using DLCWFCs in atmospheric turbulence correction for large-aperture telescopes.

Neural network approximation of nonlinearity in laser nano-metrology system based on TLMI

NASA Astrophysics Data System (ADS)

Olyaee, Saeed; Hamedi, Samaneh

2011-02-01

In this paper, an approach based on neural network (NN) for nonlinearity modeling in a nano-metrology system using three-longitudinal-mode laser heterodyne interferometer (TLMI) for length and displacement measurements is presented. We model nonlinearity errors that arise from elliptically and non-orthogonally polarized laser beams, rotational error in the alignment of laser head with respect to the polarizing beam splitter, rotational error in the alignment of the mixing polarizer, and unequal transmission coefficients in the polarizing beam splitter. Here we use a neural network algorithm based on the multi-layer perceptron (MLP) network. The simulation results show that multi-layer feed forward perceptron network is successfully applicable to real noisy interferometer signals.

Low-Frequency Error Extraction and Compensation for Attitude Measurements from STECE Star Tracker

PubMed Central

Lai, Yuwang; Gu, Defeng; Liu, Junhong; Li, Wenping; Yi, Dongyun

2016-01-01

The low frequency errors (LFE) of star trackers are the most penalizing errors for high-accuracy satellite attitude determination. Two test star trackers- have been mounted on the Space Technology Experiment and Climate Exploration (STECE) satellite, a small satellite mission developed by China. To extract and compensate the LFE of the attitude measurements for the two test star trackers, a new approach, called Fourier analysis, combined with the Vondrak filter method (FAVF) is proposed in this paper. Firstly, the LFE of the two test star trackers’ attitude measurements are analyzed and extracted by the FAVF method. The remarkable orbital reproducibility features are found in both of the two test star trackers’ attitude measurements. Then, by using the reproducibility feature of the LFE, the two star trackers’ LFE patterns are estimated effectively. Finally, based on the actual LFE pattern results, this paper presents a new LFE compensation strategy. The validity and effectiveness of the proposed LFE compensation algorithm is demonstrated by the significant improvement in the consistency between the two test star trackers. The root mean square (RMS) of the relative Euler angle residuals are reduced from [27.95′′, 25.14′′, 82.43′′], 3σ to [16.12′′, 15.89′′, 53.27′′], 3σ. PMID:27754320

Low-Frequency Error Extraction and Compensation for Attitude Measurements from STECE Star Tracker.

PubMed

Lai, Yuwang; Gu, Defeng; Liu, Junhong; Li, Wenping; Yi, Dongyun

2016-10-12

The low frequency errors (LFE) of star trackers are the most penalizing errors for high-accuracy satellite attitude determination. Two test star trackers- have been mounted on the Space Technology Experiment and Climate Exploration (STECE) satellite, a small satellite mission developed by China. To extract and compensate the LFE of the attitude measurements for the two test star trackers, a new approach, called Fourier analysis, combined with the Vondrak filter method (FAVF) is proposed in this paper. Firstly, the LFE of the two test star trackers' attitude measurements are analyzed and extracted by the FAVF method. The remarkable orbital reproducibility features are found in both of the two test star trackers' attitude measurements. Then, by using the reproducibility feature of the LFE, the two star trackers' LFE patterns are estimated effectively. Finally, based on the actual LFE pattern results, this paper presents a new LFE compensation strategy. The validity and effectiveness of the proposed LFE compensation algorithm is demonstrated by the significant improvement in the consistency between the two test star trackers. The root mean square (RMS) of the relative Euler angle residuals are reduced from [27.95'', 25.14'', 82.43''], 3σ to [16.12'', 15.89'', 53.27''], 3σ.

Design considerations for a suboptimal Kalman filter

NASA Astrophysics Data System (ADS)

Difilippo, D. J.

1995-06-01

In designing a suboptimal Kalman filter, the designer must decide how to simplify the system error model without causing the filter estimation errors to increase to unacceptable levels. Deletion of certain error states and decoupling of error state dynamics are the two principal model simplifications that are commonly used in suboptimal filter design. For the most part, the decisions as to which error states can be deleted or decoupled are based on the designer's understanding of the physics of the particular system. Consequently, the details of a suboptimal design are usually unique to the specific application. In this paper, the process of designing a suboptimal Kalman filter is illustrated for the case of an airborne transfer-of-alignment (TOA) system used for synthetic aperture radar (SAR) motion compensation. In this application, the filter must continuously transfer the alignment of an onboard Doppler-damped master inertial navigation system (INS) to a strapdown navigator that processes information from a less accurate inertial measurement unit (IMU) mounted on the radar antenna. The IMU is used to measure spurious antenna motion during the SAR imaging interval, so that compensating phase corrections can be computed and applied to the radar returns, thereby presenting image degradation that would otherwise result from such motions. The principles of SAR are described in many references, for instance. The primary function of the TOA Kalman filter in a SAR motion compensation system is to control strapdown navigator attitude errors, and to a less degree, velocity and heading errors. Unlike a classical navigation application, absolute positional accuracy is not important. The motion compensation requirements for SAR imaging are discussed in some detail. This TOA application is particularly appropriate as a vehicle for discussing suboptimal filter design, because the system contains features that can be exploited to allow both deletion and decoupling of error states. In Section 2, a high-level background description of a SAR motion compensation system that incorporates a TOA Kalman filter is given. The optimal TOA filter design is presented in Section 3 with some simulation results to indicate potential filter performance. In Section 4, the suboptimal Kalman filter configuration is derived. Simulation results are also shown in this section to allow comparision between suboptimal and optimal filter performances. Conclusions are contained in Section 5.

Advanced digital signal processing for short-haul and access network

NASA Astrophysics Data System (ADS)

Zhang, Junwen; Yu, Jianjun; Chi, Nan

2016-02-01

Digital signal processing (DSP) has been proved to be a successful technology recently in high speed and high spectrum-efficiency optical short-haul and access network, which enables high performances based on digital equalizations and compensations. In this paper, we investigate advanced DSP at the transmitter and receiver side for signal pre-equalization and post-equalization in an optical access network. A novel DSP-based digital and optical pre-equalization scheme has been proposed for bandwidth-limited high speed short-distance communication system, which is based on the feedback of receiver-side adaptive equalizers, such as least-mean-squares (LMS) algorithm and constant or multi-modulus algorithms (CMA, MMA). Based on this scheme, we experimentally demonstrate 400GE on a single optical carrier based on the highest ETDM 120-GBaud PDM-PAM-4 signal, using one external modulator and coherent detection. A line rate of 480-Gb/s is achieved, which enables 20% forward-error correction (FEC) overhead to keep the 400-Gb/s net information rate. The performance after fiber transmission shows large margin for both short range and metro/regional networks. We also extend the advanced DSP for short haul optical access networks by using high order QAMs. We propose and demonstrate a high speed multi-band CAP-WDM-PON system on intensity modulation, direct detection and digital equalizations. A hybrid modified cascaded MMA post-equalization schemes are used to equalize the multi-band CAP-mQAM signals. Using this scheme, we successfully demonstrates 550Gb/s high capacity WDMPON system with 11 WDM channels, 55 sub-bands, and 10-Gb/s per user in the downstream over 40-km SMF.

Improved Spatial Registration and Target Tracking Method for Sensors on Multiple Missiles.

PubMed

Lu, Xiaodong; Xie, Yuting; Zhou, Jun

2018-05-27

Inspired by the problem that the current spatial registration methods are unsuitable for three-dimensional (3-D) sensor on high-dynamic platform, this paper focuses on the estimation for the registration errors of cooperative missiles and motion states of maneuvering target. There are two types of errors being discussed: sensor measurement biases and attitude biases. Firstly, an improved Kalman Filter on Earth-Centered Earth-Fixed (ECEF-KF) coordinate algorithm is proposed to estimate the deviations mentioned above, from which the outcomes are furtherly compensated to the error terms. Secondly, the Pseudo Linear Kalman Filter (PLKF) and the nonlinear scheme the Unscented Kalman Filter (UKF) with modified inputs are employed for target tracking. The convergence of filtering results are monitored by a position-judgement logic, and a low-pass first order filter is selectively introduced before compensation to inhibit the jitter of estimations. In the simulation, the ECEF-KF enhancement is proven to improve the accuracy and robustness of the space alignment, while the conditional-compensation-based PLKF method is demonstrated to be the optimal performance in target tracking.

Non-binary LDPC-coded modulation for high-speed optical metro networks with backpropagation

NASA Astrophysics Data System (ADS)

Arabaci, Murat; Djordjevic, Ivan B.; Saunders, Ross; Marcoccia, Roberto M.

2010-01-01

To simultaneously mitigate the linear and nonlinear channel impairments in high-speed optical communications, we propose the use of non-binary low-density-parity-check-coded modulation in combination with a coarse backpropagation method. By employing backpropagation, we reduce the memory in the channel and in return obtain significant reductions in the complexity of the channel equalizer which is exponentially proportional to the channel memory. We then compensate for the remaining channel distortions using forward error correction based on non-binary LDPC codes. We propose non-binary-LDPC-coded modulation scheme because, compared to bit-interleaved binary-LDPC-coded modulation scheme employing turbo equalization, the proposed scheme lowers the computational complexity and latency of the overall system while providing impressively larger coding gains.

Generalized algebraic scene-based nonuniformity correction algorithm.

PubMed

Ratliff, Bradley M; Hayat, Majeed M; Tyo, J Scott

2005-02-01

A generalization of a recently developed algebraic scene-based nonuniformity correction algorithm for focal plane array (FPA) sensors is presented. The new technique uses pairs of image frames exhibiting arbitrary one- or two-dimensional translational motion to compute compensator quantities that are then used to remove nonuniformity in the bias of the FPA response. Unlike its predecessor, the generalization does not require the use of either a blackbody calibration target or a shutter. The algorithm has a low computational overhead, lending itself to real-time hardware implementation. The high-quality correction ability of this technique is demonstrated through application to real IR data from both cooled and uncooled infrared FPAs. A theoretical and experimental error analysis is performed to study the accuracy of the bias compensator estimates in the presence of two main sources of error.

Colorimetric characterization models based on colorimetric characteristics evaluation for active matrix organic light emitting diode panels.

PubMed

Gong, Rui; Xu, Haisong; Tong, Qingfen

2012-10-20

The colorimetric characterization of active matrix organic light emitting diode (AMOLED) panels suffers from their poor channel independence. Based on the colorimetric characteristics evaluation of channel independence and chromaticity constancy, an accurate colorimetric characterization method, namely, the polynomial compensation model (PC model) considering channel interactions was proposed for AMOLED panels. In this model, polynomial expressions are employed to calculate the relationship between the prediction errors of XYZ tristimulus values and the digital inputs to compensate the XYZ prediction errors of the conventional piecewise linear interpolation assuming the variable chromaticity coordinates (PLVC) model. The experimental results indicated that the proposed PC model outperformed other typical characterization models for the two tested AMOLED smart-phone displays and for the professional liquid crystal display monitor as well.

A nationwide descriptive study of obstetric claims for compensation in Norway.

PubMed

Andreasen, Stine; Backe, Bjørn; Jørstad, Rolf Gunnar; Oian, Pål

2012-10-01

To describe causes of substandard care in obstetric compensation claims. A nationwide descriptive study in Norway. All obstetric patients who believed themselves inflicted with injuries by the Health Service and applying for compensation. Data were collected from 871 claims to The Norwegian System of Compensation to Patients during 1994-2008, of which 278 were awarded compensation. Type of injury and cause of substandard care. Of 871 cases, 278 (31.9%) resulted in compensation. Of those, asphyxia was the most common type of injury to the child (83.4%). Anal sphincter tear (29.9%) and infection (23.0%) were the most common types of injury to the mother. Human error, both by midwives (37.1% of all cases given compensation) and obstetricians (51.2%), was an important contributing factor in inadequate obstetric care. Neglecting signs of fetal distress (28.1%), more competent health workers not being called when appropriate (26.3%) and inadequate fetal monitoring (17.3%) were often observed. System errors such as time conflicts, neglecting written guidelines and poor organization of the department were infrequent causes of injury (8.3%). Fetal asphyxia is the most common reason for compensation, resulting in large financial expenses to society. Human error contributes to inadequate health care in 92% of obstetric compensation claims, although underlying system errors may also be present. © 2012 The Authors Acta Obstetricia et Gynecologica Scandinavica© 2012 Nordic Federation of Societies of Obstetrics and Gynecology.

Adaptive back-stepping control of the harmonic drive system with LuGre model-based friction compensation

NASA Astrophysics Data System (ADS)

Liu, Sen; Gang, Tieqiang

2018-03-01

Harmonic drives are widely used in aerospace and industrial robots. Flexibility, friction and parameter uncertainty will result in transmission performance degradation. In this paper, an adaptive back-stepping method with friction compensation is proposed to improve the tracking performance of the harmonic drive system. The nonlinear friction is described by LuGre model and compensated with a friction observer, and the uncertainty of model parameters is resolved by adaptive parameter estimation method. By using Lyapunov stability theory, it is proved that all the errors of the closed-loop system are uniformly ultimately bounded. Simulations illustrate the effectiveness of our friction compensation method.

A method for calibration of Soleil-Babinet compensator using a spectrophotometer

NASA Astrophysics Data System (ADS)

Wang, Jun; Chen, Lei; Li, Bo; Shi, Lili; Luo, Ting

2010-06-01

A method using a spectrophotometer for calibrating Soleil-Babinet compensator is proposed. It is based on the spectroscopic method which utilizes the relation between transmittance and wavelength to obtain retardation. By placing a multiple order half wave plate behind the Soleil-Babinet compensator, zero-order retardation can be measured, which is difficult to accomplish by spectroscopic method. In the experiment, the retardations of the compensator in the range 0- λ are measured. It is demonstrated that the precision of retardation is 0.45 nm at the position 0 and λ while the maximum error is less than 1 nm between the two positions.

Further evaluation of the constrained least squares electromagnetic compensation method

NASA Technical Reports Server (NTRS)

Smith, William T.

1991-01-01

Technologies exist for construction of antennas with adaptive surfaces that can compensate for many of the larger distortions caused by thermal and gravitational forces. However, as the frequency and size of reflectors increase, the subtle surface errors become significant and degrade the overall electromagnetic performance. Electromagnetic (EM) compensation through an adaptive feed array offers means for mitigation of surface distortion effects. Implementation of EM compensation is investigated with the measured surface errors of the NASA 15 meter hoop/column reflector antenna. Computer simulations are presented for: (1) a hybrid EM compensation technique, and (2) evaluating the performance of a given EM compensation method when implemented with discretized weights.

Self-homodyne optical OFDM for broadband WDM-PONs with crosstalk-free remodulation and enhanced tolerance to Rayleigh noise

NASA Astrophysics Data System (ADS)

Lyu, WeiChao; Wang, Andong; Xie, Dequan; Zhu, Long; Guan, Xun; Wang, Jian; Xu, Jing

2018-05-01

We propose a novel architecture for wavelength-division-multiplexed passive optical network (WDM-PON) that can simultaneously circumvent both remodulation crosstalk and Rayleigh noise, based on self-homodyne detection and optical orthogonal frequency-division multiplexing (OFDM) remodulation. The proposed self-homodyne detection at optical network unit (ONU) requires neither frequency offset compensation nor phase noise compensation, and thus can significantly reduce system complexity and power consumption. Bidirectional transmission of 12.5 Gb/s down- and up-stream signals, via single 25 km single-mode fiber without dispersion compensation, is demonstrated in a proof-of-concept experiment.

Intelligent measurement and compensation of linear motor force ripple: a projection-based learning approach in the presence of noise

NASA Astrophysics Data System (ADS)

Liu, Yang; Song, Fazhi; Yang, Xiaofeng; Dong, Yue; Tan, Jiubin

2018-06-01

Due to their structural simplicity, linear motors are increasingly receiving attention for use in high velocity and high precision applications. The force ripple, as a space-periodic disturbance, however, would deteriorate the achievable dynamic performance. Conventional force ripple measurement approaches are time-consuming and have high requirements on the experimental conditions. In this paper, a novel learning identification algorithm is proposed for force ripple intelligent measurement and compensation. Existing identification schemes always use all the error signals to update the parameters in the force ripple. However, the error induced by noise is non-effective for force ripple identification, and even deteriorates the identification process. In this paper only the most pertinent information in the error signal is utilized for force ripple identification. Firstly, the effective error signals caused by the reference trajectory and the force ripple are extracted by projecting the overall error signals onto a subspace spanned by the physical model of the linear motor as well as the sinusoidal model of the force ripple. The time delay in the linear motor is compensated in the basis functions. Then, a data-driven approach is proposed to design the learning gain. It balances the trade-off between convergence speed and robustness against noise. Simulation and experimental results validate the proposed method and confirm its effectiveness and superiority.

Feasibility study on image guided patient positioning for stereotactic body radiation therapy of liver malignancies guided by liver motion.

PubMed

Heinz, Christian; Gerum, Sabine; Freislederer, Philipp; Ganswindt, Ute; Roeder, Falk; Corradini, Stefanie; Belka, Claus; Niyazi, Maximilian

2016-06-27

Fiducial markers are the superior method to compensate for interfractional motion in liver SBRT. However this method is invasive and thereby limits its application range. In this retrospective study, the compensation method for the interfractional motion using fiducial markers (gold standard) was compared to a new non-invasive approach, which does rely on the organ motion of the liver and the relative tumor position within this volume. We analyzed six patients (3 m, 3f) treated with SBRT in 2014. After fiducial marker implantation, all patients received a treatment CT (free breathing, without abdominal compression) and a 4D-CT (consisting of 10 respiratory phases). For all patients the gross tumor volumes (GTVs), internal target volume (ITV), planning target volume (PTV), internal marker target volumes (IMTVs) and the internal liver target volume (ILTV) were delineated based on the CT and 4D-CT images. CBCT imaging was used for the standard treatment setup based on the fiducial markers. According to the patient coordinates the 3 translational compensation values (t x , t y , t z ) for the interfractional motion were calculated by matching the blurred fiducial markers with the corresponding IMTV structures. 4 observers were requested to recalculate the translational compensation values for each CBCT (31) based on the ILTV structures. The differences of the translational compensation values between the IMTV and ILTV approach were analyzed. The magnitude of the mean absolute 3D registration error with regard to the gold standard overall patients and observers was 0.50 cm ± 0.28 cm. Individual registration errors up to 1.3 cm were observed. There was no significant overall linear correlation between the respiratory motion and the registration error of the ILTV approach. Two different methods to calculate the translational compensation values for interfractional motion in stereotactic liver therapy were evaluated. The registration accuracy of the ILTV approach is mainly limited by the non-rigid behavior of the liver and the individual registration experience of the observer. The ILTV approach lacks the accuracy that would be desired for stereotactic radiotherapy of the liver.

Robust independent modal space control of a coupled nano-positioning piezo-stage

NASA Astrophysics Data System (ADS)

Zhu, Wei; Yang, Fufeng; Rui, Xiaoting

2018-06-01

In order to accurately control a coupled 3-DOF nano-positioning piezo-stage, this paper designs a hybrid controller. In this controller, a hysteresis observer based on a Bouc-Wen model is established to compensate the hysteresis nonlinearity of the piezoelectric actuator first. Compared to hysteresis compensations using Preisach model and Prandt-Ishlinskii model, the compensation method using the hysteresis observer is computationally lighter. Then, based on the proposed dynamics model, by constructing the modal filter, a robust H∞ independent modal space controller is designed and utilized to decouple the piezo-stage and deal with the unmodeled dynamics, disturbance, and hysteresis compensation error. The effectiveness of the proposed controller is demonstrated experimentally. The experimental results show that the proposed controller can significantly achieve the high-precision positioning.

Forging a novel provider and payer partnership in Wisconsin to compensate pharmacists for quality-driven pharmacy and medication therapy management services.

PubMed

Trapskin, Kari; Johnson, Curtis; Cory, Patrick; Sorum, Sarah; Decker, Chris

2009-01-01

To describe the Wisconsin Pharmacy Quality Collaborative (WPQC), a quality-based network of pharmacies and payers with the common goals of improving medication use and safety, reducing health care costs for payers and patients, and increasing professional recognition and compensation for pharmacist-provided services. Wisconsin between 2006 and 2009. Community (independent, chain, and health-system) pharmacies and private and public health care payers/purchasers with support from the McKesson Corporation. This initiative aligns incentives for pharmacies and payers through implementation of 12 quality-based pharmacy requirements as conditions of pharmacy participation in a practice-advancement pilot. Payers compensate network pharmacies that meet the quality-based requirements for two levels of pharmacy professional services (level 1, intervention-based services; level 2, comprehensive medication review and assessment services). The pilot project is designed to measure the following outcomes: medication-use quality improvements, frequency and types of services provided, drug therapy problems, patient safety, cost savings, identification of factors that facilitate pharmacist participation, and patient satisfaction. The Pharmacy Society of Wisconsin created the WPQC network, which consists of 53 pharmacies, 106 trained pharmacists, 45 student pharmacists, 6 pharmacy technicians, and 2 initial payers. A quality assurance process is followed approximately quarterly to audit the 12 network quality requirements. An evaluation of this collaboration is being conducted. This program demonstrates that collaboration among payers and pharmacists is possible and can result in the development of an incentive-aligned program that stresses quality patient care, standardized services, and professional service compensation for pharmacists. This combination of a quality-based credentialing process with a professional services reimbursement schedule is unique and has the promise to enhance the ambulatory pharmacy practice model.

Controlling qubit drift by recycling error correction syndromes

NASA Astrophysics Data System (ADS)

Blume-Kohout, Robin

2015-03-01

Physical qubits are susceptible to systematic drift, above and beyond the stochastic Markovian noise that motivates quantum error correction. This parameter drift must be compensated - if it is ignored, error rates will rise to intolerable levels - but compensation requires knowing the parameters' current value, which appears to require halting experimental work to recalibrate (e.g. via quantum tomography). Fortunately, this is untrue. I show how to perform on-the-fly recalibration on the physical qubits in an error correcting code, using only information from the error correction syndromes. The algorithm for detecting and compensating drift is very simple - yet, remarkably, when used to compensate Brownian drift in the qubit Hamiltonian, it achieves a stabilized error rate very close to the theoretical lower bound. Against 1/f noise, it is less effective only because 1/f noise is (like white noise) dominated by high-frequency fluctuations that are uncompensatable. Sandia National Laboratories is a multi-program laboratory managed and operated by Sandia Corporation, a wholly owned subsidiary of Lockheed Martin Corporation, for the U.S. Department of Energy's National Nuclear Security Administration under contract DE

Using sediment 'fingerprints' to assess sediment-budget errors, north Halawa Valley, Oahu, Hawaii, 1991-92

USGS Publications Warehouse

Hill, B.R.; DeCarlo, E.H.; Fuller, C.C.; Wong, M.F.

1998-01-01

Reliable estimates of sediment-budget errors are important for interpreting sediment-budget results. Sediment-budget errors are commonly considered equal to sediment-budget imbalances, which may underestimate actual sediment-budget errors if they include compensating positive and negative errors. We modified the sediment 'fingerprinting' approach to qualitatively evaluate compensating errors in an annual (1991) fine (<63 ??m) sediment budget for the North Halawa Valley, a mountainous, forested drainage basin on the island of Oahu, Hawaii, during construction of a major highway. We measured concentrations of aeolian quartz and 137Cs in sediment sources and fluvial sediments, and combined concentrations of these aerosols with the sediment budget to construct aerosol budgets. Aerosol concentrations were independent of the sediment budget, hence aerosol budgets were less likely than sediment budgets to include compensating errors. Differences between sediment-budget and aerosol-budget imbalances therefore provide a measure of compensating errors in the sediment budget. The sediment-budget imbalance equalled 25% of the fluvial fine-sediment load. Aerosol-budget imbalances were equal to 19% of the fluvial 137Cs load and 34% of the fluval quartz load. The reasonably close agreement between sediment- and aerosol-budget imbalances indicates that compensating errors in the sediment budget were not large and that the sediment-budget imbalance as a reliable measure of sediment-budget error. We attribute at least one-third of the 1991 fluvial fine-sediment load to highway construction. Continued monitoring indicated that highway construction produced 90% of the fluvial fine-sediment load during 1992. Erosion of channel margins and attrition of coarse particles provided most of the fine sediment produced by natural processes. Hillslope processes contributed relatively minor amounts of sediment.

On-line estimation and compensation of measurement delay in GPS/SINS integration

NASA Astrophysics Data System (ADS)

Yang, Tao; Wang, Wei

2008-10-01

The chief aim of this paper is to propose a simple on-line estimation and compensation method of GPS/SINS measurement delay. The causes of time delay for GPS/SINS integration are analyzed in this paper. New Kalman filter state equations augmented by measurement delay and modified measurement equations are derived. Based on an open-loop Kalman filter, several simulations are run, results of which show that by the proposed method, the estimation and compensation error of measurement delay is below 0.1s.

Remembering forward: Neural correlates of memory and prediction in human motor adaptation

PubMed Central

Scheidt, Robert A; Zimbelman, Janice L; Salowitz, Nicole M G; Suminski, Aaron J; Mosier, Kristine M; Houk, James; Simo, Lucia

2011-01-01

We used functional MR imaging (FMRI), a robotic manipulandum and systems identification techniques to examine neural correlates of predictive compensation for spring-like loads during goal-directed wrist movements in neurologically-intact humans. Although load changed unpredictably from one trial to the next, subjects nevertheless used sensorimotor memories from recent movements to predict and compensate upcoming loads. Prediction enabled subjects to adapt performance so that the task was accomplished with minimum effort. Population analyses of functional images revealed a distributed, bilateral network of cortical and subcortical activity supporting predictive load compensation during visual target capture. Cortical regions - including prefrontal, parietal and hippocampal cortices - exhibited trial-by-trial fluctuations in BOLD signal consistent with the storage and recall of sensorimotor memories or “states” important for spatial working memory. Bilateral activations in associative regions of the striatum demonstrated temporal correlation with the magnitude of kinematic performance error (a signal that could drive reward-optimizing reinforcement learning and the prospective scaling of previously learned motor programs). BOLD signal correlations with load prediction were observed in the cerebellar cortex and red nuclei (consistent with the idea that these structures generate adaptive fusimotor signals facilitating cancellation of expected proprioceptive feedback, as required for conditional feedback adjustments to ongoing motor commands and feedback error learning). Analysis of single subject images revealed that predictive activity was at least as likely to be observed in more than one of these neural systems as in just one. We conclude therefore that motor adaptation is mediated by predictive compensations supported by multiple, distributed, cortical and subcortical structures. PMID:21840405

Precise Aperture-Dependent Motion Compensation with Frequency Domain Fast Back-Projection Algorithm.

PubMed

Zhang, Man; Wang, Guanyong; Zhang, Lei

2017-10-26

Precise azimuth-variant motion compensation (MOCO) is an essential and difficult task for high-resolution synthetic aperture radar (SAR) imagery. In conventional post-filtering approaches, residual azimuth-variant motion errors are generally compensated through a set of spatial post-filters, where the coarse-focused image is segmented into overlapped blocks concerning the azimuth-dependent residual errors. However, image domain post-filtering approaches, such as precise topography- and aperture-dependent motion compensation algorithm (PTA), have difficulty of robustness in declining, when strong motion errors are involved in the coarse-focused image. In this case, in order to capture the complete motion blurring function within each image block, both the block size and the overlapped part need necessary extension leading to degeneration of efficiency and robustness inevitably. Herein, a frequency domain fast back-projection algorithm (FDFBPA) is introduced to deal with strong azimuth-variant motion errors. FDFBPA disposes of the azimuth-variant motion errors based on a precise azimuth spectrum expression in the azimuth wavenumber domain. First, a wavenumber domain sub-aperture processing strategy is introduced to accelerate computation. After that, the azimuth wavenumber spectrum is partitioned into a set of wavenumber blocks, and each block is formed into a sub-aperture coarse resolution image via the back-projection integral. Then, the sub-aperture images are straightforwardly fused together in azimuth wavenumber domain to obtain a full resolution image. Moreover, chirp-Z transform (CZT) is also introduced to implement the sub-aperture back-projection integral, increasing the efficiency of the algorithm. By disusing the image domain post-filtering strategy, robustness of the proposed algorithm is improved. Both simulation and real-measured data experiments demonstrate the effectiveness and superiority of the proposal.

Topography-Dependent Motion Compensation: Application to UAVSAR Data

NASA Technical Reports Server (NTRS)

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

2009-01-01

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

A fault-tolerant small world topology control model in ad hoc networks for search and rescue

NASA Astrophysics Data System (ADS)

Tan, Mian; Fang, Ling; Wu, Yue; Zhang, Bo; Chang, Bowen; Holme, Petter; Zhao, Jing

2018-02-01

Due to their self-organized, multi-hop and distributed characteristics, ad hoc networks are useful in search and rescue. Topology control models need to be designed for energy-efficient, robust and fast communication in ad hoc networks. This paper proposes a topology control model which specializes for search and rescue-Compensation Small World-Repeated Game (CSWRG)-which integrates mobility models, constructing small world networks and a game-theoretic approach to the allocation of resources. Simulation results show that our mobility models can enhance the communication performance of the constructed small-world networks. Our strategy, based on repeated game, can suppress selfish behavior and compensate agents that encounter selfish or faulty neighbors. This model could be useful for the design of ad hoc communication networks.

Upgrade of an optical network unit in a 40 Gb/s time and wavelength-division multiplexed passive optical network using an upstream tunable colorless laser

NASA Astrophysics Data System (ADS)

Bindhaiq, Salem; Supa'at, Abu Sahmah M.; Zulkifli, Nadiatulhuda; Shaddad, Redhwan Q.; Mataria, Abdallah

2014-07-01

A high data transmission rate is the main requirement for next-generation telecommunication networks. A design for a 40 Gb/s time and wavelength-division multiplexed passive optical network (TWDM-PON) for next-generation passive optical network stage 2 is presented. The use of a modulated grating Y-branch (MG-Y) laser is proposed as an upstream tunable colorless laser source to upgrade the optical network unit. The electronically tuned MG-Y externally modulated laser with a 10 Gb/s modulation rate is applied to a TWDM-PON and presented across a 3.2-nm tuning range. The performance of the proposed laser is analyzed in terms of bit error rate, eye diagram, and optical signal-to-noise ratio. The proposed TWDM-PON achieved an aggregated data rate of 40 Gb/s along 40 km of bidirectional fiber at a 1:128 splitting ratio without amplification and dispersion compensation.

Tutorial: Neural networks and their potential application in nuclear power plants

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

Uhrig, R.E.

A neural network is a data processing system consisting of a number of simple, highly interconnected processing elements in an architecture inspired by the structure of the cerebral cortex portion of the brain. Hence, neural networks are often capable of doing things which humans or animals do well but which conventional computers often do poorly. Neural networks have emerged in the past few years as an area of unusual opportunity for research, development and application to a variety of real world problems. Indeed, neural networks exhibit characteristics and capabilities not provided by any other technology. Examples include reading Japanese Kanjimore » characters and human handwriting, reading a typewritten manuscript aloud, compensating for alignment errors in robots, interpreting very noise'' signals (e.g. electroencephalograms), modeling complex systems that cannot be modelled mathematically, and predicting whether proposed loans will be good or fail. This paper presents a brief tutorial on neural networks and describes research on the potential applications to nuclear power plants.« less

Bit-error rate for free-space adaptive optics laser communications.

PubMed

Tyson, Robert K

2002-04-01

An analysis of adaptive optics compensation for atmospheric-turbulence-induced scintillation is presented with the figure of merit being the laser communications bit-error rate. The formulation covers weak, moderate, and strong turbulence; on-off keying; and amplitude-shift keying, over horizontal propagation paths or on a ground-to-space uplink or downlink. The theory shows that under some circumstances the bit-error rate can be improved by a few orders of magnitude with the addition of adaptive optics to compensate for the scintillation. Low-order compensation (less than 40 Zernike modes) appears to be feasible as well as beneficial for reducing the bit-error rate and increasing the throughput of the communication link.

Speed tracking control of pneumatic motor servo systems using observation-based adaptive dynamic sliding-mode control

NASA Astrophysics Data System (ADS)

Chen, Syuan-Yi; Gong, Sheng-Sian

2017-09-01

This study aims to develop an adaptive high-precision control system for controlling the speed of a vane-type air motor (VAM) pneumatic servo system. In practice, the rotor speed of a VAM depends on the input mass air flow, which can be controlled by the effective orifice area (EOA) of an electronic throttle valve (ETV). As the control variable of a second-order pneumatic system is the integral of the EOA, an observation-based adaptive dynamic sliding-mode control (ADSMC) system is proposed to derive the differential of the control variable, namely, the EOA control signal. In the ADSMC system, a proportional-integral-derivative fuzzy neural network (PIDFNN) observer is used to achieve an ideal dynamic sliding-mode control (DSMC), and a supervisor compensator is designed to eliminate the approximation error. As a result, the ADSMC incorporates the robustness of a DSMC and the online learning ability of a PIDFNN. To ensure the convergence of the tracking error, a Lyapunov-based analytical method is employed to obtain the adaptive algorithms required to tune the control parameters of the online ADSMC system. Finally, our experimental results demonstrate the precision and robustness of the ADSMC system for highly nonlinear and time-varying VAM pneumatic servo systems.

Advanced time and wavelength division multiplexing for metropolitan area optical data communication networks

NASA Astrophysics Data System (ADS)

Watford, M.; DeCusatis, C.

2005-09-01

With the advent of new regulations governing the protection and recovery of sensitive business data, including the Sarbanes-Oxley Act, there has been a renewed interest in business continuity and disaster recovery applications for metropolitan area networks. Specifically, there has been a need for more efficient bandwidth utilization and lower cost per channel to facilitate mirroring of multi-terabit data bases. These applications have further blurred the boundary between metropolitan and wide area networks, with synchronous disaster recovery applications running up to 100 km and asynchronous solutions extending to 300 km or more. In this paper, we discuss recent enhancements in the Nortel Optical Metro 5200 Dense Wavelength Division Multiplexing (DWDM) platform, including features recently qualified for data communication applications such as Metro Mirror, Global Mirror, and Geographically Distributed Parallel Sysplex (GDPS). Using a 10 Gigabit/second (Gbit/s) backbone, this solution transports significantly more Fibre Channel protocol traffic with up to five times greater hardware density in the same physical package. This is also among the first platforms to utilize forward error correction (FEC) on the aggregate signals to improve bit error rate (BER) performance beyond industry standards. When combined with encapsulation into wide area network protocols, the use of FEC can compensate for impairments in BER across a service provider infrastructure without impacting application level performance. Design and implementation of these features will be discussed, including results from experimental test beds which validate these solutions for a number of applications. Future extensions of this environment will also be considered, including ways to provide configurable bandwidth on demand, mitigate Fibre Channel buffer credit management issues, and support for other GDPS protocols.

Improving material removal determinacy based on the compensation of tool influence function

NASA Astrophysics Data System (ADS)

Zhong, Bo; Chen, Xian-hua; Deng, Wen-hui; Zhao, Shi-jie; Zheng, Nan

2018-03-01

In the process of computer-controlled optical surfacing (CCOS), the key of correcting the surface error of optical components is to ensure the consistency between the simulated tool influence function and the actual tool influence function (TIF). The existing removal model usually adopts the fixed-point TIF to remove the material with the planning path and velocity, and it considers that the polishing process is linear and time invariant. However, in the actual polishing process, the TIF is a function related to the feed speed. In this paper, the relationship between the actual TIF and the feed speed (i.e. the compensation relationship between static removal and dynamic removal) is determined by experimental method. Then, the existing removal model is modified based on the compensation relationship, to improve the conformity between simulated and actual processing. Finally, the surface error modification correction test are carried out. The results show that the fitting degree of the simulated surface and the experimental surface is better than 88%, and the surface correction accuracy can be better than 1/10 λ (Λ=632.8nm).

Investigation and Development of Control Laws for the NASA Langley Research Center Cockpit Motion Facility

NASA Technical Reports Server (NTRS)

Coon, Craig R.; Cardullo, Frank M.; Zaychik, Kirill B.

2014-01-01

The ability to develop highly advanced simulators is a critical need that has the ability to significantly impact the aerospace industry. The aerospace industry is advancing at an ever increasing pace and flight simulators must match this development with ever increasing urgency. In order to address both current problems and potential advancements with flight simulator techniques, several aspects of current control law technology of the National Aeronautics and Space Administration (NASA) Langley Research Center's Cockpit Motion Facility (CMF) motion base simulator were examined. Preliminary investigation of linear models based upon hardware data were examined to ensure that the most accurate models are used. This research identified both system improvements in the bandwidth and more reliable linear models. Advancements in the compensator design were developed and verified through multiple techniques. The position error rate feedback, the acceleration feedback and the force feedback were all analyzed in the heave direction using the nonlinear model of the hardware. Improvements were made using the position error rate feedback technique. The acceleration feedback compensator also provided noteworthy improvement, while attempts at implementing a force feedback compensator proved unsuccessful.

Secure polarization-independent subcarrier quantum key distribution in optical fiber channel using BB84 protocol with a strong reference.

PubMed

Gleim, A V; Egorov, V I; Nazarov, Yu V; Smirnov, S V; Chistyakov, V V; Bannik, O I; Anisimov, A A; Kynev, S M; Ivanova, A E; Collins, R J; Kozlov, S A; Buller, G S

2016-02-08

A quantum key distribution system based on the subcarrier wave modulation method has been demonstrated which employs the BB84 protocol with a strong reference to generate secure bits at a rate of 16.5 kbit/s with an error of 0.5% over an optical channel of 10 dB loss, and 18 bits/s with an error of 0.75% over 25 dB of channel loss. To the best of our knowledge, these results represent the highest channel loss reported for secure quantum key distribution using the subcarrier wave approach. A passive unidirectional scheme has been used to compensate for the polarization dependence of the phase modulators in the receiver module, which resulted in a high visibility of 98.8%. The system is thus fully insensitive to polarization fluctuations and robust to environmental changes, making the approach promising for use in optical telecommunication networks. Further improvements in secure key rate and transmission distance can be achieved by implementing the decoy states protocol or by optimizing the mean photon number used in line with experimental parameters.

A heterodyne straightness and displacement measuring interferometer with laser beam drift compensation for long-travel linear stage metrology.

PubMed

Chen, Benyong; Cheng, Liang; Yan, Liping; Zhang, Enzheng; Lou, Yingtian

2017-03-01

The laser beam drift seriously influences the accuracy of straightness or displacement measurement in laser interferometers, especially for the long travel measurement. To solve this problem, a heterodyne straightness and displacement measuring interferometer with laser beam drift compensation is proposed. In this interferometer, the simultaneous measurement of straightness error and displacement is realized by using heterodyne interferometry, and the laser beam drift is determined to compensate the measurement results of straightness error and displacement in real time. The optical configuration of the interferometer is designed. The principle of the simultaneous measurement of straightness, displacement, and laser beam drift is depicted and analyzed in detail. And the compensation of the laser beam drift for the straightness error and displacement is presented. Several experiments were performed to verify the feasibility of the interferometer and the effectiveness of the laser beam drift compensation. The experiments of laser beam stability show that the position stability of the laser beam spot can be improved by more than 50% after compensation. The measurement and compensation experiments of straightness error and displacement by testing a linear stage at different distances show that the straightness and displacement obtained from the interferometer are in agreement with those obtained from a compared interferometer and the measured stage. These demonstrate that the merits of this interferometer are not only eliminating the influence of laser beam drift on the measurement accuracy but also having the abilities of simultaneous measurement of straightness error and displacement as well as being suitable for long-travel linear stage metrology.

Pathology-related cases in the Norwegian System of Patient Injury Compensation in the period 2010-2015.

PubMed

Alfsen, G Cecilie; Chen, Ying; Kähler, Hanne; Bukholm, Ida Rashida Khan

2016-12-01

The Norwegian System of Patient Injury Compensation (NPE) processes compensation claims from patients who complain about malpractice in the health services. A wrong diagnosis in pathology may cause serious injury to the patient, but the incidence of compensation claims is unknown, because pathology is not specified as a separate category in NPE’s statistics. Knowledge about errors is required to assess quality-enhancing measures. We have therefore searched through the NPE records to identify cases whose background stems from errors committed in pathology departments and laboratories. We have searched through the NPE records for cases related to pathology for the years 2010 – 2015. During this period the NPE processed a total of 26 600 cases, of which 93 were related to pathology. The compensation claim was upheld in 66 cases, resulting in total compensation payments amounting to NOK 63 million. False-negative results in the form of undetected diagnoses were the most frequent grounds for compensation claims (63 cases), with an undetected malignant melanoma (n = 23) or atypia in cell samples from the cervix uteri (n = 16) as the major groups. Sixteen cases involved non-diagnostic issues such as mix-up of samples (n = 8), contamination of samples (n = 4) or delayed responses (n = 4). The number of compensation claims caused by errors in pathology diagnostics is low in relative terms. The errors may, however, be of a serious nature, especially if malignant conditions are overlooked or samples mixed up.

What is different about workers' compensation patients? Socioeconomic predictors of baseline disability status among patients with lumbar radiculopathy.

PubMed

Atlas, Steven J; Tosteson, Tor D; Hanscom, Brett; Blood, Emily A; Pransky, Glenn S; Abdu, William A; Andersson, Gunnar B; Weinstein, James N

2007-08-15

Combined analysis of 2 prospective clinical studies. To identify socioeconomic characteristics associated with workers' compensation in patients with an intervertebral disc herniation (IDH) or spinal stenosis (SpS). Few studies have compared socioeconomic differences between those receiving or not receiving workers' compensation with the same underlying clinical conditions. Patients were identified from the Spine Patient Outcomes Research Trial (SPORT) and the National Spine Network (NSN) practice-based outcomes study. Patients with IDH and SpS within NSN were identified satisfying SPORT eligibility criteria. Information on disability and work status at baseline evaluation was used to categorize patients into 3 groups: workers' compensation, other disability compensation, or work-eligible controls. Enrollment rates of patients with disability in a clinical efficacy trial (SPORT) and practice-based network (NSN) were compared. Independent socioeconomic predictors of baseline workers' compensation status were identified in multivariate logistic regression models controlling for clinical condition, study cohort, and initial treatment designation. Among 3759 eligible patients (1480 in SPORT and 2279 in NSN), 564 (15%) were receiving workers' compensation, 317 (8%) were receiving other disability compensation, and 2878 (77%) were controls. Patients receiving workers' compensation were less common in SPORT than NSN (9.2% vs. 18.8%, P < 0.001), but patients receiving other disability compensation were similarly represented (8.9% vs. 7.7%, P = 0.19). In univariate analyses, many socioeconomic characteristics significantly differed according to baseline workers' compensation status. In multiple logistic regression analyses, gender, educational level, work characteristics, legal action, and expectations about ability to work without surgery were independently associated with receiving workers' compensation. Clinical trials involving conditions commonly seen in patients with workers' compensation may need special efforts to ensure adequate representation. Socioeconomic characteristics markedly differed between patients receiving and not receiving workers' compensation. Identifying the independent effects of workers' compensation on outcomes will require controlling for these baseline characteristics and other clinical features associated with disability status.

What Is Different About Worker’s Compensation Patients?

PubMed Central

Atlas, Steven J.; Tosteson, Tor D.; Hanscom, Brett; Blood, Emily A.; Pransky, Glenn S.; Abdu, William A.; Andersson, Gunnar B.; Weinstein, James N.

2010-01-01

Study Design Combined analysis of 2 prospective clinical studies. Objective To identify socioeconomic characteristics associated with workers’ compensation in patients with an intervertebral disc herniation (IDH) or spinal stenosis (SpS). Summary of Background Data Few studies have compared socioeconomic differences between those receiving or not receiving workers’ compensation with the same underlying clinical conditions. Methods Patients were identified from the Spine Patient Outcomes Research Trial (SPORT) and the National Spine Network (NSN) practice-based outcomes study. Patients with IDH and SpS within NSN were identified satisfying SPORT eligibility criteria. Information on disability and work status at baseline evaluation was used to categorize patients into 3 groups: workers’ compensation, other disability compensation, or work-eligible controls. Enrollment rates of patients with disability in a clinical efficacy trial (SPORT) and practice-based network (NSN) were compared. Independent socioeconomic predictors of baseline workers’ compensation status were identified in multivariate logistic regression models controlling for clinical condition, study cohort, and initial treatment designation. Results Among 3759 eligible patients (1480 in SPORT and 2279 in NSN), 564 (15%) were receiving workers’ compensation, 317 (8%) were receiving other disability compensation, and 2878 (77%) were controls. Patients receiving workers’ compensation were less common in SPORT than NSN (9.2% vs. 18.8%, P < 0.001), but patients receiving other disability compensation were similarly represented (8.9% vs. 7.7%, P = 0.19). In univariate analyses, many socioeconomic characteristics significantly differed according to baseline workers’ compensation status. In multiple logistic regression analyses, gender, educational level, work characteristics, legal action, and expectations about ability to work without surgery were independently associated with receiving workers’ compensation. Conclusion Clinical trials involving conditions commonly seen in patients with workers’ compensation may need special efforts to ensure adequate representation. Socioeconomic characteristics markedly differed between patients receiving and not receiving workers’ compensation. Identifying the independent effects of workers’ compensation on outcomes will require controlling for these baseline characteristics and other clinical features associated with disability status. PMID:17700451

Efficient probabilistic inference in generic neural networks trained with non-probabilistic feedback.

PubMed

Orhan, A Emin; Ma, Wei Ji

2017-07-26

Animals perform near-optimal probabilistic inference in a wide range of psychophysical tasks. Probabilistic inference requires trial-to-trial representation of the uncertainties associated with task variables and subsequent use of this representation. Previous work has implemented such computations using neural networks with hand-crafted and task-dependent operations. We show that generic neural networks trained with a simple error-based learning rule perform near-optimal probabilistic inference in nine common psychophysical tasks. In a probabilistic categorization task, error-based learning in a generic network simultaneously explains a monkey's learning curve and the evolution of qualitative aspects of its choice behavior. In all tasks, the number of neurons required for a given level of performance grows sublinearly with the input population size, a substantial improvement on previous implementations of probabilistic inference. The trained networks develop a novel sparsity-based probabilistic population code. Our results suggest that probabilistic inference emerges naturally in generic neural networks trained with error-based learning rules.Behavioural tasks often require probability distributions to be inferred about task specific variables. Here, the authors demonstrate that generic neural networks can be trained using a simple error-based learning rule to perform such probabilistic computations efficiently without any need for task specific operations.

Normal contour error measurement on-machine and compensation method for polishing complex surface by MRF

NASA Astrophysics Data System (ADS)

Chen, Hua; Chen, Jihong; Wang, Baorui; Zheng, Yongcheng

2016-10-01

The Magnetorheological finishing (MRF) process, based on the dwell time method with the constant normal spacing for flexible polishing, would bring out the normal contour error in the fine polishing complex surface such as aspheric surface. The normal contour error would change the ribbon's shape and removal characteristics of consistency for MRF. Based on continuously scanning the normal spacing between the workpiece and the finder by the laser range finder, the novel method was put forward to measure the normal contour errors while polishing complex surface on the machining track. The normal contour errors was measured dynamically, by which the workpiece's clamping precision, multi-axis machining NC program and the dynamic performance of the MRF machine were achieved for the verification and security check of the MRF process. The unit for measuring the normal contour errors of complex surface on-machine was designed. Based on the measurement unit's results as feedback to adjust the parameters of the feed forward control and the multi-axis machining, the optimized servo control method was presented to compensate the normal contour errors. The experiment for polishing 180mm × 180mm aspherical workpiece of fused silica by MRF was set up to validate the method. The results show that the normal contour error was controlled in less than 10um. And the PV value of the polished surface accuracy was improved from 0.95λ to 0.09λ under the conditions of the same process parameters. The technology in the paper has been being applied in the PKC600-Q1 MRF machine developed by the China Academe of Engineering Physics for engineering application since 2014. It is being used in the national huge optical engineering for processing the ultra-precision optical parts.

Data driven CAN node reliability assessment for manufacturing system

NASA Astrophysics Data System (ADS)

Zhang, Leiming; Yuan, Yong; Lei, Yong

2017-01-01

The reliability of the Controller Area Network(CAN) is critical to the performance and safety of the system. However, direct bus-off time assessment tools are lacking in practice due to inaccessibility of the node information and the complexity of the node interactions upon errors. In order to measure the mean time to bus-off(MTTB) of all the nodes, a novel data driven node bus-off time assessment method for CAN network is proposed by directly using network error information. First, the corresponding network error event sequence for each node is constructed using multiple-layer network error information. Then, the generalized zero inflated Poisson process(GZIP) model is established for each node based on the error event sequence. Finally, the stochastic model is constructed to predict the MTTB of the node. The accelerated case studies with different error injection rates are conducted on a laboratory network to demonstrate the proposed method, where the network errors are generated by a computer controlled error injection system. Experiment results show that the MTTB of nodes predicted by the proposed method agree well with observations in the case studies. The proposed data driven node time to bus-off assessment method for CAN networks can successfully predict the MTTB of nodes by directly using network error event data.

Influence of measuring algorithm on shape accuracy in the compensating turning of high gradient thin-wall parts

NASA Astrophysics Data System (ADS)

Wang, Tao; Wang, Guilin; Zhu, Dengchao; Li, Shengyi

2015-02-01

In order to meet the requirement of aerodynamics, the infrared domes or windows with conformal and thin-wall structure becomes the development trend of high-speed aircrafts in the future. But these parts usually have low stiffness, the cutting force will change along with the axial position, and it is very difficult to meet the requirement of shape accuracy by single machining. Therefore, on-machine measurement and compensating turning are used to control the shape errors caused by the fluctuation of cutting force and the change of stiffness. In this paper, on the basis of ultra precision diamond lathe, a contact measuring system with five DOFs is developed to achieve on-machine measurement of conformal thin-wall parts with high accuracy. According to high gradient surface, the optimizing algorithm is designed on the distribution of measuring points by using the data screening method. The influence rule of sampling frequency is analyzed on measuring errors, the best sampling frequency is found out based on planning algorithm, the effect of environmental factors and the fitting errors are controlled within lower range, and the measuring accuracy of conformal dome is greatly improved in the process of on-machine measurement. According to MgF2 conformal dome with high gradient, the compensating turning is implemented by using the designed on-machine measuring algorithm. The shape error is less than PV 0.8μm, greatly superior compared with PV 3μm before compensating turning, which verifies the correctness of measuring algorithm.

Settlement of reactive power compensation in the light of white certificates

NASA Astrophysics Data System (ADS)

Zajkowski, Konrad

2017-10-01

The article discusses the problem of the determination of savings on active energy as a result of a reactive power compensation. Statutory guidance on the required energy audit to obtain white certificates in the European Union was followed. The analysis was made on the basis of the Polish Law. The paper presents a detailed analytical method and an estimation method taking into account the impact on the line, the transformer and the generator. According to the relevant guidelines in the European Union, the reduction of CO2 emissions by calculating the saving of active power should be determined. The detailed method and an estimation method proposed for the determination of savings on active energy as a result of the reactive power compensation carried out possess some errors and inconvenience. The detailed method requires knowledge of the network topology and a determination of reactive power Q at each point of the network. The estimation method of analysis is easy in execution, especially if the consumer of energy is the main or the most significant purchaser of electricity in the network. Unfortunately, this latter method can be used only for activities that do not require high computational accuracy. The results obtained by this method are approximate values that can be used for the calculation of economic indicators. The estimation method is suitable for determining the number of white certificates when a power audit concerns a recipient of electricity, the structure of which is a large number of divisions scattered at many different locations in the power system.

Nonlinear analysis and dynamic compensation of stylus scanning measurement with wide range

NASA Astrophysics Data System (ADS)

Hui, Heiyang; Liu, Xiaojun; Lu, Wenlong

2011-12-01

Surface topography is an important geometrical feature of a workpiece that influences its quality and functions such as friction, wearing, lubrication and sealing. Precision measurement of surface topography is fundamental for product quality characterizing and assurance. Stylus scanning technique is a widely used method for surface topography measurement, and it is also regarded as the international standard method for 2-D surface characterizing. Usually surface topography, including primary profile, waviness and roughness, can be measured precisely and efficiently by this method. However, by stylus scanning method to measure curved surface topography, the nonlinear error is unavoidable because of the difference of horizontal position of the actual measured point from given sampling point and the nonlinear transformation process from vertical displacement of the stylus tip to angle displacement of the stylus arm, and the error increases with the increasing of measuring range. In this paper, a wide range stylus scanning measurement system based on cylindrical grating interference principle is constructed, the originations of the nonlinear error are analyzed, the error model is established and a solution to decrease the nonlinear error is proposed, through which the error of the collected data is dynamically compensated.

Network Dynamics Underlying Speed-Accuracy Trade-Offs in Response to Errors

PubMed Central

Agam, Yigal; Carey, Caitlin; Barton, Jason J. S.; Dyckman, Kara A.; Lee, Adrian K. C.; Vangel, Mark; Manoach, Dara S.

2013-01-01

The ability to dynamically and rapidly adjust task performance based on its outcome is fundamental to adaptive, flexible behavior. Over trials of a task, responses speed up until an error is committed and after the error responses slow down. These dynamic adjustments serve to optimize performance and are well-described by the speed-accuracy trade-off (SATO) function. We hypothesized that SATOs based on outcomes reflect reciprocal changes in the allocation of attention between the internal milieu and the task-at-hand, as indexed by reciprocal changes in activity between the default and dorsal attention brain networks. We tested this hypothesis using functional MRI to examine the pattern of network activation over a series of trials surrounding and including an error. We further hypothesized that these reciprocal changes in network activity are coordinated by the posterior cingulate cortex (PCC) and would rely on the structural integrity of its white matter connections. Using diffusion tensor imaging, we examined whether fractional anisotropy of the posterior cingulum bundle correlated with the magnitude of reciprocal changes in network activation around errors. As expected, reaction time (RT) in trials surrounding errors was consistent with predictions from the SATO function. Activation in the default network was: (i) inversely correlated with RT, (ii) greater on trials before than after an error and (iii) maximal at the error. In contrast, activation in the right intraparietal sulcus of the dorsal attention network was (i) positively correlated with RT and showed the opposite pattern: (ii) less activation before than after an error and (iii) the least activation on the error. Greater integrity of the posterior cingulum bundle was associated with greater reciprocity in network activation around errors. These findings suggest that dynamic changes in attention to the internal versus external milieu in response to errors underlie SATOs in RT and are mediated by the PCC. PMID:24069223

TH-EF-BRB-08: Robotic Motion Compensation for Radiation Therapy: A 6DOF Phantom Study

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

Belcher, AH; Liu, X; Wiersma, R

Purpose: The high accuracy of frame-based stereotactic radiosurgery (SRS), which uses a rigid frame fixed to the patient’s skull, is offset by potential drawbacks of poor patient compliance and clinical workflow restrictions. Recent research into frameless SRS has so far resulted in reduced accuracy. In this study, we investigate the use of a novel 6 degree-of-freedom (6DOF) robotic head motion cancellation system that continuously detects and compensates for patient head motions during a SRS delivery. This approach has the potential to reduce invasiveness while still achieving accuracies better or equal to traditional frame-based SRS. Methods: A 6DOF parallel kinematics roboticsmore » stage was constructed, and controlled using an inverse kinematics-based motion compensation algorithm. A 6DOF stereoscopic infrared (IR) marker tracking system was used to monitor real-time motions at sub-millimeter and sub-degree levels. A novel 6DOF calibration technique was first applied to properly orient the camera coordinate frame to match that of the LINAC and robotic control frames. Simulated head motions were measured by the system, and the robotic stage responded to these 6DOF motions automatically, returning the reflective marker coordinate frame to its original position. Results: After the motions were introduced to the system in the phantom-based study, the robotic stage automatically and rapidly returned the phantom to LINAC isocenter. When errors exceeded the compensation lower threshold of 0.25 mm or 0.25 degrees, the system registered the 6DOF error and generated a cancellation trajectory. The system responded in less than 0.5 seconds and returned all axes to less than 0.1 mm and 0.1 degree after the 6DOF compensation was performed. Conclusion: The 6DOF real-time motion cancellation system was found to be effective at compensating for translational and rotational motions to current SRS requirements. This system can improve frameless SRS by automatically returning patients to isocenter with high 6DOF accuracy.« less

QOS-aware error recovery in wireless body sensor networks using adaptive network coding.

PubMed

Razzaque, Mohammad Abdur; Javadi, Saeideh S; Coulibaly, Yahaya; Hira, Muta Tah

2014-12-29

Wireless body sensor networks (WBSNs) for healthcare and medical applications are real-time and life-critical infrastructures, which require a strict guarantee of quality of service (QoS), in terms of latency, error rate and reliability. Considering the criticality of healthcare and medical applications, WBSNs need to fulfill users/applications and the corresponding network's QoS requirements. For instance, for a real-time application to support on-time data delivery, a WBSN needs to guarantee a constrained delay at the network level. A network coding-based error recovery mechanism is an emerging mechanism that can be used in these systems to support QoS at very low energy, memory and hardware cost. However, in dynamic network environments and user requirements, the original non-adaptive version of network coding fails to support some of the network and user QoS requirements. This work explores the QoS requirements of WBSNs in both perspectives of QoS. Based on these requirements, this paper proposes an adaptive network coding-based, QoS-aware error recovery mechanism for WBSNs. It utilizes network-level and user-/application-level information to make it adaptive in both contexts. Thus, it provides improved QoS support adaptively in terms of reliability, energy efficiency and delay. Simulation results show the potential of the proposed mechanism in terms of adaptability, reliability, real-time data delivery and network lifetime compared to its counterparts.

Compensating for estimation smoothing in kriging

USGS Publications Warehouse

Olea, R.A.; Pawlowsky, Vera

1996-01-01

Smoothing is a characteristic inherent to all minimum mean-square-error spatial estimators such as kriging. Cross-validation can be used to detect and model such smoothing. Inversion of the model produces a new estimator-compensated kriging. A numerical comparison based on an exhaustive permeability sampling of a 4-fr2 slab of Berea Sandstone shows that the estimation surface generated by compensated kriging has properties intermediate between those generated by ordinary kriging and stochastic realizations resulting from simulated annealing and sequential Gaussian simulation. The frequency distribution is well reproduced by the compensated kriging surface, which also approximates the experimental semivariogram well - better than ordinary kriging, but not as well as stochastic realizations. Compensated kriging produces surfaces that are more accurate than stochastic realizations, but not as accurate as ordinary kriging. ?? 1996 International Association for Mathematical Geology.

Experimental results of 5-Gbps free-space coherent optical communications with adaptive optics

NASA Astrophysics Data System (ADS)

Chen, Mo; Liu, Chao; Rui, Daoman; Xian, Hao

2018-07-01

In a free-space optical communication system with fiber optical components, the received signal beam must be coupled into a single-mode fiber (SMF) before being amplified and detected. The impacts analysis of tracking errors and wavefront distortion on SMF coupling show that under the condition of relatively strong turbulence, only the tracking errors compensation is not enough, and turbulence wavefront aberration is required to be corrected. Based on our previous study and design of SMF coupling system with a 137-element continuous surface deformable mirror AO unit, we perform an experiment of a 5-Gbps Free-space Coherent Optical Communication (FSCOC) system, in which the eye pattern and Bit-error Rate (BER) are displayed. The comparative results are shown that the influence of the atmospheric is fatal in FSCOC systems. The BER of coherent communication is under 10-6 with AO compensation, which drops significantly compared with the BER without AO correction.

Multi-rate cubature Kalman filter based data fusion method with residual compensation to adapt to sampling rate discrepancy in attitude measurement system.

PubMed

Guo, Xiaoting; Sun, Changku; Wang, Peng

2017-08-01

This paper investigates the multi-rate inertial and vision data fusion problem in nonlinear attitude measurement systems, where the sampling rate of the inertial sensor is much faster than that of the vision sensor. To fully exploit the high frequency inertial data and obtain favorable fusion results, a multi-rate CKF (Cubature Kalman Filter) algorithm with estimated residual compensation is proposed in order to adapt to the problem of sampling rate discrepancy. During inter-sampling of slow observation data, observation noise can be regarded as infinite. The Kalman gain is unknown and approaches zero. The residual is also unknown. Therefore, the filter estimated state cannot be compensated. To obtain compensation at these moments, state error and residual formulas are modified when compared with the observation data available moments. Self-propagation equation of the state error is established to propagate the quantity from the moments with observation to the moments without observation. Besides, a multiplicative adjustment factor is introduced as Kalman gain, which acts on the residual. Then the filter estimated state can be compensated even when there are no visual observation data. The proposed method is tested and verified in a practical setup. Compared with multi-rate CKF without residual compensation and single-rate CKF, a significant improvement is obtained on attitude measurement by using the proposed multi-rate CKF with inter-sampling residual compensation. The experiment results with superior precision and reliability show the effectiveness of the proposed method.

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

Zhang, Xiaohu; Shi, Di; Wang, Zhiwei

Shunt FACTS devices, such as, a Static Var Compensator (SVC), are capable of providing local reactive power compensation. They are widely used in the network to reduce the real power loss and improve the voltage profile. This paper proposes a planning model based on mixed integer conic programming (MICP) to optimally allocate SVCs in the transmission network considering load uncertainty. The load uncertainties are represented by a number of scenarios. Reformulation and linearization techniques are utilized to transform the original non-convex model into a convex second order cone programming (SOCP) model. Numerical case studies based on the IEEE 30-bus systemmore » demonstrate the effectiveness of the proposed planning model.« less

Resistance fail strain gage technology as applied to composite materials

NASA Technical Reports Server (NTRS)

Tuttle, M. E.; Brinson, H. F.

1985-01-01

Existing strain gage technologies as applied to orthotropic composite materials are reviewed. The bonding procedures, transverse sensitivity effects, errors due to gage misalignment, and temperature compensation methods are addressed. Numerical examples are included where appropriate. It is shown that the orthotropic behavior of composites can result in experimental error which would not be expected based on practical experience with isotropic materials. In certain cases, the transverse sensitivity of strain gages and/or slight gage misalignment can result in strain measurement errors.

Impact of miscommunication in medical dispute cases in Japan.

PubMed

Aoki, Noriaki; Uda, Kenji; Ohta, Sachiko; Kiuchi, Takahiro; Fukui, Tsuguya

2008-10-01

Medical disputes between physicians and patients can occur in non-negligent circumstances and may even result in compensation. We reviewed medical dispute cases to investigate the impact of miscommunication, especially in non-negligent situations. Systematic review of medical dispute records was done to identify the presence of the adverse events, the type of medical error, preventability, the perception of miscommunication by patients and the amount of compensation. The study was performed in Kyoto, Japan. We analyzed 155 medical dispute cases. We compared (i) frequency of miscommunication cases between negligent and non-negligent cases, and (ii) proportions of positive compensation between non-miscommunication and miscommunication cases stratified according to the existence of negligence. Multivariate logistic analysis was conducted to assess the independent factors related to positive compensation. Approximately 40% of the medical disputes (59/155) did not involve medical error (i.e. non-negligent). In the non-negligent cases, 64.4% (38/59) involved miscommunication, whereas in dispute cases with errors, 21.9% (21/96) involved miscommunications. (P

An Energy Saving Green Plug Device for Nonlinear Loads

NASA Astrophysics Data System (ADS)

Bloul, Albe; Sharaf, Adel; El-Hawary, Mohamed

2018-03-01

The paper presents a low cost a FACTS Based flexible fuzzy logic based modulated/switched tuned arm filter and Green Plug compensation (SFC-GP) scheme for single-phase nonlinear loads ensuring both voltage stabilization and efficient energy utilization. The new Green Plug-Switched filter compensator SFC modulated LC-Filter PWM Switched Capacitive Compensation Devices is controlled using a fuzzy logic regulator to enhance power quality, improve power factor at the source and reduce switching transients and inrush current conditions as well harmonic contents in source current. The FACTS based SFC-GP Device is a member of family of Green Plug/Filters/Compensation Schemes used for efficient energy utilization, power quality enhancement and voltage/inrush current/soft starting control using a dynamic error driven fuzzy logic controller (FLC). The device with fuzzy logic controller is validated using the Matlab / Simulink Software Environment for enhanced power quality (PQ), improved power factor and reduced inrush currents. This is achieved using modulated PWM Switching of the Filter-Capacitive compensation scheme to cope with dynamic type nonlinear and inrush cyclical loads..

Error compensation for thermally induced errors on a machine tool

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

Krulewich, D.A.

1996-11-08

Heat flow from internal and external sources and the environment create machine deformations, resulting in positioning errors between the tool and workpiece. There is no industrially accepted method for thermal error compensation. A simple model has been selected that linearly relates discrete temperature measurements to the deflection. The biggest problem is how to locate the temperature sensors and to determine the number of required temperature sensors. This research develops a method to determine the number and location of temperature measurements.

Quantifying the effect of disruptions to temporal coherence on the intelligibility of compressed American Sign Language video

NASA Astrophysics Data System (ADS)

Ciaramello, Frank M.; Hemami, Sheila S.

2009-02-01

Communication of American Sign Language (ASL) over mobile phones would be very beneficial to the Deaf community. ASL video encoded to achieve the rates provided by current cellular networks must be heavily compressed and appropriate assessment techniques are required to analyze the intelligibility of the compressed video. As an extension to a purely spatial measure of intelligibility, this paper quantifies the effect of temporal compression artifacts on sign language intelligibility. These artifacts can be the result of motion-compensation errors that distract the observer or frame rate reductions. They reduce the the perception of smooth motion and disrupt the temporal coherence of the video. Motion-compensation errors that affect temporal coherence are identified by measuring the block-level correlation between co-located macroblocks in adjacent frames. The impact of frame rate reductions was quantified through experimental testing. A subjective study was performed in which fluent ASL participants rated the intelligibility of sequences encoded at a range of 5 different frame rates and with 3 different levels of distortion. The subjective data is used to parameterize an objective intelligibility measure which is highly correlated with subjective ratings at multiple frame rates.

Neural network error correction for solving coupled ordinary differential equations

NASA Technical Reports Server (NTRS)

Shelton, R. O.; Darsey, J. A.; Sumpter, B. G.; Noid, D. W.

1992-01-01

A neural network is presented to learn errors generated by a numerical algorithm for solving coupled nonlinear differential equations. The method is based on using a neural network to correctly learn the error generated by, for example, Runge-Kutta on a model molecular dynamics (MD) problem. The neural network programs used in this study were developed by NASA. Comparisons are made for training the neural network using backpropagation and a new method which was found to converge with fewer iterations. The neural net programs, the MD model and the calculations are discussed.

Improvement of Hand Movement on Visual Target Tracking by Assistant Force of Model-Based Compensator

NASA Astrophysics Data System (ADS)

Ide, Junko; Sugi, Takenao; Nakamura, Masatoshi; Shibasaki, Hiroshi

Human motor control is achieved by the appropriate motor commands generating from the central nerve system. A test of visual target tracking is one of the effective methods for analyzing the human motor functions. We have previously examined a possibility for improving the hand movement on visual target tracking by additional assistant force through a simulation study. In this study, a method for compensating the human hand movement on visual target tracking by adding an assistant force was proposed. Effectiveness of the compensation method was investigated through the experiment for four healthy adults. The proposed compensator precisely improved the reaction time, the position error and the variability of the velocity of the human hand. The model-based compensator proposed in this study is constructed by using the measurement data on visual target tracking for each subject. The properties of the hand movement for different subjects can be reflected in the structure of the compensator. Therefore, the proposed method has possibility to adjust the individual properties of patients with various movement disorders caused from brain dysfunctions.

Multiframe video coding for improved performance over wireless channels.

PubMed

Budagavi, M; Gibson, J D

2001-01-01

We propose and evaluate a multi-frame extension to block motion compensation (BMC) coding of videoconferencing-type video signals for wireless channels. The multi-frame BMC (MF-BMC) coder makes use of the redundancy that exists across multiple frames in typical videoconferencing sequences to achieve additional compression over that obtained by using the single frame BMC (SF-BMC) approach, such as in the base-level H.263 codec. The MF-BMC approach also has an inherent ability of overcoming some transmission errors and is thus more robust when compared to the SF-BMC approach. We model the error propagation process in MF-BMC coding as a multiple Markov chain and use Markov chain analysis to infer that the use of multiple frames in motion compensation increases robustness. The Markov chain analysis is also used to devise a simple scheme which randomizes the selection of the frame (amongst the multiple previous frames) used in BMC to achieve additional robustness. The MF-BMC coders proposed are a multi-frame extension of the base level H.263 coder and are found to be more robust than the base level H.263 coder when subjected to simulated errors commonly encountered on wireless channels.

Determining geometric error model parameters of a terrestrial laser scanner through Two-face, Length-consistency, and Network methods

PubMed Central

Wang, Ling; Muralikrishnan, Bala; Rachakonda, Prem; Sawyer, Daniel

2017-01-01

Terrestrial laser scanners (TLS) are increasingly used in large-scale manufacturing and assembly where required measurement uncertainties are on the order of few tenths of a millimeter or smaller. In order to meet these stringent requirements, systematic errors within a TLS are compensated in-situ through self-calibration. In the Network method of self-calibration, numerous targets distributed in the work-volume are measured from multiple locations with the TLS to determine parameters of the TLS error model. In this paper, we propose two new self-calibration methods, the Two-face method and the Length-consistency method. The Length-consistency method is proposed as a more efficient way of realizing the Network method where the length between any pair of targets from multiple TLS positions are compared to determine TLS model parameters. The Two-face method is a two-step process. In the first step, many model parameters are determined directly from the difference between front-face and back-face measurements of targets distributed in the work volume. In the second step, all remaining model parameters are determined through the Length-consistency method. We compare the Two-face method, the Length-consistency method, and the Network method in terms of the uncertainties in the model parameters, and demonstrate the validity of our techniques using a calibrated scale bar and front-face back-face target measurements. The clear advantage of these self-calibration methods is that a reference instrument or calibrated artifacts are not required, thus significantly lowering the cost involved in the calibration process. PMID:28890607

A bilateral cortical network responds to pitch perturbations in speech feedback

PubMed Central

Kort, Naomi S.; Nagarajan, Srikantan S.; Houde, John F.

2014-01-01

Auditory feedback is used to monitor and correct for errors in speech production, and one of the clearest demonstrations of this is the pitch perturbation reflex. During ongoing phonation, speakers respond rapidly to shifts of the pitch of their auditory feedback, altering their pitch production to oppose the direction of the applied pitch shift. In this study, we examine the timing of activity within a network of brain regions thought to be involved in mediating this behavior. To isolate auditory feedback processing relevant for motor control of speech, we used magnetoencephalography (MEG) to compare neural responses to speech onset and to transient (400ms) pitch feedback perturbations during speaking with responses to identical acoustic stimuli during passive listening. We found overlapping, but distinct bilateral cortical networks involved in monitoring speech onset and feedback alterations in ongoing speech. Responses to speech onset during speaking were suppressed in bilateral auditory and left ventral supramarginal gyrus/posterior superior temporal sulcus (vSMG/pSTS). In contrast, during pitch perturbations, activity was enhanced in bilateral vSMG/pSTS, bilateral premotor cortex, right primary auditory cortex, and left higher order auditory cortex. We also found speaking-induced delays in responses to both unaltered and altered speech in bilateral primary and secondary auditory regions, the left vSMG/pSTS and right premotor cortex. The network dynamics reveal the cortical processing involved in both detecting the speech error and updating the motor plan to create the new pitch output. These results implicate vSMG/pSTS as critical in both monitoring auditory feedback and initiating rapid compensation to feedback errors. PMID:24076223

Eccentricity error identification and compensation for high-accuracy 3D optical measurement

PubMed Central

He, Dong; Liu, Xiaoli; Peng, Xiang; Ding, Yabin; Gao, Bruce Z

2016-01-01

The circular target has been widely used in various three-dimensional optical measurements, such as camera calibration, photogrammetry and structured light projection measurement system. The identification and compensation of the circular target systematic eccentricity error caused by perspective projection is an important issue for ensuring accurate measurement. This paper introduces a novel approach for identifying and correcting the eccentricity error with the help of a concentric circles target. Compared with previous eccentricity error correction methods, our approach does not require taking care of the geometric parameters of the measurement system regarding target and camera. Therefore, the proposed approach is very flexible in practical applications, and in particular, it is also applicable in the case of only one image with a single target available. The experimental results are presented to prove the efficiency and stability of the proposed approach for eccentricity error compensation. PMID:26900265

Eccentricity error identification and compensation for high-accuracy 3D optical measurement.

PubMed

He, Dong; Liu, Xiaoli; Peng, Xiang; Ding, Yabin; Gao, Bruce Z

2013-07-01

The circular target has been widely used in various three-dimensional optical measurements, such as camera calibration, photogrammetry and structured light projection measurement system. The identification and compensation of the circular target systematic eccentricity error caused by perspective projection is an important issue for ensuring accurate measurement. This paper introduces a novel approach for identifying and correcting the eccentricity error with the help of a concentric circles target. Compared with previous eccentricity error correction methods, our approach does not require taking care of the geometric parameters of the measurement system regarding target and camera. Therefore, the proposed approach is very flexible in practical applications, and in particular, it is also applicable in the case of only one image with a single target available. The experimental results are presented to prove the efficiency and stability of the proposed approach for eccentricity error compensation.

Modeling Analysis of a Six-axis Force/Tactile Sensor for Robot Fingers and a Method for Decreasing Error

NASA Astrophysics Data System (ADS)

Luo, Minghua; Shimizu, Etsuro; Zhang, Feifei; Ito, Masanori

This paper describes a six-axis force/tactile sensor for robot fingers. A mathematical model of this sensor is proposed. By this model, the grasping force and its moments, and touching position of robot finger for holding an object can be calculated. A new sensor is fabricated based on this model, where the elastic sensing unit of the sensor is made of a brazen plate. A new compensating method for decreasing error is proposed. Furthermore, the performance of this sensor is examined. The test results present approximate relationship between theoretical input and output of the sensor. It is obvious that the performance of the new sensor is better than the sensor with no compensation.

Study on Network Error Analysis and Locating based on Integrated Information Decision System

NASA Astrophysics Data System (ADS)

Yang, F.; Dong, Z. H.

2017-10-01

Integrated information decision system (IIDS) integrates multiple sub-system developed by many facilities, including almost hundred kinds of software, which provides with various services, such as email, short messages, drawing and sharing. Because the under-layer protocols are different, user standards are not unified, many errors are occurred during the stages of setup, configuration, and operation, which seriously affect the usage. Because the errors are various, which may be happened in different operation phases, stages, TCP/IP communication protocol layers, sub-system software, it is necessary to design a network error analysis and locating tool for IIDS to solve the above problems. This paper studies on network error analysis and locating based on IIDS, which provides strong theory and technology supports for the running and communicating of IIDS.

GOES I/M image navigation and registration

NASA Technical Reports Server (NTRS)

Fiorello, J. L., Jr.; Oh, I. H.; Kelly, K. A.; Ranne, L.

1989-01-01

Image Navigation and Registration (INR) is the system that will be used on future Geostationary Operational Environmental Satellite (GOES) missions to locate and register radiometric imagery data. It consists of a semiclosed loop system with a ground-based segment that generates coefficients to perform image motion compensation (IMC). The IMC coefficients are uplinked to the satellite-based segment, where they are used to adjust the displacement of the imagery data due to movement of the imaging instrument line-of-sight. The flight dynamics aspects of the INR system is discussed in terms of the attitude and orbit determination, attitude pointing, and attitude and orbit control needed to perform INR. The modeling used in the determination of orbit and attitude is discussed, along with the method of on-orbit control used in the INR system, and various factors that affect stability. Also discussed are potential error sources inherent in the INR system and the operational methods of compensating for these errors.

Reducing uncertainties in energy dissipation measurements in atomic force spectroscopy of molecular networks and cell-adhesion studies.

PubMed

Biswas, Soma; Leitao, Samuel; Theillaud, Quentin; Erickson, Blake W; Fantner, Georg E

2018-06-20

Atomic force microscope (AFM) based single molecule force spectroscopy (SMFS) is a valuable tool in biophysics to investigate the ligand-receptor interactions, cell adhesion and cell mechanics. However, the force spectroscopy data analysis needs to be done carefully to extract the required quantitative parameters correctly. Especially the large number of molecules, commonly involved in complex networks formation; leads to very complicated force spectroscopy curves. One therefore, generally characterizes the total dissipated energy over a whole pulling cycle, as it is difficult to decompose the complex force curves into individual single molecule events. However, calculating the energy dissipation directly from the transformed force spectroscopy curves can lead to a significant over-estimation of the dissipated energy during a pulling experiment. The over-estimation of dissipated energy arises from the finite stiffness of the cantilever used for AFM based SMFS. Although this error can be significant, it is generally not compensated for. This can lead to significant misinterpretation of the energy dissipation (up to the order of 30%). In this paper, we show how in complex SMFS the excess dissipated energy caused by the stiffness of the cantilever can be identified and corrected using a high throughput algorithm. This algorithm is then applied to experimental results from molecular networks and cell-adhesion measurements to quantify the improvement in the estimation of the total energy dissipation.

12 CFR 235.6 - Prohibition on circumvention, evasion, and net compensation.

Code of Federal Regulations, 2013 CFR

2013-01-01

... compensation. 235.6 Section 235.6 Banks and Banking FEDERAL RESERVE SYSTEM (CONTINUED) BOARD OF GOVERNORS OF... net compensation. An issuer may not receive net compensation from a payment card network with respect... network with respect to electronic debit transactions or debit card-related activities, other than...

12 CFR 235.6 - Prohibition on circumvention, evasion, and net compensation.

Code of Federal Regulations, 2014 CFR

2014-01-01

... compensation. 235.6 Section 235.6 Banks and Banking FEDERAL RESERVE SYSTEM (CONTINUED) BOARD OF GOVERNORS OF... net compensation. An issuer may not receive net compensation from a payment card network with respect... network with respect to electronic debit transactions or debit card-related activities, other than...

12 CFR 235.6 - Prohibition on circumvention, evasion, and net compensation.

Code of Federal Regulations, 2012 CFR

2012-01-01

... compensation. 235.6 Section 235.6 Banks and Banking FEDERAL RESERVE SYSTEM (CONTINUED) BOARD OF GOVERNORS OF... net compensation. An issuer may not receive net compensation from a payment card network with respect... network with respect to electronic debit transactions or debit card-related activities, other than...

An adaptive angle-doppler compensation method for airborne bistatic radar based on PAST

NASA Astrophysics Data System (ADS)

Hang, Xu; Jun, Zhao

2018-05-01

Adaptive angle-Doppler compensation method extract the requisite information based on the data itself adaptively, thus avoiding the problem of performance degradation caused by inertia system error. However, this method requires estimation and egiendecomposition of sample covariance matrix, which has a high computational complexity and limits its real-time application. In this paper, an adaptive angle Doppler compensation method based on projection approximation subspace tracking (PAST) is studied. The method uses cyclic iterative processing to quickly estimate the positions of the spectral center of the maximum eigenvector of each range cell, and the computational burden of matrix estimation and eigen-decompositon is avoided, and then the spectral centers of all range cells is overlapped by two dimensional compensation. Simulation results show the proposed method can effectively reduce the no homogeneity of airborne bistatic radar, and its performance is similar to that of egien-decomposition algorithms, but the computation load is obviously reduced and easy to be realized.

Error estimation of deformable image registration of pulmonary CT scans using convolutional neural networks.

PubMed

Eppenhof, Koen A J; Pluim, Josien P W

2018-04-01

Error estimation in nonlinear medical image registration is a nontrivial problem that is important for validation of registration methods. We propose a supervised method for estimation of registration errors in nonlinear registration of three-dimensional (3-D) images. The method is based on a 3-D convolutional neural network that learns to estimate registration errors from a pair of image patches. By applying the network to patches centered around every voxel, we construct registration error maps. The network is trained using a set of representative images that have been synthetically transformed to construct a set of image pairs with known deformations. The method is evaluated on deformable registrations of inhale-exhale pairs of thoracic CT scans. Using ground truth target registration errors on manually annotated landmarks, we evaluate the method's ability to estimate local registration errors. Estimation of full domain error maps is evaluated using a gold standard approach. The two evaluation approaches show that we can train the network to robustly estimate registration errors in a predetermined range, with subvoxel accuracy. We achieved a root-mean-square deviation of 0.51 mm from gold standard registration errors and of 0.66 mm from ground truth landmark registration errors.

Multisensor systems today and tomorrow: Machine control, diagnosis and thermal compensation

NASA Astrophysics Data System (ADS)

Nunzio, D'Addea

2000-05-01

Multisensor techniques that deal with control of tribology test rig and with diagnosis and thermal error compensation of machine tools are the starting point for some consideration about the use of these techniques as in fuzzy and neural net systems. The author comes to conclusion that anticipatory systems and multisensor techniques will have in the next future a great improvement and a great development mainly in the thermal error compensation of machine tools.

Claims for compensation after alleged birth asphyxia: a nationwide study covering 15 years.

PubMed

Andreasen, Stine; Backe, Bjørn; Øian, Pål

2014-02-01

To analyze compensation claims with neurological sequela or death following alleged birth asphyxia. A cohort study. A nationwide study in Norway. All claims made to The Norwegian System of Compensation to Patients (NPE) concerning sequela related to alleged birth asphyxia, between 1994 and 2008. A total of 315 claims of which 161 were awarded compensation. Examination of hospital records, experts' assessments and the decisions made by the NPE, the appeal body and courts of law. Characteristics of deliveries resulting in intrapartum asphyxia and causes of substandard care categorized in eight groups. In the 161 compensated cases, 107 children survived (96 with neurological sequela), and 54 children died. Human error was a frequent reason of substandard care, seen as inadequate fetal monitoring (50%), lack of clinical knowledge and skills (14%), noncompliance with clinical guidelines (11%), failure in referral for senior medical help (10%) and error in drug administration (4%). System errors were registered in only 3%, seen as poor organization of the department, lack of guidelines and time conflicts. The health personnel held responsible for substandard care was an obstetrician in 49% and a midwife in 46%. Substandard care is common in birth asphyxia, and human error is the cause in most cases. Inadequate fetal monitoring and lack of clinical knowledge and skills are the most frequent reasons for compensation after birth asphyxia. © 2013 Nordic Federation of Societies of Obstetrics and Gynecology.

Quaternion-based adaptive output feedback attitude control of spacecraft using Chebyshev neural networks.

PubMed

Zou, An-Min; Dev Kumar, Krishna; Hou, Zeng-Guang

2010-09-01

This paper investigates the problem of output feedback attitude control of an uncertain spacecraft. Two robust adaptive output feedback controllers based on Chebyshev neural networks (CNN) termed adaptive neural networks (NN) controller-I and adaptive NN controller-II are proposed for the attitude tracking control of spacecraft. The four-parameter representations (quaternion) are employed to describe the spacecraft attitude for global representation without singularities. The nonlinear reduced-order observer is used to estimate the derivative of the spacecraft output, and the CNN is introduced to further improve the control performance through approximating the spacecraft attitude motion. The implementation of the basis functions of the CNN used in the proposed controllers depends only on the desired signals, and the smooth robust compensator using the hyperbolic tangent function is employed to counteract the CNN approximation errors and external disturbances. The adaptive NN controller-II can efficiently avoid the over-estimation problem (i.e., the bound of the CNNs output is much larger than that of the approximated unknown function, and hence, the control input may be very large) existing in the adaptive NN controller-I. Both adaptive output feedback controllers using CNN can guarantee that all signals in the resulting closed-loop system are uniformly ultimately bounded. For performance comparisons, the standard adaptive controller using the linear parameterization of spacecraft attitude motion is also developed. Simulation studies are presented to show the advantages of the proposed CNN-based output feedback approach over the standard adaptive output feedback approach.

The solvability of quantum k-pair network in a measurement-based way.

PubMed

Li, Jing; Xu, Gang; Chen, Xiu-Bo; Qu, Zhiguo; Niu, Xin-Xin; Yang, Yi-Xian

2017-12-01

Network coding is an effective means to enhance the communication efficiency. The characterization of network solvability is one of the most important topic in this field. However, for general network, the solvability conditions are still a challenge. In this paper, we consider the solvability of general quantum k-pair network in measurement-based framework. For the first time, a detailed account of measurement-based quantum network coding(MB-QNC) is specified systematically. Differing from existing coding schemes, single qubit measurements on a pre-shared graph state are the only allowed coding operations. Since no control operations are concluded, it makes MB-QNC schemes more feasible. Further, the sufficient conditions formulating by eigenvalue equations and stabilizer matrix are presented, which build an unambiguous relation among the solvability and the general network. And this result can also analyze the feasibility of sharing k EPR pairs task in large-scale networks. Finally, in the presence of noise, we analyze the advantage of MB-QNC in contrast to gate-based way. By an instance network [Formula: see text], we show that MB-QNC allows higher error thresholds. Specially, for X error, the error threshold is about 30% higher than 10% in gate-based way. In addition, the specific expressions of fidelity subject to some constraint conditions are given.

Fuzzy Neural Network-Based Interacting Multiple Model for Multi-Node Target Tracking Algorithm

PubMed Central

Sun, Baoliang; Jiang, Chunlan; Li, Ming

2016-01-01

An interacting multiple model for multi-node target tracking algorithm was proposed based on a fuzzy neural network (FNN) to solve the multi-node target tracking problem of wireless sensor networks (WSNs). Measured error variance was adaptively adjusted during the multiple model interacting output stage using the difference between the theoretical and estimated values of the measured error covariance matrix. The FNN fusion system was established during multi-node fusion to integrate with the target state estimated data from different nodes and consequently obtain network target state estimation. The feasibility of the algorithm was verified based on a network of nine detection nodes. Experimental results indicated that the proposed algorithm could trace the maneuvering target effectively under sensor failure and unknown system measurement errors. The proposed algorithm exhibited great practicability in the multi-node target tracking of WSNs. PMID:27809271

Design of static synchronous series compensator based damping controller employing invasive weed optimization algorithm.

PubMed

Ahmed, Ashik; Al-Amin, Rasheduzzaman; Amin, Ruhul

2014-01-01

This paper proposes designing of Static Synchronous Series Compensator (SSSC) based damping controller to enhance the stability of a Single Machine Infinite Bus (SMIB) system by means of Invasive Weed Optimization (IWO) technique. Conventional PI controller is used as the SSSC damping controller which takes rotor speed deviation as the input. The damping controller parameters are tuned based on time integral of absolute error based cost function using IWO. Performance of IWO based controller is compared to that of Particle Swarm Optimization (PSO) based controller. Time domain based simulation results are presented and performance of the controllers under different loading conditions and fault scenarios is studied in order to illustrate the effectiveness of the IWO based design approach.

A holistic calibration method with iterative distortion compensation for stereo deflectometry

NASA Astrophysics Data System (ADS)

Xu, Yongjia; Gao, Feng; Zhang, Zonghua; Jiang, Xiangqian

2018-07-01

This paper presents a novel holistic calibration method for stereo deflectometry system to improve the system measurement accuracy. The reconstruction result of stereo deflectometry is integrated with the calculated normal data of the measured surface. The calculation accuracy of the normal data is seriously influenced by the calibration accuracy of the geometrical relationship of the stereo deflectometry system. Conventional calibration approaches introduce form error to the system due to inaccurate imaging model and distortion elimination. The proposed calibration method compensates system distortion based on an iterative algorithm instead of the conventional distortion mathematical model. The initial value of the system parameters are calculated from the fringe patterns displayed on the systemic LCD screen through a reflection of a markless flat mirror. An iterative algorithm is proposed to compensate system distortion and optimize camera imaging parameters and system geometrical relation parameters based on a cost function. Both simulation work and experimental results show the proposed calibration method can significantly improve the calibration and measurement accuracy of a stereo deflectometry. The PV (peak value) of measurement error of a flat mirror can be reduced to 69.7 nm by applying the proposed method from 282 nm obtained with the conventional calibration approach.

Univariate Time Series Prediction of Solar Power Using a Hybrid Wavelet-ARMA-NARX Prediction Method

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

Nazaripouya, Hamidreza; Wang, Yubo; Chu, Chi-Cheng

This paper proposes a new hybrid method for super short-term solar power prediction. Solar output power usually has a complex, nonstationary, and nonlinear characteristic due to intermittent and time varying behavior of solar radiance. In addition, solar power dynamics is fast and is inertia less. An accurate super short-time prediction is required to compensate for the fluctuations and reduce the impact of solar power penetration on the power system. The objective is to predict one step-ahead solar power generation based only on historical solar power time series data. The proposed method incorporates discrete wavelet transform (DWT), Auto-Regressive Moving Average (ARMA)more » models, and Recurrent Neural Networks (RNN), while the RNN architecture is based on Nonlinear Auto-Regressive models with eXogenous inputs (NARX). The wavelet transform is utilized to decompose the solar power time series into a set of richer-behaved forming series for prediction. ARMA model is employed as a linear predictor while NARX is used as a nonlinear pattern recognition tool to estimate and compensate the error of wavelet-ARMA prediction. The proposed method is applied to the data captured from UCLA solar PV panels and the results are compared with some of the common and most recent solar power prediction methods. The results validate the effectiveness of the proposed approach and show a considerable improvement in the prediction precision.« less

Skin movement artefact assessment and compensation in the estimation of knee-joint kinematics.

PubMed

Lucchetti, L; Cappozzo, A; Cappello, A; Della Croce, U

1998-11-01

In three dimensional (3-D) human movement analysis using close-range photogrammetry, surface marker clusters deform and rigidly move relative to the underlying bone. This introduces an important artefact (skin movement artefact) which propagates to bone position and orientation and joint kinematics estimates. This occurs to the extent that those joint attitude components that undergo small variations result in totally unreliable values. This paper presents an experimental and analytical procedure, to be included in a subject-specific movement analysis protocol, which allows for the assessment of skin movement artefacts and, based on this knowledge, for their compensation. The effectiveness of this procedure was verified with reference to knee-joint kinematics and to the artefacts caused by the hip movements on markers located on the thigh surface. Quantitative validation was achieved through experimental paradigms whereby prior reliable information on the target joint kinematics was available. When position and orientation of bones were determined during the execution of a motor task, using a least-squares optimal estimator, but the rigid artefactual marker cluster movement was not dealt with, then knee joint translations and rotations were affected by root mean square errors (r.m.s.) up to 14 mm and 6 degrees, respectively. When the rigid artefactual movement was also compensated for, then r.m.s errors were reduced to less than 4 mm and 3 degrees, respectively. In addition, errors originally strongly correlated with hip rotations, after compensation, lost this correlation.

Compensation for loads during arm movements using equilibrium-point control.

PubMed

Gribble, P L; Ostry, D J

2000-12-01

A significant problem in motor control is how information about movement error is used to modify control signals to achieve desired performance. A potential source of movement error and one that is readily controllable experimentally relates to limb dynamics and associated movement-dependent loads. In this paper, we have used a position control model to examine changes to control signals for arm movements in the context of movement-dependent loads. In the model, based on the equilibrium-point hypothesis, equilibrium shifts are adjusted directly in proportion to the positional error between desired and actual movements. The model is used to simulate multi-joint movements in the presence of both "internal" loads due to joint interaction torques, and externally applied loads resulting from velocity-dependent force fields. In both cases it is shown that the model can achieve close correspondence to empirical data using a simple linear adaptation procedure. An important feature of the model is that it achieves compensation for loads during movement without the need for either coordinate transformations between positional error and associated corrective forces, or inverse dynamics calculations.

Study of fault tolerant software technology for dynamic systems

NASA Technical Reports Server (NTRS)

Caglayan, A. K.; Zacharias, G. L.

1985-01-01

The major aim of this study is to investigate the feasibility of using systems-based failure detection isolation and compensation (FDIC) techniques in building fault-tolerant software and extending them, whenever possible, to the domain of software fault tolerance. First, it is shown that systems-based FDIC methods can be extended to develop software error detection techniques by using system models for software modules. In particular, it is demonstrated that systems-based FDIC techniques can yield consistency checks that are easier to implement than acceptance tests based on software specifications. Next, it is shown that systems-based failure compensation techniques can be generalized to the domain of software fault tolerance in developing software error recovery procedures. Finally, the feasibility of using fault-tolerant software in flight software is investigated. In particular, possible system and version instabilities, and functional performance degradation that may occur in N-Version programming applications to flight software are illustrated. Finally, a comparative analysis of N-Version and recovery block techniques in the context of generic blocks in flight software is presented.

Designing hydrologic monitoring networks to maximize predictability of hydrologic conditions in a data assimilation system: a case study from South Florida, U.S.A

NASA Astrophysics Data System (ADS)

Flores, A. N.; Pathak, C. S.; Senarath, S. U.; Bras, R. L.

2009-12-01

Robust hydrologic monitoring networks represent a critical element of decision support systems for effective water resource planning and management. Moreover, process representation within hydrologic simulation models is steadily improving, while at the same time computational costs are decreasing due to, for instance, readily available high performance computing resources. The ability to leverage these increasingly complex models together with the data from these monitoring networks to provide accurate and timely estimates of relevant hydrologic variables within a multiple-use, managed water resources system would substantially enhance the information available to resource decision makers. Numerical data assimilation techniques provide mathematical frameworks through which uncertain model predictions can be constrained to observational data to compensate for uncertainties in the model forcings and parameters. In ensemble-based data assimilation techniques such as the ensemble Kalman Filter (EnKF), information in observed variables such as canal, marsh and groundwater stages are propagated back to the model states in a manner related to: (1) the degree of certainty in the model state estimates and observations, and (2) the cross-correlation between the model states and the observable outputs of the model. However, the ultimate degree to which hydrologic conditions can be accurately predicted in an area of interest is controlled, in part, by the configuration of the monitoring network itself. In this proof-of-concept study we developed an approach by which the design of an existing hydrologic monitoring network is adapted to iteratively improve the predictions of hydrologic conditions within an area of the South Florida Water Management District (SFWMD). The objective of the network design is to minimize prediction errors of key hydrologic states and fluxes produced by the spatially distributed Regional Simulation Model (RSM), developed specifically to simulate the hydrologic conditions in several intensively managed and hydrologically complex watersheds within the SFWMD system. In a series of synthetic experiments RSM is used to generate the notionally true hydrologic state and the relevant observational data. The EnKF is then used as the mechanism to fuse RSM hydrologic estimates with data from the candidate network. The performance of the candidate network is measured by the prediction errors of the EnKF estimates of hydrologic states, relative to the notionally true scenario. The candidate network is then adapted by relocating existing observational sites to unobserved areas where predictions of local hydrologic conditions are most uncertain and the EnKF procedure repeated. Iteration of the monitoring network continues until further improvements in EnKF-based predictions of hydrologic conditions are negligible.

Investigation of influence of errors of cutting machines with CNC on displacement trajectory accuracy of their actuating devices

NASA Astrophysics Data System (ADS)

Fedonin, O. N.; Petreshin, D. I.; Ageenko, A. V.

2018-03-01

In the article, the issue of increasing a CNC lathe accuracy by compensating for the static and dynamic errors of the machine is investigated. An algorithm and a diagnostic system for a CNC machine tool are considered, which allows determining the errors of the machine for their compensation. The results of experimental studies on diagnosing and improving the accuracy of a CNC lathe are presented.

Dynamic gas temperature measurement system

NASA Technical Reports Server (NTRS)

Elmore, D. L.; Robinson, W. W.; Watkins, W. B.

1983-01-01

A gas temperature measurement system with compensated frequency response of 1 KHz and capability to operate in the exhaust of a gas turbine combustor was developed. Environmental guidelines for this measurement are presented, followed by a preliminary design of the selected measurement method. Transient thermal conduction effects were identified as important; a preliminary finite-element conduction model quantified the errors expected by neglecting conduction. A compensation method was developed to account for effects of conduction and convection. This method was verified in analog electrical simulations, and used to compensate dynamic temperature data from a laboratory combustor and a gas turbine engine. Detailed data compensations are presented. Analysis of error sources in the method were done to derive confidence levels for the compensated data.

Compensation method for the influence of angle of view on animal temperature measurement using thermal imaging camera combined with depth image.

PubMed

Jiao, Leizi; Dong, Daming; Zhao, Xiande; Han, Pengcheng

2016-12-01

In the study, we proposed an animal surface temperature measurement method based on Kinect sensor and infrared thermal imager to facilitate the screening of animals with febrile diseases. Due to random motion and small surface temperature variation of animals, the influence of the angle of view on temperature measurement is significant. The method proposed in the present study could compensate the temperature measurement error caused by the angle of view. Firstly, we analyzed the relationship between measured temperature and angle of view and established the mathematical model for compensating the influence of the angle of view with the correlation coefficient above 0.99. Secondly, the fusion method of depth and infrared thermal images was established for synchronous image capture with Kinect sensor and infrared thermal imager and the angle of view of each pixel was calculated. According to experimental results, without compensation treatment, the temperature image measured in the angle of view of 74° to 76° showed the difference of more than 2°C compared with that measured in the angle of view of 0°. However, after compensation treatment, the temperature difference range was only 0.03-1.2°C. This method is applicable for real-time compensation of errors caused by the angle of view during the temperature measurement process with the infrared thermal imager. Copyright © 2016 Elsevier Ltd. All rights reserved.

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

PubMed

Chen, Tien-Chi; Yu, Chih-Hsien

2009-07-01

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

A fiber optic sensor for on-line non-touch monitoring of roll shape

NASA Astrophysics Data System (ADS)

Guo, Yuan; Qu, Weijian; Yuan, Qi

2009-07-01

Basing on the principle of reflective displacement fibre-optic sensor, a high accuracy non-touch on-line optical fibre sensor for detecting roll shape is presented. The principle and composition of the detection system and the operation process are expatiated also. By using a novel probe of three optical fibres in equal transverse space, the effects of fluctuations in the light source, reflective changing of target surface and the intensity losses in the fibre lines are automatically compensated. Meantime, an optical fibre sensor model of correcting static error based on BP artificial neural network (ANN) is set up. Also by using interpolation method and value filtering to process the signals, effectively reduce the influence of random noise and the vibration of the roll bearing. So the accuracy and resolution were enhanced remarkably. Experiment proves that the resolution is 1μm and the precision can reach to 0.1%. So the system reaches to the demand of practical production process.

Optical Fiber On-Line Detection System for Non-Touch Monitoring Roller Shape

NASA Astrophysics Data System (ADS)

Guo, Y.; Wang, Y. T.

2006-10-01

Basing on the principle of reflective displacement fiber-optic sensor, a high accuracy non-touch on-line optical fiber measurement system for roller shape is presented. The principle and composition of the detection system and the operation process are expatiated also. By using a novel probe of three optical fibers in equal transverse space, the effects of fluctuations in the light source, reflective changing of target surface and the intensity losses in the fiber lines are automatically compensated. Meantime, an optical fiber sensor model of correcting static error based on BP artificial neural network (ANN) is set up. Also by using interpolation method and value filtering to process the signals, effectively reduce the influence of random noise and the vibration of the roller bearing. So enhance the accuracy and resolution remarkably. Experiment proves that the accuracy of the system reach to the demand of practical production process, it provides a new method for the high speed, accurate and automatic on line detection of the mill roller shape.

The lucky image-motion prediction for simple scene observation based soft-sensor technology

NASA Astrophysics Data System (ADS)

Li, Yan; Su, Yun; Hu, Bin

2015-08-01

High resolution is important to earth remote sensors, while the vibration of the platforms of the remote sensors is a major factor restricting high resolution imaging. The image-motion prediction and real-time compensation are key technologies to solve this problem. For the reason that the traditional autocorrelation image algorithm cannot meet the demand for the simple scene image stabilization, this paper proposes to utilize soft-sensor technology in image-motion prediction, and focus on the research of algorithm optimization in imaging image-motion prediction. Simulations results indicate that the improving lucky image-motion stabilization algorithm combining the Back Propagation Network (BP NN) and support vector machine (SVM) is the most suitable for the simple scene image stabilization. The relative error of the image-motion prediction based the soft-sensor technology is below 5%, the training computing speed of the mathematical predication model is as fast as the real-time image stabilization in aerial photography.

Temperature-compensated distributed hydrostatic pressure sensor with a thin-diameter polarization-maintaining photonic crystal fiber based on Brillouin dynamic gratings.

PubMed

Teng, Lei; Zhang, Hongying; Dong, Yongkang; Zhou, Dengwang; Jiang, Taofei; Gao, Wei; Lu, Zhiwei; Chen, Liang; Bao, Xiaoyi

2016-09-15

A temperature-compensated distributed hydrostatic pressure sensor based on Brillouin dynamic gratings (BDGs) is proposed and demonstrated experimentally for the first time, to the best of our knowledge. The principle is to measure the hydrostatic pressure induced birefringence changes through exciting and probing the BDGs in a thin-diameter pure silica polarization-maintaining photonic crystal fiber. The temperature cross-talk to the hydrostatic pressure sensing can be compensated through measuring the temperature-induced Brillouin frequency shift (BFS) changes using Brillouin optical time-domain analysis. A distributed measurement of hydrostatic pressure is demonstrated experimentally using a 4-m sensing fiber, which has a high sensitivity, with a maximum measurement error less than 0.03 MPa at a 20-cm spatial resolution.

Compensated Box-Jenkins transfer function for short term load forecast

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

Breipohl, A.; Yu, Z.; Lee, F.N.

In the past years, the Box-Jenkins ARIMA method and the Box-Jenkins transfer function method (BJTF) have been among the most commonly used methods for short term electrical load forecasting. But when there exists a sudden change in the temperature, both methods tend to exhibit larger errors in the forecast. This paper demonstrates that the load forecasting errors resulting from either the BJ ARIMA model or the BJTF model are not simply white noise, but rather well-patterned noise, and the patterns in the noise can be used to improve the forecasts. Thus a compensated Box-Jenkins transfer method (CBJTF) is proposed tomore » improve the accuracy of the load prediction. Some case studies have been made which result in about a 14-33% reduction of the root mean square (RMS) errors of the forecasts, depending on the compensation time period as well as the compensation method used.« less

CEMERLL: The Propagation of an Atmosphere-Compensated Laser Beam to the Apollo 15 Lunar Array

NASA Technical Reports Server (NTRS)

Fugate, R. Q.; Leatherman, P. R.; Wilson, K. E.

1997-01-01

Adaptive optics techniques can be used to realize a robust low bit-error-rate link by mitigating the atmosphere-induced signal fades in optical communications links between ground-based transmitters and deep-space probes.

Restoration of the ASCA Source Position Accuracy

NASA Astrophysics Data System (ADS)

Gotthelf, E. V.; Ueda, Y.; Fujimoto, R.; Kii, T.; Yamaoka, K.

2000-11-01

We present a calibration of the absolute pointing accuracy of the Advanced Satellite for Cosmology and Astrophysics (ASCA) which allows us to compensate for a large error (up to 1') in the derived source coordinates. We parameterize a temperature dependent deviation of the attitude solution which is responsible for this error. By analyzing ASCA coordinates of 100 bright active galactic nuclei, we show that it is possible to reduce the uncertainty in the sky position for any given observation by a factor of 4. The revised 90% error circle radius is then 12", consistent with preflight specifications, effectively restoring the full ASCA pointing accuracy. Herein, we derive an algorithm which compensates for this attitude error and present an internet-based table to be used to correct post facto the coordinate of all ASCA observations. While the above error circle is strictly applicable to data taken with the on-board Solid-state Imaging Spectrometers (SISs), similar coordinate corrections are derived for data obtained with the Gas Imaging Spectrometers (GISs), which, however, have additional instrumental uncertainties. The 90% error circle radius for the central 20' diameter of the GIS is 24". The large reduction in the error circle area for the two instruments offers the opportunity to greatly enhance the search for X-ray counterparts at other wavelengths. This has important implications for current and future ASCA source catalogs and surveys.

Effects of Optical Combiner and IPD Change for Convergence on Near-Field Depth Perception in an Optical See-Through HMD.

PubMed

Lee, Sangyoon; Hu, Xinda; Hua, Hong

2016-05-01

Many error sources have been explored in regards to the depth perception problem in augmented reality environments using optical see-through head-mounted displays (OST-HMDs). Nonetheless, two error sources are commonly neglected: the ray-shift phenomenon and the change in interpupillary distance (IPD). The first source of error arises from the difference in refraction for virtual and see-through optical paths caused by an optical combiner, which is required of OST-HMDs. The second occurs from the change in the viewer's IPD due to eye convergence. In this paper, we analyze the effects of these two error sources on near-field depth perception and propose methods to compensate for these two types of errors. Furthermore, we investigate their effectiveness through an experiment comparing the conditions with and without our error compensation methods applied. In our experiment, participants estimated the egocentric depth of a virtual and a physical object located at seven different near-field distances (40∼200 cm) using a perceptual matching task. Although the experimental results showed different patterns depending on the target distance, the results demonstrated that the near-field depth perception error can be effectively reduced to a very small level (at most 1 percent error) by compensating for the two mentioned error sources.

In vivo validation of a new technique that compensates for soft tissue artefact in the upper-arm: preliminary results.

PubMed

Cutti, Andrea Giovanni; Cappello, Angelo; Davalli, Angelo

2006-01-01

Soft tissue artefact is the dominant error source for upper extremity motion analyses that use skin-mounted markers, especially in humeral axial rotation. A new in vivo technique is presented that is based on the definition of a humerus bone-embedded frame almost "artefact free" but influenced by the elbow orientation in the measurement of the humeral axial rotation, and on an algorithm designed to solve this kinematic coupling. The technique was validated in vivo in a study of six healthy subjects who performed five arm-movement tasks. For each task the similarity between a gold standard pattern and the axial rotation pattern before and after the application of the compensation algorithm was evaluated in terms of explained variance, gain, phase and offset. In addition the root mean square error between the patterns was used as a global similarity estimator. After the application, for four out of five tasks, patterns were highly correlated, in phase, with almost equal gain and limited offset; the root mean square error decreased from the original 9 degrees to 3 degrees . The proposed technique appears to help compensate for the soft tissue artefact affecting axial rotation. A further development is also proposed to make the technique effective also for the pure prono-supination task.

System and method for correcting attitude estimation

NASA Technical Reports Server (NTRS)

Josselson, Robert H. (Inventor)

2010-01-01

A system includes an angular rate sensor disposed in a vehicle for providing angular rates of the vehicle, and an instrument disposed in the vehicle for providing line-of-sight control with respect to a line-of-sight reference. The instrument includes an integrator which is configured to integrate the angular rates of the vehicle to form non-compensated attitudes. Also included is a compensator coupled across the integrator, in a feed-forward loop, for receiving the angular rates of the vehicle and outputting compensated angular rates of the vehicle. A summer combines the non-compensated attitudes and the compensated angular rates of the to vehicle to form estimated vehicle attitudes for controlling the instrument with respect to the line-of-sight reference. The compensator is configured to provide error compensation to the instrument free-of any feedback loop that uses an error signal. The compensator may include a transfer function providing a fixed gain to the received angular rates of the vehicle. The compensator may, alternatively, include a is transfer function providing a variable gain as a function of frequency to operate on the received angular rates of the vehicle.

Hybrid optical CDMA-FSO communications network under spatially correlated gamma-gamma scintillation.

PubMed

Jurado-Navas, Antonio; Raddo, Thiago R; Garrido-Balsells, José María; Borges, Ben-Hur V; Olmos, Juan José Vegas; Monroy, Idelfonso Tafur

2016-07-25

In this paper, we propose a new hybrid network solution based on asynchronous optical code-division multiple-access (OCDMA) and free-space optical (FSO) technologies for last-mile access networks, where fiber deployment is impractical. The architecture of the proposed hybrid OCDMA-FSO network is thoroughly described. The users access the network in a fully asynchronous manner by means of assigned fast frequency hopping (FFH)-based codes. In the FSO receiver, an equal gain-combining technique is employed along with intensity modulation and direct detection. New analytical formalisms for evaluating the average bit error rate (ABER) performance are also proposed. These formalisms, based on the spatially correlated gamma-gamma statistical model, are derived considering three distinct scenarios, namely, uncorrelated, totally correlated, and partially correlated channels. Numerical results show that users can successfully achieve error-free ABER levels for the three scenarios considered as long as forward error correction (FEC) algorithms are employed. Therefore, OCDMA-FSO networks can be a prospective alternative to deliver high-speed communication services to access networks with deficient fiber infrastructure.

Control system to reduce the effects of friction in drive trains of continuous-path-positioning systems. [Patent application

DOEpatents

Green, W.L.

1980-12-01

An improved continuous-path-positioning servo-control system is provided for reducing the effects of friction arising at very low cutting speeds in the drive trains of numerically controlled cutting machines, and the like. The improvement comprises a feed forward network for altering the gain of the servo-control loop at low positioning velocities to prevent stick-slip movement of the cutting tool holder being positioned by the control system. The feed forward network shunts conventional lag-compensators in the control loop, or loops, so that the error signal used for positioning varies linearly when the value is small, but being limited for larger values. Thus, at higher positioning speeds there is little effect of the added component upon the control being achieved.

A Model of Gravity Vector Measurement Noise for Estimating Accelerometer Bias in Gravity Disturbance Compensation.

PubMed

Tie, Junbo; Cao, Juliang; Chang, Lubing; Cai, Shaokun; Wu, Meiping; Lian, Junxiang

2018-03-16

Compensation of gravity disturbance can improve the precision of inertial navigation, but the effect of compensation will decrease due to the accelerometer bias, and estimation of the accelerometer bias is a crucial issue in gravity disturbance compensation. This paper first investigates the effect of accelerometer bias on gravity disturbance compensation, and the situation in which the accelerometer bias should be estimated is established. The accelerometer bias is estimated from the gravity vector measurement, and a model of measurement noise in gravity vector measurement is built. Based on this model, accelerometer bias is separated from the gravity vector measurement error by the method of least squares. Horizontal gravity disturbances are calculated through EGM2008 spherical harmonic model to build the simulation scene, and the simulation results indicate that precise estimations of the accelerometer bias can be obtained with the proposed method.

A Model of Gravity Vector Measurement Noise for Estimating Accelerometer Bias in Gravity Disturbance Compensation

PubMed Central

Cao, Juliang; Cai, Shaokun; Wu, Meiping; Lian, Junxiang

2018-01-01

Compensation of gravity disturbance can improve the precision of inertial navigation, but the effect of compensation will decrease due to the accelerometer bias, and estimation of the accelerometer bias is a crucial issue in gravity disturbance compensation. This paper first investigates the effect of accelerometer bias on gravity disturbance compensation, and the situation in which the accelerometer bias should be estimated is established. The accelerometer bias is estimated from the gravity vector measurement, and a model of measurement noise in gravity vector measurement is built. Based on this model, accelerometer bias is separated from the gravity vector measurement error by the method of least squares. Horizontal gravity disturbances are calculated through EGM2008 spherical harmonic model to build the simulation scene, and the simulation results indicate that precise estimations of the accelerometer bias can be obtained with the proposed method. PMID:29547552

Attitude Heading Reference System Using MEMS Inertial Sensors with Dual-Axis Rotation

PubMed Central

Kang, Li; Ye, Lingyun; Song, Kaichen; Zhou, Yang

2014-01-01

This paper proposes a low cost and small size attitude and heading reference system based on MEMS inertial sensors. A dual-axis rotation structure with a proper rotary scheme according to the design principles is applied in the system to compensate for the attitude and heading drift caused by the large gyroscope biases. An optimization algorithm is applied to compensate for the installation angle error between the body frame and the rotation table's frame. Simulations and experiments are carried out to evaluate the performance of the AHRS. The results show that the proper rotation could significantly reduce the attitude and heading drifts. Moreover, the new AHRS is not affected by magnetic interference. After the rotation, the attitude and heading are almost just oscillating in a range. The attitude error is about 3° and the heading error is less than 3° which are at least 5 times better than the non-rotation condition. PMID:25268911

A new high resolution permafrost map of Iceland from Earth Observation data

NASA Astrophysics Data System (ADS)

Barnie, Talfan; Conway, Susan; Balme, Matt; Graham, Alastair

2017-04-01

High resolution maps of permafrost are required for ongoing monitoring of environmental change and the resulting hazards to ecosystems, people and infrastructure. However, permafrost maps are difficult to construct - direct observations require maintaining networks of sensors and boreholes in harsh environments and are thus limited in extent in space and time, and indirect observations require models or assumptions relating the measurements (e.g. weather station air temperature, basal snow temperature) to ground temperature. Operationally produced Land Surface Temperature maps from Earth Observation data can be used to make spatially contiguous estimates of mean annual skin temperature, which has been used a proxy for the presence of permafrost. However these maps are subject to biases due to (i) selective sampling during the day due to limited satellite overpass times, (ii) selective sampling over the year due to seasonally varying cloud cover, (iii) selective sampling of LST only during clearsky conditions, (iv) errors in cloud masking (v) errors in temperature emissivity separation (vi) smoothing over spatial variability. In this study we attempt to compensate for some of these problems using a bayesian modelling approach and high resolution topography-based downscaling.

Calculating distance by wireless ethernet signal strength for global positioning method

NASA Astrophysics Data System (ADS)

Kim, Seung-Yong; Kim, Jeehong; Lee, Chang-goo

2005-12-01

This paper investigated mobile robot localization by using wireless Ethernet for global localization and INS for relative localization. For relative localization, the low-cost INS features self-contained was adopted. Low-cost MEMS-based INS has a short-period response and acceptable performance. Generally, variety sensor was used for mobile robot localization. In spite of precise modeling of the sensor, it leads inevitably to the accumulation of errors. The IEEE802.11b wireless Ethernet standard has been deployed in office building, museums, hospitals, shopping centers and other indoor environments. Many mobile robots already make use of wireless networking for communication. So location sensing with wireless Ethernet might be very useful for a low-cost robot. This research used wireless Ethernet card for compensation the accumulation of errors. So the mobile robot can use that for global localization through the installed many IEEE802.11b wireless Ethernets in indoor environments. The chief difficulty in localization with wireless Ethernet is predicting signal strength. As a sensor, RF signal strength measured indoors is non-linear with distance. So, there made the profiles of signal strength for points and used that. We wrote using function between signal strength profile and distance from the wireless Ethernet point.

A MIMO radar quadrature and multi-channel amplitude-phase error combined correction method based on cross-correlation

NASA Astrophysics Data System (ADS)

Yun, Lingtong; Zhao, Hongzhong; Du, Mengyuan

2018-04-01

Quadrature and multi-channel amplitude-phase error have to be compensated in the I/Q quadrature sampling and signal through multi-channel. A new method that it doesn't need filter and standard signal is presented in this paper. And it can combined estimate quadrature and multi-channel amplitude-phase error. The method uses cross-correlation and amplitude ratio between the signal to estimate the two amplitude-phase errors simply and effectively. And the advantages of this method are verified by computer simulation. Finally, the superiority of the method is also verified by measure data of outfield experiments.

Research on wind field algorithm of wind lidar based on BP neural network and grey prediction

NASA Astrophysics Data System (ADS)

Chen, Yong; Chen, Chun-Li; Luo, Xiong; Zhang, Yan; Yang, Ze-hou; Zhou, Jie; Shi, Xiao-ding; Wang, Lei

2018-01-01

This paper uses the BP neural network and grey algorithm to forecast and study radar wind field. In order to reduce the residual error in the wind field prediction which uses BP neural network and grey algorithm, calculating the minimum value of residual error function, adopting the residuals of the gray algorithm trained by BP neural network, using the trained network model to forecast the residual sequence, using the predicted residual error sequence to modify the forecast sequence of the grey algorithm. The test data show that using the grey algorithm modified by BP neural network can effectively reduce the residual value and improve the prediction precision.

Advanced Control Algorithms for Compensating the Phase Distortion Due to Transport Delay in Human-Machine Systems

NASA Technical Reports Server (NTRS)

Guo, Liwen; Cardullo, Frank M.; Kelly, Lon C.

2007-01-01

The desire to create more complex visual scenes in modern flight simulators outpaces recent increases in processor speed. As a result, simulation transport delay remains a problem. New approaches for compensating the transport delay in a flight simulator have been developed and are presented in this report. The lead/lag filter, the McFarland compensator and the Sobiski/Cardullo state space filter are three prominent compensators. The lead/lag filter provides some phase lead, while introducing significant gain distortion in the same frequency interval. The McFarland predictor can compensate for much longer delay and cause smaller gain error in low frequencies than the lead/lag filter, but the gain distortion beyond the design frequency interval is still significant, and it also causes large spikes in prediction. Though, theoretically, the Sobiski/Cardullo predictor, a state space filter, can compensate the longest delay with the least gain distortion among the three, it has remained in laboratory use due to several limitations. The first novel compensator is an adaptive predictor that makes use of the Kalman filter algorithm in a unique manner. In this manner the predictor can accurately provide the desired amount of prediction, while significantly reducing the large spikes caused by the McFarland predictor. Among several simplified online adaptive predictors, this report illustrates mathematically why the stochastic approximation algorithm achieves the best compensation results. A second novel approach employed a reference aircraft dynamics model to implement a state space predictor on a flight simulator. The practical implementation formed the filter state vector from the operator s control input and the aircraft states. The relationship between the reference model and the compensator performance was investigated in great detail, and the best performing reference model was selected for implementation in the final tests. Theoretical analyses of data from offline simulations with time delay compensation show that both novel predictors effectively suppress the large spikes caused by the McFarland compensator. The phase errors of the three predictors are not significant. The adaptive predictor yields greater gain errors than the McFarland predictor for short delays (96 and 138 ms), but shows smaller errors for long delays (186 and 282 ms). The advantage of the adaptive predictor becomes more obvious for a longer time delay. Conversely, the state space predictor results in substantially smaller gain error than the other two predictors for all four delay cases.

Epistemic-based investigation of the probability of hazard scenarios using Bayesian network for the lifting operation of floating objects

NASA Astrophysics Data System (ADS)

Toroody, Ahmad Bahoo; Abaiee, Mohammad Mahdi; Gholamnia, Reza; Ketabdari, Mohammad Javad

2016-09-01

Owing to the increase in unprecedented accidents with new root causes in almost all operational areas, the importance of risk management has dramatically risen. Risk assessment, one of the most significant aspects of risk management, has a substantial impact on the system-safety level of organizations, industries, and operations. If the causes of all kinds of failure and the interactions between them are considered, effective risk assessment can be highly accurate. A combination of traditional risk assessment approaches and modern scientific probability methods can help in realizing better quantitative risk assessment methods. Most researchers face the problem of minimal field data with respect to the probability and frequency of each failure. Because of this limitation in the availability of epistemic knowledge, it is important to conduct epistemic estimations by applying the Bayesian theory for identifying plausible outcomes. In this paper, we propose an algorithm and demonstrate its application in a case study for a light-weight lifting operation in the Persian Gulf of Iran. First, we identify potential accident scenarios and present them in an event tree format. Next, excluding human error, we use the event tree to roughly estimate the prior probability of other hazard-promoting factors using a minimal amount of field data. We then use the Success Likelihood Index Method (SLIM) to calculate the probability of human error. On the basis of the proposed event tree, we use the Bayesian network of the provided scenarios to compensate for the lack of data. Finally, we determine the resulting probability of each event based on its evidence in the epistemic estimation format by building on two Bayesian network types: the probability of hazard promotion factors and the Bayesian theory. The study results indicate that despite the lack of available information on the operation of floating objects, a satisfactory result can be achieved using epistemic data.

Robust dynamic 3-D measurements with motion-compensated phase-shifting profilometry

NASA Astrophysics Data System (ADS)

Feng, Shijie; Zuo, Chao; Tao, Tianyang; Hu, Yan; Zhang, Minliang; Chen, Qian; Gu, Guohua

2018-04-01

Phase-shifting profilometry (PSP) is a widely used approach to high-accuracy three-dimensional shape measurements. However, when it comes to moving objects, phase errors induced by the movement often result in severe artifacts even though a high-speed camera is in use. From our observations, there are three kinds of motion artifacts: motion ripples, motion-induced phase unwrapping errors, and motion outliers. We present a novel motion-compensated PSP to remove the artifacts for dynamic measurements of rigid objects. The phase error of motion ripples is analyzed for the N-step phase-shifting algorithm and is compensated using the statistical nature of the fringes. The phase unwrapping errors are corrected exploiting adjacent reliable pixels, and the outliers are removed by comparing the original phase map with a smoothed phase map. Compared with the three-step PSP, our method can improve the accuracy by more than 95% for objects in motion.

ERROR COMPENSATOR FOR A POSITION TRANSDUCER

DOEpatents

Fowler, A.H.

1962-06-12

A device is designed for eliminating the effect of leadscrew errors in positioning machines in which linear motion of a slide is effected from rotary motion of a leadscrew. This is accomplished by providing a corrector cam mounted on the slide, a cam follower, and a transducer housing rotatable by the follower to compensate for all the reproducible errors in the transducer signal which can be related to the slide position. The transducer has an inner part which is movable with respect to the transducer housing. The transducer inner part is coupled to the means for rotating the leadscrew such that relative movement between this part and its housing will provide an output signal proportional to the position of the slide. The corrector cam and its follower perform the compensation by changing the angular position of the transducer housing by an amount that is a function of the slide position and the error at that position. (AEC)

An Experimental Study of Medical Error Explanations: Do Apology, Empathy, Corrective Action, and Compensation Alter Intentions and Attitudes?

PubMed

Nazione, Samantha; Pace, Kristin

2015-01-01

Medical malpractice lawsuits are a growing problem in the United States, and there is much controversy regarding how to best address this problem. The medical error disclosure framework suggests that apologizing, expressing empathy, engaging in corrective action, and offering compensation after a medical error may improve the provider-patient relationship and ultimately help reduce the number of medical malpractice lawsuits patients bring to medical providers. This study provides an experimental examination of the medical error disclosure framework and its effect on amount of money requested in a lawsuit, negative intentions, attitudes, and anger toward the provider after a medical error. Results suggest empathy may play a large role in providing positive outcomes after a medical error.

Probing-error compensation using 5 degree of freedom force/moment sensor for coordinate measuring machine

NASA Astrophysics Data System (ADS)

Lee, Minho; Cho, Nahm-Gyoo

2013-09-01

A new probing and compensation method is proposed to improve the three-dimensional (3D) measuring accuracy of 3D shapes, including irregular surfaces. A new tactile coordinate measuring machine (CMM) probe with a five-degree of freedom (5-DOF) force/moment sensor using carbon fiber plates was developed. The proposed method efficiently removes the anisotropic sensitivity error and decreases the stylus deformation and the actual contact point estimation errors that are major error components of shape measurement using touch probes. The relationship between the measuring force and estimation accuracy of the actual contact point error and stylus deformation error are examined for practical use of the proposed method. The appropriate measuring force condition is presented for the precision measurement.

The compensation of quadrupole errors and space charge effects by using trim quadrupoles

NASA Astrophysics Data System (ADS)

An, YuWen; Wang, Sheng

2011-12-01

The China Spallation Neutron Source (CSNS) accelerators consist of an H-linac and a proton Rapid Cycling Synchrotron (RCS). RCS is designed to accumulate and accelerate proton beam from 80 MeV to 1.6 GeV with a repetition rate of 25 Hz. The main dipole and quadruple magnet will operate in AC mode. Due to the adoption of the resonant power supplies, saturation errors of magnetic field cannot be compensated by power supplies. These saturation errors will disturb the linear optics parameters, such as tunes, beta function and dispersion function. The strong space charge effects will cause emittance growth. The compensation of these effects by using trim quadruples is studied, and the corresponding results are presented.

Suitability of Smartphone Inertial Sensors for Real-Time Biofeedback Applications.

PubMed

Kos, Anton; Tomažič, Sašo; Umek, Anton

2016-02-27

This article studies the suitability of smartphones with built-in inertial sensors for biofeedback applications. Biofeedback systems use various sensors to measure body functions and parameters. These sensor data are analyzed, and the results are communicated back to the user, who then tries to act on the feedback signals. Smartphone inertial sensors can be used to capture body movements in biomechanical biofeedback systems. These sensors exhibit various inaccuracies that induce significant angular and positional errors. We studied deterministic and random errors of smartphone accelerometers and gyroscopes, primarily focusing on their biases. Based on extensive measurements, we determined accelerometer and gyroscope noise models and bias variation ranges. Then, we compiled a table of predicted positional and angular errors under various biofeedback system operation conditions. We suggest several bias compensation options that are suitable for various examples of use in real-time biofeedback applications. Measurements within the developed experimental biofeedback application show that under certain conditions, even uncompensated sensors can be used for real-time biofeedback. For general use, especially for more demanding biofeedback applications, sensor biases should be compensated. We are convinced that real-time biofeedback systems based on smartphone inertial sensors are applicable to many similar examples in sports, healthcare, and other areas.

Suitability of Smartphone Inertial Sensors for Real-Time Biofeedback Applications

PubMed Central

Kos, Anton; Tomažič, Sašo; Umek, Anton

2016-01-01

This article studies the suitability of smartphones with built-in inertial sensors for biofeedback applications. Biofeedback systems use various sensors to measure body functions and parameters. These sensor data are analyzed, and the results are communicated back to the user, who then tries to act on the feedback signals. Smartphone inertial sensors can be used to capture body movements in biomechanical biofeedback systems. These sensors exhibit various inaccuracies that induce significant angular and positional errors. We studied deterministic and random errors of smartphone accelerometers and gyroscopes, primarily focusing on their biases. Based on extensive measurements, we determined accelerometer and gyroscope noise models and bias variation ranges. Then, we compiled a table of predicted positional and angular errors under various biofeedback system operation conditions. We suggest several bias compensation options that are suitable for various examples of use in real-time biofeedback applications. Measurements within the developed experimental biofeedback application show that under certain conditions, even uncompensated sensors can be used for real-time biofeedback. For general use, especially for more demanding biofeedback applications, sensor biases should be compensated. We are convinced that real-time biofeedback systems based on smartphone inertial sensors are applicable to many similar examples in sports, healthcare, and other areas. PMID:26927125

Low-Cost Ultrasonic Distance Sensor Arrays with Networked Error Correction

PubMed Central

Dai, Hongjun; Zhao, Shulin; Jia, Zhiping; Chen, Tianzhou

2013-01-01

Distance has been one of the basic factors in manufacturing and control fields, and ultrasonic distance sensors have been widely used as a low-cost measuring tool. However, the propagation of ultrasonic waves is greatly affected by environmental factors such as temperature, humidity and atmospheric pressure. In order to solve the problem of inaccurate measurement, which is significant within industry, this paper presents a novel ultrasonic distance sensor model using networked error correction (NEC) trained on experimental data. This is more accurate than other existing approaches because it uses information from indirect association with neighboring sensors, which has not been considered before. The NEC technique, focusing on optimization of the relationship of the topological structure of sensor arrays, is implemented for the compensation of erroneous measurements caused by the environment. We apply the maximum likelihood method to determine the optimal fusion data set and use a neighbor discovery algorithm to identify neighbor nodes at the top speed. Furthermore, we adopt the NEC optimization algorithm, which takes full advantage of the correlation coefficients for neighbor sensors. The experimental results demonstrate that the ranging errors of the NEC system are within 2.20%; furthermore, the mean absolute percentage error is reduced to 0.01% after three iterations of this method, which means that the proposed method performs extremely well. The optimized method of distance measurement we propose, with the capability of NEC, would bring a significant advantage for intelligent industrial automation. PMID:24013491

Flexible, multi-measurement guided wave damage detection under varying temperatures

NASA Astrophysics Data System (ADS)

Douglass, Alexander C. S.; Harley, Joel B.

2018-04-01

Temperature compensation in structural health monitoring helps identify damage in a structure by removing data variations due to environmental conditions, such as temperature. Stretch-based methods are one of the most commonly used temperature compensation methods. To account for variations in temperature, stretch-based methods optimally stretch signals in time to optimally match a measurement to a baseline. All of the data is then compared with the single baseline to determine the presence of damage. Yet, for these methods to be effective, the measurement and the baseline must satisfy the inherent assumptions of the temperature compensation method. In many scenarios, these assumptions are wrong, the methods generate error, and damage detection fails. To improve damage detection, a multi-measurement damage detection method is introduced. By using each measurement in the dataset as a baseline, error caused by imperfect temperature compensation is reduced. The multi-measurement method increases the detection effectiveness of our damage metric, or damage indicator, over time and reduces the presence of additional peaks caused by temperature that could be mistaken for damage. By using many baselines, the variance of the damage indicator is reduced and the effects from damage are amplified. Notably, the multi-measurement improves damage detection over single-measurement methods. This is demonstrated through an increase in the maximum of our damage signature from 0.55 to 0.95 (where large values, up to a maximum of one, represent a statistically significant change in the data due to damage).

A wavefront compensation approach to segmented mirror figure control

NASA Technical Reports Server (NTRS)

Redding, David; Breckenridge, Bill; Sevaston, George; Lau, Ken

1991-01-01

We consider the 'figure-control' problem for a spaceborn sub-millimeter wave telescope, the Precision Segmented Reflector Project Focus Mission Telescope. We show that performance of any figure control system is subject to limits on the controllability and observability of the quality of the wavefront. We present a wavefront-compensation method for the Focus Mission Telescope which uses mirror-figure sensors and three-axis segment actuator to directly minimize wavefront errors due to segment position errors. This approach shows significantly better performance when compared with a panel-state-compensation approach.

The mathematical origins of the kinetic compensation effect: 2. The effect of systematic errors.

PubMed

Barrie, Patrick J

2012-01-07

The kinetic compensation effect states that there is a linear relationship between Arrhenius parameters ln A and E for a family of related processes. It is a widely observed phenomenon in many areas of science, notably heterogeneous catalysis. This paper explores mathematical, rather than physicochemical, explanations for the compensation effect in certain situations. Three different topics are covered theoretically and illustrated by examples. Firstly, the effect of systematic errors in experimental kinetic data is explored, and it is shown that these create apparent compensation effects. Secondly, analysis of kinetic data when the Arrhenius parameters depend on another parameter is examined. In the case of temperature programmed desorption (TPD) experiments when the activation energy depends on surface coverage, it is shown that a common analysis method induces a systematic error, causing an apparent compensation effect. Thirdly, the effect of analysing the temperature dependence of an overall rate of reaction, rather than a rate constant, is investigated. It is shown that this can create an apparent compensation effect, but only under some conditions. This result is illustrated by a case study for a unimolecular reaction on a catalyst surface. Overall, the work highlights the fact that, whenever a kinetic compensation effect is observed experimentally, the possibility of it having a mathematical origin should be carefully considered before any physicochemical conclusions are drawn.

Laser beam projection with adaptive array of fiber collimators. II. Analysis of atmospheric compensation efficiency.

PubMed

Lachinova, Svetlana L; Vorontsov, Mikhail A

2008-08-01

We analyze the potential efficiency of laser beam projection onto a remote object in atmosphere with incoherent and coherent phase-locked conformal-beam director systems composed of an adaptive array of fiber collimators. Adaptive optics compensation of turbulence-induced phase aberrations in these systems is performed at each fiber collimator. Our analysis is based on a derived expression for the atmospheric-averaged value of the mean square residual phase error as well as direct numerical simulations. Operation of both conformal-beam projection systems is compared for various adaptive system configurations characterized by the number of fiber collimators, the adaptive compensation resolution, and atmospheric turbulence conditions.

A Novel Position Compensation Scheme for Cable-Pulley Mechanisms Used in Laparoscopic Surgical Robots

PubMed Central

Liang, Yunlei; Du, Zhijiang; Sun, Lining

2017-01-01

The tendon driven mechanism using a cable and pulley to transmit power is adopted by many surgical robots. However, backlash hysteresis objectively exists in cable-pulley mechanisms, and this nonlinear problem is a great challenge in precise position control during the surgical procedure. Previous studies mainly focused on the transmission characteristics of the cable-driven system and constructed transmission models under particular assumptions to solve nonlinear problems. However, these approaches are limited because the modeling process is complex and the transmission models lack general applicability. This paper presents a novel position compensation control scheme to reduce the impact of backlash hysteresis on the positioning accuracy of surgical robots’ end-effectors. In this paper, a position compensation scheme using a support vector machine based on feedforward control is presented to reduce the position tracking error. To validate the proposed approach, experimental validations are conducted on our cable-pulley system and comparative experiments are carried out. The results show remarkable improvements in the performance of reducing the positioning error for the use of the proposed scheme. PMID:28974011

Thermal error analysis and compensation for digital image/volume correlation

NASA Astrophysics Data System (ADS)

Pan, Bing

2018-02-01

Digital image/volume correlation (DIC/DVC) rely on the digital images acquired by digital cameras and x-ray CT scanners to extract the motion and deformation of test samples. Regrettably, these imaging devices are unstable optical systems, whose imaging geometry may undergo unavoidable slight and continual changes due to self-heating effect or ambient temperature variations. Changes in imaging geometry lead to both shift and expansion in the recorded 2D or 3D images, and finally manifest as systematic displacement and strain errors in DIC/DVC measurements. Since measurement accuracy is always the most important requirement in various experimental mechanics applications, these thermal-induced errors (referred to as thermal errors) should be given serious consideration in order to achieve high accuracy, reproducible DIC/DVC measurements. In this work, theoretical analyses are first given to understand the origin of thermal errors. Then real experiments are conducted to quantify thermal errors. Three solutions are suggested to mitigate or correct thermal errors. Among these solutions, a reference sample compensation approach is highly recommended because of its easy implementation, high accuracy and in-situ error correction capability. Most of the work has appeared in our previously published papers, thus its originality is not claimed. Instead, this paper aims to give a comprehensive overview and more insights of our work on thermal error analysis and compensation for DIC/DVC measurements.

Image and Video Compression with VLSI Neural Networks

NASA Technical Reports Server (NTRS)

Fang, W.; Sheu, B.

1993-01-01

An advanced motion-compensated predictive video compression system based on artificial neural networks has been developed to effectively eliminate the temporal and spatial redundancy of video image sequences and thus reduce the bandwidth and storage required for the transmission and recording of the video signal. The VLSI neuroprocessor for high-speed high-ratio image compression based upon a self-organization network and the conventional algorithm for vector quantization are compared. The proposed method is quite efficient and can achieve near-optimal results.

Measurement system and model for simultaneously measuring 6DOF geometric errors.

PubMed

Zhao, Yuqiong; Zhang, Bin; Feng, Qibo

2017-09-04

A measurement system to simultaneously measure six degree-of-freedom (6DOF) geometric errors is proposed. The measurement method is based on a combination of mono-frequency laser interferometry and laser fiber collimation. A simpler and more integrated optical configuration is designed. To compensate for the measurement errors introduced by error crosstalk, element fabrication error, laser beam drift, and nonparallelism of two measurement beam, a unified measurement model, which can improve the measurement accuracy, is deduced and established using the ray-tracing method. A numerical simulation using the optical design software Zemax is conducted, and the results verify the correctness of the model. Several experiments are performed to demonstrate the feasibility and effectiveness of the proposed system and measurement model.

AXAF Alignment Test System Autocollimating Flat Error Correction

NASA Technical Reports Server (NTRS)

Lewis, Timothy S.

1995-01-01

The alignment test system for the advanced x ray astrophysics facility (AXAF) high-resolution mirror assembly (HRMA) determines the misalignment of the HRMA by measuring the displacement of a beam of light reflected by the HRMA mirrors and an autocollimating flat (ACF). This report shows how to calibrate the system to compensate for errors introduced by the ACF, using measurements taken with the ACF in different positions. It also shows what information can be obtained from alignment test data regarding errors in the shapes of the HRMA mirrors. Simulated results based on measured ACF surface data are presented.

Interaction of finger enslaving and error compensation in multiple finger force production.

PubMed

Martin, Joel R; Latash, Mark L; Zatsiorsky, Vladimir M

2009-01-01

Previous studies have documented two patterns of finger interaction during multi-finger pressing tasks, enslaving and error compensation, which do not agree with each other. Enslaving is characterized by positive correlation between instructed (master) and non-instructed (slave) finger(s) while error compensation can be described as a pattern of negative correlation between master and slave fingers. We hypothesize that pattern of finger interaction, enslaving or compensation depends on the initial force level and the magnitude of the targeted force change. Subjects were instructed to press with four fingers (I index, M middle, R ring, and L little) from a specified initial force to target forces following a ramp target line. Force-force relations between master and each of three slave fingers were analyzed during the ramp phase of trials by calculating correlation coefficients within each master-slave pair and then two-factor ANOVA was performed to determine effect of initial force and force increase on the correlation coefficients. It was found that, as initial force increased, the value of the correlation coefficient decreased and in some cases became negative, i.e. the enslaving transformed into error compensation. Force increase magnitude had a smaller effect on the correlation coefficients. The observations support the hypothesis that the pattern of inter-finger interaction--enslaving or compensation--depends on the initial force level and, to a smaller degree, on the targeted magnitude of the force increase. They suggest that the controller views tasks with higher steady-state forces and smaller force changes as implying a requirement to avoid large changes in the total force.

The cerebellum does more than sensory prediction error-based learning in sensorimotor adaptation tasks.

PubMed

Butcher, Peter A; Ivry, Richard B; Kuo, Sheng-Han; Rydz, David; Krakauer, John W; Taylor, Jordan A

2017-09-01

Individuals with damage to the cerebellum perform poorly in sensorimotor adaptation paradigms. This deficit has been attributed to impairment in sensory prediction error-based updating of an internal forward model, a form of implicit learning. These individuals can, however, successfully counter a perturbation when instructed with an explicit aiming strategy. This successful use of an instructed aiming strategy presents a paradox: In adaptation tasks, why do individuals with cerebellar damage not come up with an aiming solution on their own to compensate for their implicit learning deficit? To explore this question, we employed a variant of a visuomotor rotation task in which, before executing a movement on each trial, the participants verbally reported their intended aiming location. Compared with healthy control participants, participants with spinocerebellar ataxia displayed impairments in both implicit learning and aiming. This was observed when the visuomotor rotation was introduced abruptly ( experiment 1 ) or gradually ( experiment 2 ). This dual deficit does not appear to be related to the increased movement variance associated with ataxia: Healthy undergraduates showed little change in implicit learning or aiming when their movement feedback was artificially manipulated to produce similar levels of variability ( experiment 3 ). Taken together the results indicate that a consequence of cerebellar dysfunction is not only impaired sensory prediction error-based learning but also a difficulty in developing and/or maintaining an aiming solution in response to a visuomotor perturbation. We suggest that this dual deficit can be explained by the cerebellum forming part of a network that learns and maintains action-outcome associations across trials. NEW & NOTEWORTHY Individuals with cerebellar pathology are impaired in sensorimotor adaptation. This deficit has been attributed to an impairment in error-based learning, specifically, from a deficit in using sensory prediction errors to update an internal model. Here we show that these individuals also have difficulty in discovering an aiming solution to overcome their adaptation deficit, suggesting a new role for the cerebellum in sensorimotor adaptation tasks. Copyright © 2017 the American Physiological Society.

Theory and compensation method of axial magnetic error induced by axial magnetic field in a polarization-maintaining fiber optic gyro

NASA Astrophysics Data System (ADS)

Zhou, Yanru; Zhao, Yuxiang; Tian, Hui; Zhang, Dengwei; Huang, Tengchao; Miao, Lijun; Shu, Xiaowu; Che, Shuangliang; Liu, Cheng

2016-12-01

In an axial magnetic field (AMF), which is vertical to the plane of the fiber coil, a polarization-maintaining fiber optic gyro (PM-FOG) appears as an axial magnetic error. This error is linearly related to the intensity of an AMF, the radius of the fiber coil, and the light wavelength, and also influenced by the distribution of fiber twist. When a PM-FOG is manufactured completely, this error only appears a linear correlation with the AMF. A real-time compensation model is established to eliminate the error, and the experimental results show that the axial magnetic error of the PM-FOG is decreased from 5.83 to 0.09 deg/h in 12G AMF with 18-dB suppression.

Real-time registration of 3D to 2D ultrasound images for image-guided prostate biopsy.

PubMed

Gillies, Derek J; Gardi, Lori; De Silva, Tharindu; Zhao, Shuang-Ren; Fenster, Aaron

2017-09-01

During image-guided prostate biopsy, needles are targeted at tissues that are suspicious of cancer to obtain specimen for histological examination. Unfortunately, patient motion causes targeting errors when using an MR-transrectal ultrasound (TRUS) fusion approach to augment the conventional biopsy procedure. This study aims to develop an automatic motion correction algorithm approaching the frame rate of an ultrasound system to be used in fusion-based prostate biopsy systems. Two modes of operation have been investigated for the clinical implementation of the algorithm: motion compensation using a single user initiated correction performed prior to biopsy, and real-time continuous motion compensation performed automatically as a background process. Retrospective 2D and 3D TRUS patient images acquired prior to biopsy gun firing were registered using an intensity-based algorithm utilizing normalized cross-correlation and Powell's method for optimization. 2D and 3D images were downsampled and cropped to estimate the optimal amount of image information that would perform registrations quickly and accurately. The optimal search order during optimization was also analyzed to avoid local optima in the search space. Error in the algorithm was computed using target registration errors (TREs) from manually identified homologous fiducials in a clinical patient dataset. The algorithm was evaluated for real-time performance using the two different modes of clinical implementations by way of user initiated and continuous motion compensation methods on a tissue mimicking prostate phantom. After implementation in a TRUS-guided system with an image downsampling factor of 4, the proposed approach resulted in a mean ± std TRE and computation time of 1.6 ± 0.6 mm and 57 ± 20 ms respectively. The user initiated mode performed registrations with in-plane, out-of-plane, and roll motions computation times of 108 ± 38 ms, 60 ± 23 ms, and 89 ± 27 ms, respectively, and corresponding registration errors of 0.4 ± 0.3 mm, 0.2 ± 0.4 mm, and 0.8 ± 0.5°. The continuous method performed registration significantly faster (P < 0.05) than the user initiated method, with observed computation times of 35 ± 8 ms, 43 ± 16 ms, and 27 ± 5 ms for in-plane, out-of-plane, and roll motions, respectively, and corresponding registration errors of 0.2 ± 0.3 mm, 0.7 ± 0.4 mm, and 0.8 ± 1.0°. The presented method encourages real-time implementation of motion compensation algorithms in prostate biopsy with clinically acceptable registration errors. Continuous motion compensation demonstrated registration accuracy with submillimeter and subdegree error, while performing < 50 ms computation times. Image registration technique approaching the frame rate of an ultrasound system offers a key advantage to be smoothly integrated to the clinical workflow. In addition, this technique could be used further for a variety of image-guided interventional procedures to treat and diagnose patients by improving targeting accuracy. © 2017 American Association of Physicists in Medicine.

Seasonal variability of stratospheric methane: implications for constraining tropospheric methane budgets using total column observations

NASA Astrophysics Data System (ADS)

Saad, Katherine M.; Wunch, Debra; Deutscher, Nicholas M.; Griffith, David W. T.; Hase, Frank; De Mazière, Martine; Notholt, Justus; Pollard, David F.; Roehl, Coleen M.; Schneider, Matthias; Sussmann, Ralf; Warneke, Thorsten; Wennberg, Paul O.

2016-11-01

Global and regional methane budgets are markedly uncertain. Conventionally, estimates of methane sources are derived by bridging emissions inventories with atmospheric observations employing chemical transport models. The accuracy of this approach requires correctly simulating advection and chemical loss such that modeled methane concentrations scale with surface fluxes. When total column measurements are assimilated into this framework, modeled stratospheric methane introduces additional potential for error. To evaluate the impact of such errors, we compare Total Carbon Column Observing Network (TCCON) and GEOS-Chem total and tropospheric column-averaged dry-air mole fractions of methane. We find that the model's stratospheric contribution to the total column is insensitive to perturbations to the seasonality or distribution of tropospheric emissions or loss. In the Northern Hemisphere, we identify disagreement between the measured and modeled stratospheric contribution, which increases as the tropopause altitude decreases, and a temporal phase lag in the model's tropospheric seasonality driven by transport errors. Within the context of GEOS-Chem, we find that the errors in tropospheric advection partially compensate for the stratospheric methane errors, masking inconsistencies between the modeled and measured tropospheric methane. These seasonally varying errors alias into source attributions resulting from model inversions. In particular, we suggest that the tropospheric phase lag error leads to large misdiagnoses of wetland emissions in the high latitudes of the Northern Hemisphere.

NASA Tech Briefs, August 2005

NASA Technical Reports Server (NTRS)

2005-01-01

Topics include: Hidden Identification on Parts: Magnetic Machine-Readable Matrix Symbols; System for Processing Coded OFDM Under Doppler and Fading; Multipurpose Hyperspectral Imaging System; Magnetic-Flux-Compensated Voltage Divider; High-Performance Satellite/Terrestrial-Network Gateway; Internet-Based System for Voice Communication With the ISS; Stripline/Microstrip Transition in Multilayer Circuit Board; Dual-Band Feed for a Microwave Reflector Antenna; Quadratic Programming for Allocating Control Effort; Range Process Simulation Tool; Simulator of Space Communication Networks; Computing Q-D Relationships for Storage of Rocket Fuels; Contour Error Map Algorithm; Portfolio Analysis Tool; Glass Frit Filters for Collecting Metal Oxide Nanoparticles; Anhydrous Proton-Conducting Membranes for Fuel Cells; Portable Electron-Beam Free-Form Fabrication System; Miniature Laboratory for Detecting Sparse Biomolecules; Multicompartment Liquid-Cooling/Warming Protective Garments; Laser Metrology for an Optical-Path-Length Modulator; PCM Passive Cooling System Containing Active Subsystems; Automated Electrostatics Environmental Chamber; Estimating Aeroheating of a 3D Body Using a 2D Flow Solver; Artificial Immune System for Recognizing Patterns; Computing the Thermodynamic State of a Cryogenic Fluid; Safety and Mission Assurance Performance Metric; Magnetic Control of Concentration Gradient in Microgravity; Avionics for a Small Robotic Inspection Spacecraft; and Simulation of Dynamics of a Flexible Miniature Airplane.

Supervised local error estimation for nonlinear image registration using convolutional neural networks

NASA Astrophysics Data System (ADS)

Eppenhof, Koen A. J.; Pluim, Josien P. W.

2017-02-01

Error estimation in medical image registration is valuable when validating, comparing, or combining registration methods. To validate a nonlinear image registration method, ideally the registration error should be known for the entire image domain. We propose a supervised method for the estimation of a registration error map for nonlinear image registration. The method is based on a convolutional neural network that estimates the norm of the residual deformation from patches around each pixel in two registered images. This norm is interpreted as the registration error, and is defined for every pixel in the image domain. The network is trained using a set of artificially deformed images. Each training example is a pair of images: the original image, and a random deformation of that image. No manually labeled ground truth error is required. At test time, only the two registered images are required as input. We train and validate the network on registrations in a set of 2D digital subtraction angiography sequences, such that errors up to eight pixels can be estimated. We show that for this range of errors the convolutional network is able to learn the registration error in pairs of 2D registered images at subpixel precision. Finally, we present a proof of principle for the extension to 3D registration problems in chest CTs, showing that the method has the potential to estimate errors in 3D registration problems.

A Multi-Center Space Data System Prototype Based on CCSDS Standards

NASA Technical Reports Server (NTRS)

Rich, Thomas M.

2016-01-01

Deep space missions beyond earth orbit will require new methods of data communications in order to compensate for increasing Radio Frequency (RF) propagation delay. The Consultative Committee for Space Data Systems (CCSDS) standard protocols Spacecraft Monitor & Control (SM&C), Asynchronous Message Service (AMS), and Delay/Disruption Tolerant Networking (DTN) provide such a method. However, the maturity level of this protocol stack is insufficient for mission inclusion at this time. This Space Data System prototype is intended to provide experience which will raise the Technical Readiness Level (TRL) of this protocol set. In order to reduce costs, future missions can take advantage of these standard protocols, which will result in increased interoperability between control centers. This prototype demonstrates these capabilities by implementing a realistic space data system in which telemetry is published to control center applications at the Jet Propulsion Lab (JPL), the Marshall Space Flight Center (MSFC), and the Johnson Space Center (JSC). Reverse publishing paths for commanding from each control center are also implemented. The target vehicle consists of realistic flight computer hardware running Core Flight Software (CFS) in the integrated Power, Avionics, and Power (iPAS) Pathfinder Lab at JSC. This prototype demonstrates a potential upgrade path for future Deep Space Network (DSN) modification, in which the automatic error recovery and communication gap compensation capabilities of DTN would be exploited. In addition, SM&C provides architectural flexibility by allowing new service providers and consumers to be added efficiently anywhere in the network using the common interface provided by SM&C's Message Abstraction Layer (MAL). In FY 2015, this space data system was enhanced by adding telerobotic operations capability provided by the Robot API Delegate (RAPID) family of protocols developed at NASA. RAPID is one of several candidates for consideration and inclusion in a new international standard being developed by the CCSDS Telerobotic Operations Working Group. Software gateways for the purpose of interfacing RAPID messages with the existing SM&C based infrastructure were developed. Telerobotic monitor, control, and bridge applications were written in the RAPID framework, which were then tailored to the NAO telerobotic test article hardware, a product of Aldebaran Robotics.

The next generation in optical transport semiconductors: IC solutions at the system level

NASA Astrophysics Data System (ADS)

Gomatam, Badri N.

2005-02-01

In this tutorial overview, we survey some of the challenging problems facing Optical Transport and their solutions using new semiconductor-based technologies. Advances in 0.13um CMOS, SiGe/HBT and InP/HBT IC process technologies and mixed-signal design strategies are the fundamental breakthroughs that have made these solutions possible. In combination with innovative packaging and transponder/transceiver architectures IC approaches have clearly demonstrated enhanced optical link budgets with simultaneously lower (perhaps the lowest to date) cost and manufacturability tradeoffs. This paper will describe: *Electronic Dispersion Compensation broadly viewed as the overcoming of dispersion based limits to OC-192 links and extending link budgets, *Error Control/Coding also known as Forward Error Correction (FEC), *Adaptive Receivers for signal quality monitoring for real-time estimation of Q/OSNR, eye-pattern, signal BER and related temporal statistics (such as jitter). We will discuss the theoretical underpinnings of these receiver and transmitter architectures, provide examples of system performance and conclude with general market trends. These Physical layer IC solutions represent a fundamental new toolbox of options for equipment designers in addressing systems level problems. With unmatched cost and yield/performance tradeoffs, it is expected that IC approaches will provide significant flexibility in turn, for carriers and service providers who must ultimately manage the network and assure acceptable quality of service under stringent cost constraints.

Fault detection for hydraulic pump based on chaotic parallel RBF network

NASA Astrophysics Data System (ADS)

Lu, Chen; Ma, Ning; Wang, Zhipeng

2011-12-01

In this article, a parallel radial basis function network in conjunction with chaos theory (CPRBF network) is presented, and applied to practical fault detection for hydraulic pump, which is a critical component in aircraft. The CPRBF network consists of a number of radial basis function (RBF) subnets connected in parallel. The number of input nodes for each RBF subnet is determined by different embedding dimension based on chaotic phase-space reconstruction. The output of CPRBF is a weighted sum of all RBF subnets. It was first trained using the dataset from normal state without fault, and then a residual error generator was designed to detect failures based on the trained CPRBF network. Then, failure detection can be achieved by the analysis of the residual error. Finally, two case studies are introduced to compare the proposed CPRBF network with traditional RBF networks, in terms of prediction and detection accuracy.

BRDF-dependent accuracy of array-projection-based 3D sensors.

PubMed

Heist, Stefan; Kühmstedt, Peter; Tünnermann, Andreas; Notni, Gunther

2017-03-10

In order to perform high-speed three-dimensional (3D) shape measurements with structured light systems, high-speed projectors are required. One possibility is an array projector, which allows pattern projection at several tens of kilohertz by switching on and off the LEDs of various slide projectors. The different projection centers require a separate analysis, as the intensity received by the cameras depends on the projection direction and the object's bidirectional reflectance distribution function (BRDF). In this contribution, we investigate the BRDF-dependent errors of array-projection-based 3D sensors and propose an error compensation process.

An Application of Semi-parametric Estimator with Weighted Matrix of Data Depth in Variance Component Estimation

NASA Astrophysics Data System (ADS)

Pan, X. G.; Wang, J. Q.; Zhou, H. Y.

2013-05-01

The variance component estimation (VCE) based on semi-parametric estimator with weighted matrix of data depth has been proposed, because the coupling system model error and gross error exist in the multi-source heterogeneous measurement data of space and ground combined TT&C (Telemetry, Tracking and Command) technology. The uncertain model error has been estimated with the semi-parametric estimator model, and the outlier has been restrained with the weighted matrix of data depth. On the basis of the restriction of the model error and outlier, the VCE can be improved and used to estimate weighted matrix for the observation data with uncertain model error or outlier. Simulation experiment has been carried out under the circumstance of space and ground combined TT&C. The results show that the new VCE based on the model error compensation can determine the rational weight of the multi-source heterogeneous data, and restrain the outlier data.

A simultaneously calibration approach for installation and attitude errors of an INS/GPS/LDS target tracker.

PubMed

Cheng, Jianhua; Chen, Daidai; Sun, Xiangyu; Wang, Tongda

2015-02-04

To obtain the absolute position of a target is one of the basic topics for non-cooperated target tracking problems. In this paper, we present a simultaneously calibration method for an Inertial navigation system (INS)/Global position system (GPS)/Laser distance scanner (LDS) integrated system based target positioning approach. The INS/GPS integrated system provides the attitude and position of observer, and LDS offers the distance between the observer and the target. The two most significant errors are taken into jointly consideration and analyzed: (1) the attitude measure error of INS/GPS; (2) the installation error between INS/GPS and LDS subsystems. Consequently, a INS/GPS/LDS based target positioning approach considering these two errors is proposed. In order to improve the performance of this approach, a novel calibration method is designed to simultaneously estimate and compensate these two main errors. Finally, simulations are conducted to access the performance of the proposed target positioning approach and the designed simultaneously calibration method.

Learning Data Set Influence on Identification Accuracy of Gas Turbine Neural Network Model

NASA Astrophysics Data System (ADS)

Kuznetsov, A. V.; Makaryants, G. M.

2018-01-01

There are many gas turbine engine identification researches via dynamic neural network models. It should minimize errors between model and real object during identification process. Questions about training data set processing of neural networks are usually missed. This article presents a study about influence of data set type on gas turbine neural network model accuracy. The identification object is thermodynamic model of micro gas turbine engine. The thermodynamic model input signal is the fuel consumption and output signal is the engine rotor rotation frequency. Four types input signals was used for creating training and testing data sets of dynamic neural network models - step, fast, slow and mixed. Four dynamic neural networks were created based on these types of training data sets. Each neural network was tested via four types test data sets. In the result 16 transition processes from four neural networks and four test data sets from analogous solving results of thermodynamic model were compared. The errors comparison was made between all neural network errors in each test data set. In the comparison result it was shown error value ranges of each test data set. It is shown that error values ranges is small therefore the influence of data set types on identification accuracy is low.

Bayesian network models for error detection in radiotherapy plans

NASA Astrophysics Data System (ADS)

Kalet, Alan M.; Gennari, John H.; Ford, Eric C.; Phillips, Mark H.

2015-04-01

The purpose of this study is to design and develop a probabilistic network for detecting errors in radiotherapy plans for use at the time of initial plan verification. Our group has initiated a multi-pronged approach to reduce these errors. We report on our development of Bayesian models of radiotherapy plans. Bayesian networks consist of joint probability distributions that define the probability of one event, given some set of other known information. Using the networks, we find the probability of obtaining certain radiotherapy parameters, given a set of initial clinical information. A low probability in a propagated network then corresponds to potential errors to be flagged for investigation. To build our networks we first interviewed medical physicists and other domain experts to identify the relevant radiotherapy concepts and their associated interdependencies and to construct a network topology. Next, to populate the network’s conditional probability tables, we used the Hugin Expert software to learn parameter distributions from a subset of de-identified data derived from a radiation oncology based clinical information database system. These data represent 4990 unique prescription cases over a 5 year period. Under test case scenarios with approximately 1.5% introduced error rates, network performance produced areas under the ROC curve of 0.88, 0.98, and 0.89 for the lung, brain and female breast cancer error detection networks, respectively. Comparison of the brain network to human experts performance (AUC of 0.90 ± 0.01) shows the Bayes network model performs better than domain experts under the same test conditions. Our results demonstrate the feasibility and effectiveness of comprehensive probabilistic models as part of decision support systems for improved detection of errors in initial radiotherapy plan verification procedures.

Performance limitations of temperature-emissivity separation techniques in long-wave infrared hyperspectral imaging applications

NASA Astrophysics Data System (ADS)

Pieper, Michael; Manolakis, Dimitris; Truslow, Eric; Cooley, Thomas; Brueggeman, Michael; Jacobson, John; Weisner, Andrew

2017-08-01

Accurate estimation or retrieval of surface emissivity from long-wave infrared or thermal infrared (TIR) hyperspectral imaging data acquired by airborne or spaceborne sensors is necessary for many scientific and defense applications. This process consists of two interwoven steps: atmospheric compensation and temperature-emissivity separation (TES). The most widely used TES algorithms for hyperspectral imaging data assume that the emissivity spectra for solids are smooth compared to the atmospheric transmission function. We develop a model to explain and evaluate the performance of TES algorithms using a smoothing approach. Based on this model, we identify three sources of error: the smoothing error of the emissivity spectrum, the emissivity error from using the incorrect temperature, and the errors caused by sensor noise. For each TES smoothing technique, we analyze the bias and variability of the temperature errors, which translate to emissivity errors. The performance model explains how the errors interact to generate temperature errors. Since we assume exact knowledge of the atmosphere, the presented results provide an upper bound on the performance of TES algorithms based on the smoothness assumption.

Error vector magnitude based parameter estimation for digital filter back-propagation mitigating SOA distortions in 16-QAM.

PubMed

Amiralizadeh, Siamak; Nguyen, An T; Rusch, Leslie A

2013-08-26

We investigate the performance of digital filter back-propagation (DFBP) using coarse parameter estimation for mitigating SOA nonlinearity in coherent communication systems. We introduce a simple, low overhead method for parameter estimation for DFBP based on error vector magnitude (EVM) as a figure of merit. The bit error rate (BER) penalty achieved with this method has negligible penalty as compared to DFBP with fine parameter estimation. We examine different bias currents for two commercial SOAs used as booster amplifiers in our experiments to find optimum operating points and experimentally validate our method. The coarse parameter DFBP efficiently compensates SOA-induced nonlinearity for both SOA types in 80 km propagation of 16-QAM signal at 22 Gbaud.

Analysis of Mars Express Ionogram Data via a Multilayer Artificial Neural Network

NASA Astrophysics Data System (ADS)

Wilkinson, Collin; Potter, Arron; Palmer, Greg; Duru, Firdevs

2017-01-01

Mars Advanced Radar for Subsurface and Ionospheric Sounding (MARSIS), which is a low frequency radar on the Mars Express (MEX) Spacecraft, can provide electron plasma densities of the ionosphere local at the spacecraft in addition to densities obtained with remote sounding. The local electron densities are obtained, with a standard error of about 2%, by measuring the electron plasma frequencies with an electronic ruler on ionograms, which are plots of echo intensity as a function of time and frequency. This is done by using a tool created at the University of Iowa (Duru et al., 2008). This approach is time consuming due to the rapid accumulation of ionogram data. In 2013, results from an algorithm-based analysis of ionograms were reported by Andrews et al., but this method did not improve the human error. In the interest of fast, accurate data interpretation, a neural network (NN) has been created based on the Fast Artificial Neural Network C libraries. This NN consists of artificial neurons, with 4 layers of 12960, 10000, 1000 and 1 neuron(s) each, consecutively. This network was trained using 40 iterations of 1000 orbits. The algorithm-based method of Andrews et al. had a standard error of 40%, while the neural network has achieved error on the order of 20%.

Salient object detection based on multi-scale contrast.

PubMed

Wang, Hai; Dai, Lei; Cai, Yingfeng; Sun, Xiaoqiang; Chen, Long

2018-05-01

Due to the development of deep learning networks, a salient object detection based on deep learning networks, which are used to extract the features, has made a great breakthrough compared to the traditional methods. At present, the salient object detection mainly relies on very deep convolutional network, which is used to extract the features. In deep learning networks, an dramatic increase of network depth may cause more training errors instead. In this paper, we use the residual network to increase network depth and to mitigate the errors caused by depth increase simultaneously. Inspired by image simplification, we use color and texture features to obtain simplified image with multiple scales by means of region assimilation on the basis of super-pixels in order to reduce the complexity of images and to improve the accuracy of salient target detection. We refine the feature on pixel level by the multi-scale feature correction method to avoid the feature error when the image is simplified at the above-mentioned region level. The final full connection layer not only integrates features of multi-scale and multi-level but also works as classifier of salient targets. The experimental results show that proposed model achieves better results than other salient object detection models based on original deep learning networks. Copyright © 2018 Elsevier Ltd. All rights reserved.

Control torque generation of a CMG-based small satellite with MTGAC system: a trade-off study

NASA Astrophysics Data System (ADS)

Salleh, M. B.; Suhadis, N. M.; Rajendran, P.; Mazlan, N. M.

2018-05-01

In this paper, the gimbal angle compensation method using magnetic control law has been adopted for a small satellite operating in low earth orbit under disturbance toques influence. Three light weight magnetic torquers have been used to generate the magnetic compensation torque to bring diverge gimbals at preferable angle. The magnetic control torque required to compensate the gimbal angle is based on the gimbal error rate which depends on the gimbal angle converging time. A simulation study has been performed without and with the MTGAC system to investigate the amount of generated control torque as a trade-off between the power consumption, attitude control performance and CMG dynamic performance. Numerical simulations show that the satellite with the MTGAC system generates more control torques which leads to the additional power requirement but in return results in a favorable attitude control performance and gimbal angle management.

Stabilization of model-based networked control systems

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

Miranda, Francisco; Instituto Politécnico de Viana do Castelo, Viana do Castelo; Abreu, Carlos

2016-06-08

A class of networked control systems called Model-Based Networked Control Systems (MB-NCSs) is considered. Stabilization of MB-NCSs is studied using feedback controls and simulation of stabilization for different feedbacks is made with the purpose to reduce the network trafic. The feedback control input is applied in a compensated model of the plant that approximates the plant dynamics and stabilizes the plant even under slow network conditions. Conditions for global exponential stabilizability and for the choosing of a feedback control input for a given constant time between the information moments of the network are derived. An optimal control problem to obtainmore » an optimal feedback control is also presented.« less

Flight calibration of compensated and uncompensated pitot-static airspeed probes and application of the probes to supersonic cruise vehicles

NASA Technical Reports Server (NTRS)

Webb, L. D.; Washington, H. P.

1972-01-01

Static pressure position error calibrations for a compensated and an uncompensated XB-70 nose boom pitot static probe were obtained in flight. The methods (Pacer, acceleration-deceleration, and total temperature) used to obtain the position errors over a Mach number range from 0.5 to 3.0 and an altitude range from 25,000 feet to 70,000 feet are discussed. The error calibrations are compared with the position error determined from wind tunnel tests, theoretical analysis, and a standard NACA pitot static probe. Factors which influence position errors, such as angle of attack, Reynolds number, probe tip geometry, static orifice location, and probe shape, are discussed. Also included are examples showing how the uncertainties caused by position errors can affect the inlet controls and vertical altitude separation of a supersonic transport.

A Definitive Work on Factors Impacting the Arming of Unmanned Vehicles

DTIC Science & Technology

2005-05-01

making software, which can then adjust the system to compensate for unusual activity. Behavioral models that better predict how applications, networks ... network structure of nodes and arcs. The arcs describe relations between nodes, and nodes represent objects, concepts, or events. It uses the arc...tackling things that occur outside the known problem domain. There are some newer, natural-based approaches. One deals with neural networks . There is no

Evaluation of photomask flatness compensation for extreme ultraviolet lithography

NASA Astrophysics Data System (ADS)

Ballman, Katherine; Lee, Christopher; Zimmerman, John; Dunn, Thomas; Bean, Alexander

2016-10-01

As the semiconductor industry continues to strive towards high volume manufacturing for EUV, flatness specifications for photomasks have decreased to below 10nm for 2018 production, however the current champion masks being produced report P-V flatness values of roughly 50nm. Write compensation presents the promising opportunity to mitigate pattern placement errors through the use of geometrically adjusted target patterns which counteract the reticle's flatness induced distortions and address the differences in chucking mechanisms between e-beam write and electrostatic clamping during scan. Compensation relies on high accuracy flatness data which provides the critical topographical components of the reticle to the write tool. Any errors included in the flatness data file are translated to the pattern during the write process, which has now driven flatness measurement tools to target a 6σ reproducibility <1nm. Using data collected from a 2011 Sematech study on the Alpha Demo Tool, the proposed methodology for write compensation is validated against printed wafer results. Topographic features which lack compensation capability must then be held to stringent specifications in order to limit their contributions to the final image placement error (IPE) at wafer. By understanding the capabilities and limitations of write compensation, it is then possible to shift flatness requirements towards the "non-correctable" portion of the reticle's profile, potentially relieving polishers from having to adhere to the current single digit flatness specifications.

A Dynamic Attitude Measurement System Based on LINS

PubMed Central

Li, Hanzhou; Pan, Quan; Wang, Xiaoxu; Zhang, Juanni; Li, Jiang; Jiang, Xiangjun

2014-01-01

A dynamic attitude measurement system (DAMS) is developed based on a laser inertial navigation system (LINS). Three factors of the dynamic attitude measurement error using LINS are analyzed: dynamic error, time synchronization and phase lag. An optimal coning errors compensation algorithm is used to reduce coning errors, and two-axis wobbling verification experiments are presented in the paper. The tests indicate that the attitude accuracy is improved 2-fold by the algorithm. In order to decrease coning errors further, the attitude updating frequency is improved from 200 Hz to 2000 Hz. At the same time, a novel finite impulse response (FIR) filter with three notches is designed to filter the dither frequency of the ring laser gyro (RLG). The comparison tests suggest that the new filter is five times more effective than the old one. The paper indicates that phase-frequency characteristics of FIR filter and first-order holder of navigation computer constitute the main sources of phase lag in LINS. A formula to calculate the LINS attitude phase lag is introduced in the paper. The expressions of dynamic attitude errors induced by phase lag are derived. The paper proposes a novel synchronization mechanism that is able to simultaneously solve the problems of dynamic test synchronization and phase compensation. A single-axis turntable and a laser interferometer are applied to verify the synchronization mechanism. The experiments results show that the theoretically calculated values of phase lag and attitude error induced by phase lag can both match perfectly with testing data. The block diagram of DAMS and physical photos are presented in the paper. The final experiments demonstrate that the real-time attitude measurement accuracy of DAMS can reach up to 20″ (1σ) and the synchronization error is less than 0.2 ms on the condition of three axes wobbling for 10 min. PMID:25177802

Integration of Error Compensation of Coordinate Measuring Machines into Feature Measurement: Part II—Experimental Implementation

PubMed Central

Calvo, Roque; D’Amato, Roberto; Gómez, Emilio; Domingo, Rosario

2016-01-01

Coordinate measuring machines (CMM) are main instruments of measurement in laboratories and in industrial quality control. A compensation error model has been formulated (Part I). It integrates error and uncertainty in the feature measurement model. Experimental implementation for the verification of this model is carried out based on the direct testing on a moving bridge CMM. The regression results by axis are quantified and compared to CMM indication with respect to the assigned values of the measurand. Next, testing of selected measurements of length, flatness, dihedral angle, and roundness features are accomplished. The measurement of calibrated gauge blocks for length or angle, flatness verification of the CMM granite table and roundness of a precision glass hemisphere are presented under a setup of repeatability conditions. The results are analysed and compared with alternative methods of estimation. The overall performance of the model is endorsed through experimental verification, as well as the practical use and the model capability to contribute in the improvement of current standard CMM measuring capabilities. PMID:27754441

[Development of Micro-Spectrometer with a Function of Timely Temperature Compensation].

PubMed

Bao, Jian-guang; Liu, Zheng-kun; Chen, Huo-yao; Lin, Ji-ping; Fu, Shao-jun

2015-05-01

Temperature drift will be brought to Micro-Spectrometer used for demodulating the Varied Line-Space(VLS) grating position sensor on aircraft due to high-low temperature shock. We successfully made a Micro-Spectrometer, for the VLS grating position sensor on aircraft, which still have stable output under temperature shock enviro nment. In order to present a real time temperature compensation scheme, the effects temperature change has on Micro-Spectrometer are analyzed and the traditional cross Czerny-Turner (C-T)optical structure is optimized. Both optical structures are analyzed by optics design software ZEMAX and proved that comparedwithtraditional cross C-T optical structure, the newone can accomplish not only smaller spectrum drift but also spectrum drift with better linearity. Based on the new optical structure. The scheme of using reference wavelength to accomplish real time temperature compensation was proposed and a Micro-fiber Spectrometer was successfully manufactured, whith is with Volume of 80 mm X 70 mmX 70 mm, integration time of 8 ~1 000 ms and FullWidthHalfMaximum(FWHM) of 2 nm. Experiments show that the new spectrometer meets the design requirement. Under high temperature in the range of nearly 60 °C, the standard error of wavelength of this new spectrometer is smaller than 0. 1 nm, and the maximum error of wavelength is 0. 14 nm, which is much smaller than required 0. 3 nm. Innovations of this paper are the schemeof real time temperature compensation, the new cross C-T optical structure and a Micro-fiber Spectrometer based on it.

Optimization of real-time rigid registration motion compensation for prostate biopsies using 2D/3D ultrasound

NASA Astrophysics Data System (ADS)

Gillies, Derek J.; Gardi, Lori; Zhao, Ren; Fenster, Aaron

2017-03-01

During image-guided prostate biopsy, needles are targeted at suspicious tissues to obtain specimens that are later examined histologically for cancer. Patient motion causes inaccuracies when using MR-transrectal ultrasound (TRUS) image fusion approaches used to augment the conventional biopsy procedure. Motion compensation using a single, user initiated correction can be performed to temporarily compensate for prostate motion, but a real-time continuous registration offers an improvement to clinical workflow by reducing user interaction and procedure time. An automatic motion compensation method, approaching the frame rate of a TRUS-guided system, has been developed for use during fusion-based prostate biopsy to improve image guidance. 2D and 3D TRUS images of a prostate phantom were registered using an intensity based algorithm utilizing normalized cross-correlation and Powell's method for optimization with user initiated and continuous registration techniques. The user initiated correction performed with observed computation times of 78 ± 35 ms, 74 ± 28 ms, and 113 ± 49 ms for in-plane, out-of-plane, and roll motions, respectively, corresponding to errors of 0.5 ± 0.5 mm, 1.5 ± 1.4 mm, and 1.5 ± 1.6°. The continuous correction performed significantly faster (p < 0.05) than the user initiated method, with observed computation times of 31 ± 4 ms, 32 ± 4 ms, and 31 ± 6 ms for in-plane, out-of-plane, and roll motions, respectively, corresponding to errors of 0.2 ± 0.2 mm, 0.6 ± 0.5 mm, and 0.8 ± 0.4°.

The Characteristics and Causes of Push-off During Screw Rotor Manufacture, and its Compensation by Multi-axis Machine Path Calculations

NASA Astrophysics Data System (ADS)

Wang, X.; Holmes, C. S.

2015-08-01

When grinding helical components, errors occur at the beginning and end of the contact path between the component and grinding wheel. This is due to the forces on the component changing as the grinding wheel comes into and out-of full contact with the component. In addition, shaft bending may add depth changes which vary along the length. This may result in an interrupted contact line and increased noise from the rotors. Using on-board scanning, software has been developed to calculate a compensated grinding path, which includes the adjustments of head angle, work rotation and infeed. This grinding path compensates not only lead errors, but also reduces the profile errors as well. The program has been tested in rotor production and the results are shown.

A Survey on Multimedia-Based Cross-Layer Optimization in Visual Sensor Networks

PubMed Central

Costa, Daniel G.; Guedes, Luiz Affonso

2011-01-01

Visual sensor networks (VSNs) comprised of battery-operated electronic devices endowed with low-resolution cameras have expanded the applicability of a series of monitoring applications. Those types of sensors are interconnected by ad hoc error-prone wireless links, imposing stringent restrictions on available bandwidth, end-to-end delay and packet error rates. In such context, multimedia coding is required for data compression and error-resilience, also ensuring energy preservation over the path(s) toward the sink and improving the end-to-end perceptual quality of the received media. Cross-layer optimization may enhance the expected efficiency of VSNs applications, disrupting the conventional information flow of the protocol layers. When the inner characteristics of the multimedia coding techniques are exploited by cross-layer protocols and architectures, higher efficiency may be obtained in visual sensor networks. This paper surveys recent research on multimedia-based cross-layer optimization, presenting the proposed strategies and mechanisms for transmission rate adjustment, congestion control, multipath selection, energy preservation and error recovery. We note that many multimedia-based cross-layer optimization solutions have been proposed in recent years, each one bringing a wealth of contributions to visual sensor networks. PMID:22163908

A Bayesian Account of Vocal Adaptation to Pitch-Shifted Auditory Feedback

PubMed Central

Hahnloser, Richard H. R.

2017-01-01

Motor systems are highly adaptive. Both birds and humans compensate for synthetically induced shifts in the pitch (fundamental frequency) of auditory feedback stemming from their vocalizations. Pitch-shift compensation is partial in the sense that large shifts lead to smaller relative compensatory adjustments of vocal pitch than small shifts. Also, compensation is larger in subjects with high motor variability. To formulate a mechanistic description of these findings, we adapt a Bayesian model of error relevance. We assume that vocal-auditory feedback loops in the brain cope optimally with known sensory and motor variability. Based on measurements of motor variability, optimal compensatory responses in our model provide accurate fits to published experimental data. Optimal compensation correctly predicts sensory acuity, which has been estimated in psychophysical experiments as just-noticeable pitch differences. Our model extends the utility of Bayesian approaches to adaptive vocal behaviors. PMID:28135267

Effective Prediction of Errors by Non-native Speakers Using Decision Tree for Speech Recognition-Based CALL System

NASA Astrophysics Data System (ADS)

Wang, Hongcui; Kawahara, Tatsuya

CALL (Computer Assisted Language Learning) systems using ASR (Automatic Speech Recognition) for second language learning have received increasing interest recently. However, it still remains a challenge to achieve high speech recognition performance, including accurate detection of erroneous utterances by non-native speakers. Conventionally, possible error patterns, based on linguistic knowledge, are added to the lexicon and language model, or the ASR grammar network. However, this approach easily falls in the trade-off of coverage of errors and the increase of perplexity. To solve the problem, we propose a method based on a decision tree to learn effective prediction of errors made by non-native speakers. An experimental evaluation with a number of foreign students learning Japanese shows that the proposed method can effectively generate an ASR grammar network, given a target sentence, to achieve both better coverage of errors and smaller perplexity, resulting in significant improvement in ASR accuracy.

Atmospheric Compensation and Surface Temperature and Emissivity Retrieval with LWIR Hyperspectral Imagery

NASA Astrophysics Data System (ADS)

Pieper, Michael

Accurate estimation or retrieval of surface emissivity spectra from long-wave infrared (LWIR) or Thermal Infrared (TIR) hyperspectral imaging data acquired by airborne or space-borne sensors is necessary for many scientific and defense applications. The at-aperture radiance measured by the sensor is a function of the ground emissivity and temperature, modified by the atmosphere. Thus the emissivity retrieval process consists of two interwoven steps: atmospheric compensation (AC) to retrieve the ground radiance from the measured at-aperture radiance and temperature-emissivity separation (TES) to separate the temperature and emissivity from the ground radiance. In-scene AC (ISAC) algorithms use blackbody-like materials in the scene, which have a linear relationship between their ground radiances and at-aperture radiances determined by the atmospheric transmission and upwelling radiance. Using a clear reference channel to estimate the ground radiance, a linear fitting of the at-aperture radiance and estimated ground radiance is done to estimate the atmospheric parameters. TES algorithms for hyperspectral imaging data assume that the emissivity spectra for solids are smooth compared to the sharp features added by the atmosphere. The ground temperature and emissivity are found by finding the temperature that provides the smoothest emissivity estimate. In this thesis we develop models to investigate the sensitivity of AC and TES to the basic assumptions enabling their performance. ISAC assumes that there are perfect blackbody pixels in a scene and that there is a clear channel, which is never the case. The developed ISAC model explains how the quality of blackbody-like pixels affect the shape of atmospheric estimates and the clear channel assumption affects their magnitude. Emissivity spectra for solids usually have some roughness. The TES model identifies four sources of error: the smoothing error of the emissivity spectrum, the emissivity error from using the incorrect temperature, and the errors caused by sensor noise and wavelength calibration. The ways these errors interact determines the overall TES performance. Since the AC and TES processes are interwoven, any errors in AC are transferred to TES and the final temperature and emissivity estimates. Combining the two models, shape errors caused by the blackbody assumption are transferred to the emissivity estimates, where magnitude errors from the clear channel assumption are compensated by TES temperature induced emissivity errors. The ability for the temperature induced error to compensate for such atmospheric errors makes it difficult to determine the correct atmospheric parameters for a scene. With these models we are able to determine the expected quality of estimated emissivity spectra based on the quality of blackbody-like materials on the ground, the emissivity of the materials being searched for, and the properties of the sensor. The quality of material emissivity spectra is a key factor in determining detection performance for a material in a scene.

A hybrid Bayesian network approach for trade-offs between environmental flows and agricultural water using dynamic discretization

NASA Astrophysics Data System (ADS)

Xue, Jie; Gui, Dongwei; Lei, Jiaqiang; Sun, Huaiwei; Zeng, Fanjiang; Feng, Xinlong

2017-12-01

Agriculture and the eco-environment are increasingly competing for water. The extension of intensive farmland for ensuring food security has resulted in excessive water exploitation by agriculture. Consequently, this has led to a lack of water supply in natural ecosystems. This paper proposes a trade-off framework to coordinate the water-use conflict between agriculture and the eco-environment, based on economic compensation for irrigation stakeholders. A hybrid Bayesian network (HBN) is developed to implement the framework, including: (a) agricultural water shortage assessments after meeting environmental flows; (b) water-use tradeoff analysis between agricultural irrigation and environmental flows using the HBN; and (c) quantification of the agricultural economic compensation for different irrigation stakeholders. The constructed HBN is computed by dynamic discretization, which is a more robust and accurate propagation algorithm than general static discretization. A case study of the Qira oasis area in Northwest China demonstrates that the water trade-off based on economic compensation depends on the available water supply and environmental flows at different levels. Agricultural irrigation water extracted for grain crops should be preferentially guaranteed to ensure food security, in spite of higher economic compensation in other cash crops' irrigation for water coordination. Updating water-saving engineering and adopting drip irrigation technology in agricultural facilities after satisfying environmental flows would greatly relieve agricultural water shortage and save the economic compensation for different irrigation stakeholders. The approach in this study can be easily applied in water-stressed areas worldwide for dealing with water competition.

Actuator stiction compensation via variable amplitude pulses.

PubMed

Arifin, B M S; Munaro, C J; Angarita, O F B; Cypriano, M V G; Shah, S L

2018-02-01

A novel model free stiction compensation scheme is developed which eliminates the oscillations and also reduces valve movement, allowing good setpoint tracking and disturbance rejection. Pulses with varying amplitude are added to the controller output to overcome stiction and when the error becomes smaller than a specified limit, the compensation ceases and remains in a standby mode. The compensation re-starts as soon as the error exceeds the user specified threshold. The ability to cope with uncertainty in friction is a feature achieved by the use of pulses of varying amplitude. The algorithm has been evaluated via simulation and by application on an industrial DCS system interfaced to a pilot scale process with features identical to those found in industry including a valve positioner. Copyright © 2018 ISA. Published by Elsevier Ltd. All rights reserved.

A radio-aware routing algorithm for reliable directed diffusion in lossy wireless sensor networks.

PubMed

Kim, Yong-Pyo; Jung, Euihyun; Park, Yong-Jin

2009-01-01

In Wireless Sensor Networks (WSNs), transmission errors occur frequently due to node failure, battery discharge, contention or interference by objects. Although Directed Diffusion has been considered as a prominent data-centric routing algorithm, it has some weaknesses due to unexpected network errors. In order to address these problems, we proposed a radio-aware routing algorithm to improve the reliability of Directed Diffusion in lossy WSNs. The proposed algorithm is aware of the network status based on the radio information from MAC and PHY layers using a cross-layer design. The cross-layer design can be used to get detailed information about current status of wireless network such as a link quality or transmission errors of communication links. The radio information indicating variant network conditions and link quality was used to determine an alternative route that provides reliable data transmission under lossy WSNs. According to the simulation result, the radio-aware reliable routing algorithm showed better performance in both grid and random topologies with various error rates. The proposed solution suggested the possibility of providing a reliable transmission method for QoS requests in lossy WSNs based on the radio-awareness. The energy and mobility issues will be addressed in the future work.

Selection of neural network structure for system error correction of electro-optical tracker system with horizontal gimbal

NASA Astrophysics Data System (ADS)

Liu, Xing-fa; Cen, Ming

2007-12-01

Neural Network system error correction method is more precise than lest square system error correction method and spheric harmonics function system error correction method. The accuracy of neural network system error correction method is mainly related to the frame of Neural Network. Analysis and simulation prove that both BP neural network system error correction method and RBF neural network system error correction method have high correction accuracy; it is better to use RBF Network system error correction method than BP Network system error correction method for little studying stylebook considering training rate and neural network scale.

Compensation of distributed delays in integrated communication and control systems

NASA Technical Reports Server (NTRS)

Ray, Asok; Luck, Rogelio

1991-01-01

The concept, analysis, implementation, and verification of a method for compensating delays that are distributed between the sensors, controller, and actuators within a control loop are discussed. With the objective of mitigating the detrimental effects of these network induced delays, a predictor-controller algorithm was formulated and analyzed. Robustness of the delay compensation algorithm was investigated relative to parametric uncertainties in plant modeling. The delay compensator was experimentally verified on an IEEE 802.4 network testbed for velocity control of a DC servomotor.

Adaptive control of nonlinear uncertain active suspension systems with prescribed performance.

PubMed

Huang, Yingbo; Na, Jing; Wu, Xing; Liu, Xiaoqin; Guo, Yu

2015-01-01

This paper proposes adaptive control designs for vehicle active suspension systems with unknown nonlinear dynamics (e.g., nonlinear spring and piece-wise linear damper dynamics). An adaptive control is first proposed to stabilize the vertical vehicle displacement and thus to improve the ride comfort and to guarantee other suspension requirements (e.g., road holding and suspension space limitation) concerning the vehicle safety and mechanical constraints. An augmented neural network is developed to online compensate for the unknown nonlinearities, and a novel adaptive law is developed to estimate both NN weights and uncertain model parameters (e.g., sprung mass), where the parameter estimation error is used as a leakage term superimposed on the classical adaptations. To further improve the control performance and simplify the parameter tuning, a prescribed performance function (PPF) characterizing the error convergence rate, maximum overshoot and steady-state error is used to propose another adaptive control. The stability for the closed-loop system is proved and particular performance requirements are analyzed. Simulations are included to illustrate the effectiveness of the proposed control schemes. Copyright © 2014 ISA. Published by Elsevier Ltd. All rights reserved.

Enhanced storage capacity with errors in scale-free Hopfield neural networks: An analytical study.

PubMed

Kim, Do-Hyun; Park, Jinha; Kahng, Byungnam

2017-01-01

The Hopfield model is a pioneering neural network model with associative memory retrieval. The analytical solution of the model in mean field limit revealed that memories can be retrieved without any error up to a finite storage capacity of O(N), where N is the system size. Beyond the threshold, they are completely lost. Since the introduction of the Hopfield model, the theory of neural networks has been further developed toward realistic neural networks using analog neurons, spiking neurons, etc. Nevertheless, those advances are based on fully connected networks, which are inconsistent with recent experimental discovery that the number of connections of each neuron seems to be heterogeneous, following a heavy-tailed distribution. Motivated by this observation, we consider the Hopfield model on scale-free networks and obtain a different pattern of associative memory retrieval from that obtained on the fully connected network: the storage capacity becomes tremendously enhanced but with some error in the memory retrieval, which appears as the heterogeneity of the connections is increased. Moreover, the error rates are also obtained on several real neural networks and are indeed similar to that on scale-free model networks.

A new method for distortion magnetic field compensation of a geomagnetic vector measurement system

NASA Astrophysics Data System (ADS)

Liu, Zhongyan; Pan, Mengchun; Tang, Ying; Zhang, Qi; Geng, Yunling; Wan, Chengbiao; Chen, Dixiang; Tian, Wugang

2016-12-01

The geomagnetic vector measurement system mainly consists of three-axis magnetometer and an INS (inertial navigation system), which have many ferromagnetic parts on them. The magnetometer is always distorted by ferromagnetic parts and other electric equipments such as INS and power circuit module within the system, which can lead to geomagnetic vector measurement error of thousands of nT. Thus, the geomagnetic vector measurement system has to be compensated in order to guarantee the measurement accuracy. In this paper, a new distortion magnetic field compensation method is proposed, in which a permanent magnet with different relative positions is used to change the ambient magnetic field to construct equations of the error model parameters, and the parameters can be accurately estimated by solving linear equations. In order to verify effectiveness of the proposed method, the experiment is conducted, and the results demonstrate that, after compensation, the components errors of measured geomagnetic field are reduced significantly. It demonstrates that the proposed method can effectively improve the accuracy of the geomagnetic vector measurement system.

Improving demodulation accuracy of low-coherence interferometer against spatial-frequency nonlinearity

NASA Astrophysics Data System (ADS)

Wang, Shuang; Liu, Tiegen; Jiang, Junfeng; Liu, Kun; Yin, Jinde; Wu, Fan; Zhao, Bofu; Xue, Lei; Mei, Yunqiao; Wu, Zhenhai

2013-12-01

We present an effective method to compensate the spatial-frequency nonlinearity for polarized low-coherence interferometer with location-dependent dispersion element. Through the use of location-dependent dispersive characteristics, the method establishes the exact relationship between wave number and discrete Fourier transform (DFT) serial number. The jump errors in traditional absolute phase algorithm are also avoided with nonlinearity compensation. We carried out experiments with an optical fiber Fabry-Perot (F-P) pressure sensing system to verify the effectiveness. The demodulated error is less than 0.139kPa in the range of 170kPa when using our nonlinearity compensation process in the demodulation.

Representation of deformable motion for compression of dynamic cardiac image data

NASA Astrophysics Data System (ADS)

Weinlich, Andreas; Amon, Peter; Hutter, Andreas; Kaup, André

2012-02-01

We present a new approach for efficient estimation and storage of tissue deformation in dynamic medical image data like 3-D+t computed tomography reconstructions of human heart acquisitions. Tissue deformation between two points in time can be described by means of a displacement vector field indicating for each voxel of a slice, from which position in the previous slice at a fixed position in the third dimension it has moved to this position. Our deformation model represents the motion in a compact manner using a down-sampled potential function of the displacement vector field. This function is obtained by a Gauss-Newton minimization of the estimation error image, i. e., the difference between the current and the deformed previous slice. For lossless or lossy compression of volume slices, the potential function and the error image can afterwards be coded separately. By assuming deformations instead of translational motion, a subsequent coding algorithm using this method will achieve better compression ratios for medical volume data than with conventional block-based motion compensation known from video coding. Due to the smooth prediction without block artifacts, particularly whole-image transforms like wavelet decomposition as well as intra-slice prediction methods can benefit from this approach. We show that with discrete cosine as well as with Karhunen-Lo`eve transform the method can achieve a better energy compaction of the error image than block-based motion compensation while reaching approximately the same prediction error energy.

An Improved Fast Self-Calibration Method for Hybrid Inertial Navigation System under Stationary Condition

PubMed Central

Liu, Bingqi; Wei, Shihui; Su, Guohua; Wang, Jiping; Lu, Jiazhen

2018-01-01

The navigation accuracy of the inertial navigation system (INS) can be greatly improved when the inertial measurement unit (IMU) is effectively calibrated and compensated, such as gyro drifts and accelerometer biases. To reduce the requirement for turntable precision in the classical calibration method, a continuous dynamic self-calibration method based on a three-axis rotating frame for the hybrid inertial navigation system is presented. First, by selecting a suitable IMU frame, the error models of accelerometers and gyros are established. Then, by taking the navigation errors during rolling as the observations, the overall twenty-one error parameters of hybrid inertial navigation system (HINS) are identified based on the calculation of the intermediate parameter. The actual experiment verifies that the method can identify all error parameters of HINS and this method has equivalent accuracy to the classical calibration on a high-precision turntable. In addition, this method is rapid, simple and feasible. PMID:29695041

An Improved Fast Self-Calibration Method for Hybrid Inertial Navigation System under Stationary Condition.

PubMed

Liu, Bingqi; Wei, Shihui; Su, Guohua; Wang, Jiping; Lu, Jiazhen

2018-04-24

The navigation accuracy of the inertial navigation system (INS) can be greatly improved when the inertial measurement unit (IMU) is effectively calibrated and compensated, such as gyro drifts and accelerometer biases. To reduce the requirement for turntable precision in the classical calibration method, a continuous dynamic self-calibration method based on a three-axis rotating frame for the hybrid inertial navigation system is presented. First, by selecting a suitable IMU frame, the error models of accelerometers and gyros are established. Then, by taking the navigation errors during rolling as the observations, the overall twenty-one error parameters of hybrid inertial navigation system (HINS) are identified based on the calculation of the intermediate parameter. The actual experiment verifies that the method can identify all error parameters of HINS and this method has equivalent accuracy to the classical calibration on a high-precision turntable. In addition, this method is rapid, simple and feasible.

Nonlinear calibration for petroleum water content measurement using PSO

NASA Astrophysics Data System (ADS)

Li, Mingbao; Zhang, Jiawei

2008-10-01

A new algorithmic for strapdown inertial navigation system (SINS) state estimation based on neural networks is introduced. In training strategy, the error vector and its delay are introduced. This error vector is made of the position and velocity difference between the estimations of system and the outputs of GPS. After state prediction and state update, the states of the system are estimated. After off-line training, the network can approach the status switching of SINS and after on-line training, the state estimate precision can be improved further by reducing network output errors. Then the network convergence is discussed. In the end, several simulations with different noise are given. The results show that the neural network state estimator has lower noise sensitivity and better noise immunity than Kalman filter.

A generational comparison of social networking site use: the influence of age and social identity.

PubMed

Barker, Valerie

2012-01-01

An online survey (N=256) compared social networking site (SNS) use among younger (millennial: 18-29) and older (baby-boomer: 41-64) subscribers focusing on the influence of collective self-esteem and group identity on motives for SNS use. Younger participants reported higher positive collective self-esteem, social networking site use for peer communication, and social compensation. Regardless of age, participants reporting high collective self-esteem and group identity were more likely to use social networking sites for peer communication and social identity gratifications, while those reporting negative collective self-esteem were more likely to use social networking sites for social compensation. The theoretical implications of the strong relationship between social identity gratifications and social compensation are discussed.

TH-AB-202-04: Auto-Adaptive Margin Generation for MLC-Tracked Radiotherapy

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

Glitzner, M; Lagendijk, J; Raaymakers, B

Purpose: To develop an auto-adaptive margin generator for MLC tracking. The generator is able to estimate errors arising in image guided radiotherapy, particularly on an MR-Linac, which depend on the latencies of machine and image processing, as well as on patient motion characteristics. From the estimated error distribution, a segment margin is generated, able to compensate errors up to a user-defined confidence. Method: In every tracking control cycle (TCC, 40ms), the desired aperture D(t) is compared to the actual aperture A(t), a delayed and imperfect representation of D(t). Thus an error e(t)=A(T)-D(T) is measured every TCC. Applying kernel-density-estimation (KDE), themore » cumulative distribution (CDF) of e(t) is estimated. With CDF-confidence limits, upper and lower error limits are extracted for motion axes along and perpendicular leaf-travel direction and applied as margins. To test the dosimetric impact, two representative motion traces were extracted from fast liver-MRI (10Hz). The traces were applied onto a 4D-motion platform and continuously tracked by an Elekta Agility 160 MLC using an artificially imposed tracking delay. Gafchromic film was used to detect dose exposition for static, tracked, and error-compensated tracking cases. The margin generator was parameterized to cover 90% of all tracking errors. Dosimetric impact was rated by calculating the ratio between underexposed points (>5% underdosage) to the total number of points inside FWHM of static exposure. Results: Without imposing adaptive margins, tracking experiments showed a ratio of underexposed points of 17.5% and 14.3% for two motion cases with imaging delays of 200ms and 300ms, respectively. Activating the margin generated yielded total suppression (<1%) of underdosed points. Conclusion: We showed that auto-adaptive error compensation using machine error statistics is possible for MLC tracking. The error compensation margins are calculated on-line, without the need of assuming motion or machine models. Further strategies to reduce consequential overdosages are currently under investigation. This work was funded by the SoRTS consortium, which includes the industry partners Elekta, Philips and Technolution.« less

Movement decoupling control for two-axis fast steering mirror

NASA Astrophysics Data System (ADS)

Wang, Rui; Qiao, Yongming; Lv, Tao

2017-02-01

Based on flexure hinge and piezoelectric actuator of two-axis fast steering mirror is a complex system with time varying, uncertain and strong coupling. It is extremely difficult to achieve high precision decoupling control with the traditional PID control method. The feedback error learning method was established an inverse hysteresis model which was based inner product dynamic neural network nonlinear and no-smooth for piezo-ceramic. In order to improve the actuator high precision, a method was proposed, which was based piezo-ceramic inverse model of two dynamic neural network adaptive control. The experiment result indicated that, compared with two neural network adaptive movement decoupling control algorithm, static relative error is reduced from 4.44% to 0.30% and coupling degree is reduced from 12.71% to 0.60%, while dynamic relative error is reduced from 13.92% to 2.85% and coupling degree is reduced from 2.63% to 1.17%.

Automatic relative RPC image model bias compensation through hierarchical image matching for improving DEM quality

NASA Astrophysics Data System (ADS)

Noh, Myoung-Jong; Howat, Ian M.

2018-02-01

The quality and efficiency of automated Digital Elevation Model (DEM) extraction from stereoscopic satellite imagery is critically dependent on the accuracy of the sensor model used for co-locating pixels between stereo-pair images. In the absence of ground control or manual tie point selection, errors in the sensor models must be compensated with increased matching search-spaces, increasing both the computation time and the likelihood of spurious matches. Here we present an algorithm for automatically determining and compensating the relative bias in Rational Polynomial Coefficients (RPCs) between stereo-pairs utilizing hierarchical, sub-pixel image matching in object space. We demonstrate the algorithm using a suite of image stereo-pairs from multiple satellites over a range stereo-photogrammetrically challenging polar terrains. Besides providing a validation of the effectiveness of the algorithm for improving DEM quality, experiments with prescribed sensor model errors yield insight into the dependence of DEM characteristics and quality on relative sensor model bias. This algorithm is included in the Surface Extraction through TIN-based Search-space Minimization (SETSM) DEM extraction software package, which is the primary software used for the U.S. National Science Foundation ArcticDEM and Reference Elevation Model of Antarctica (REMA) products.

Robust fault tolerant control based on sliding mode method for uncertain linear systems with quantization.

PubMed

Hao, Li-Ying; Yang, Guang-Hong

2013-09-01

This paper is concerned with the problem of robust fault-tolerant compensation control problem for uncertain linear systems subject to both state and input signal quantization. By incorporating novel matrix full-rank factorization technique with sliding surface design successfully, the total failure of certain actuators can be coped with, under a special actuator redundancy assumption. In order to compensate for quantization errors, an adjustment range of quantization sensitivity for a dynamic uniform quantizer is given through the flexible choices of design parameters. Comparing with the existing results, the derived inequality condition leads to the fault tolerance ability stronger and much wider scope of applicability. With a static adjustment policy of quantization sensitivity, an adaptive sliding mode controller is then designed to maintain the sliding mode, where the gain of the nonlinear unit vector term is updated automatically to compensate for the effects of actuator faults, quantization errors, exogenous disturbances and parameter uncertainties without the need for a fault detection and isolation (FDI) mechanism. Finally, the effectiveness of the proposed design method is illustrated via a model of a rocket fairing structural-acoustic. Copyright © 2013 ISA. Published by Elsevier Ltd. All rights reserved.

Validation of attenuation, beam blockage, and calibration estimation methods using two dual polarization X band weather radars

NASA Astrophysics Data System (ADS)

Diederich, M.; Ryzhkov, A.; Simmer, C.; Mühlbauer, K.

2011-12-01

The amplitude a of radar wave reflected by meteorological targets can be misjudged due to several factors. At X band wavelength, attenuation of the radar beam by hydro meteors reduces the signal strength enough to be a significant source of error for quantitative precipitation estimation. Depending on the surrounding orography, the radar beam may be partially blocked when scanning at low elevation angles, and the knowledge of the exact amount of signal loss through beam blockage becomes necessary. The phase shift between the radar signals at horizontal and vertical polarizations is affected by the hydrometeors that the beam travels through, but remains unaffected by variations in signal strength. This has allowed for several ways of compensating for the attenuation of the signal, and for consistency checks between these variables. In this study, we make use of several weather radars and gauge network measuring in the same area to examine the effectiveness of several methods of attenuation and beam blockage corrections. The methods include consistency checks of radar reflectivity and specific differential phase, calculation of beam blockage using a topography map, estimating attenuation using differential propagation phase, and the ZPHI method proposed by Testud et al. in 2000. Results show the high effectiveness of differential phase in estimating attenuation, and potential of the ZPHI method to compensate attenuation, beam blockage, and calibration errors.

A Cost-Effective Vehicle Localization Solution Using an Interacting Multiple Model−Unscented Kalman Filters (IMM-UKF) Algorithm and Grey Neural Network

PubMed Central

Xu, Qimin; Li, Xu; Chan, Ching-Yao

2017-01-01

In this paper, we propose a cost-effective localization solution for land vehicles, which can simultaneously adapt to the uncertain noise of inertial sensors and bridge Global Positioning System (GPS) outages. First, three Unscented Kalman filters (UKFs) with different noise covariances are introduced into the framework of Interacting Multiple Model (IMM) algorithm to form the proposed IMM-based UKF, termed as IMM-UKF. The IMM algorithm can provide a soft switching among the three UKFs and therefore adapt to different noise characteristics. Further, two IMM-UKFs are executed in parallel when GPS is available. One fuses the information of low-cost GPS, in-vehicle sensors, and micro electromechanical system (MEMS)-based reduced inertial sensor systems (RISS), while the other fuses only in-vehicle sensors and MEMS-RISS. The differences between the state vectors of the two IMM-UKFs are considered as training data of a Grey Neural Network (GNN) module, which is known for its high prediction accuracy with a limited amount of samples. The GNN module can predict and compensate position errors when GPS signals are blocked. To verify the feasibility and effectiveness of the proposed solution, road-test experiments with various driving scenarios were performed. The experimental results indicate that the proposed solution outperforms all the compared methods. PMID:28629165

Analysis on the dynamic error for optoelectronic scanning coordinate measurement network

NASA Astrophysics Data System (ADS)

Shi, Shendong; Yang, Linghui; Lin, Jiarui; Guo, Siyang; Ren, Yongjie

2018-01-01

Large-scale dynamic three-dimension coordinate measurement technique is eagerly demanded in equipment manufacturing. Noted for advantages of high accuracy, scale expandability and multitask parallel measurement, optoelectronic scanning measurement network has got close attention. It is widely used in large components jointing, spacecraft rendezvous and docking simulation, digital shipbuilding and automated guided vehicle navigation. At present, most research about optoelectronic scanning measurement network is focused on static measurement capacity and research about dynamic accuracy is insufficient. Limited by the measurement principle, the dynamic error is non-negligible and restricts the application. The workshop measurement and positioning system is a representative which can realize dynamic measurement function in theory. In this paper we conduct deep research on dynamic error resources and divide them two parts: phase error and synchronization error. Dynamic error model is constructed. Based on the theory above, simulation about dynamic error is carried out. Dynamic error is quantized and the rule of volatility and periodicity has been found. Dynamic error characteristics are shown in detail. The research result lays foundation for further accuracy improvement.

An Intelligent Ensemble Neural Network Model for Wind Speed Prediction in Renewable Energy Systems.

PubMed

Ranganayaki, V; Deepa, S N

2016-01-01

Various criteria are proposed to select the number of hidden neurons in artificial neural network (ANN) models and based on the criterion evolved an intelligent ensemble neural network model is proposed to predict wind speed in renewable energy applications. The intelligent ensemble neural model based wind speed forecasting is designed by averaging the forecasted values from multiple neural network models which includes multilayer perceptron (MLP), multilayer adaptive linear neuron (Madaline), back propagation neural network (BPN), and probabilistic neural network (PNN) so as to obtain better accuracy in wind speed prediction with minimum error. The random selection of hidden neurons numbers in artificial neural network results in overfitting or underfitting problem. This paper aims to avoid the occurrence of overfitting and underfitting problems. The selection of number of hidden neurons is done in this paper employing 102 criteria; these evolved criteria are verified by the computed various error values. The proposed criteria for fixing hidden neurons are validated employing the convergence theorem. The proposed intelligent ensemble neural model is applied for wind speed prediction application considering the real time wind data collected from the nearby locations. The obtained simulation results substantiate that the proposed ensemble model reduces the error value to minimum and enhances the accuracy. The computed results prove the effectiveness of the proposed ensemble neural network (ENN) model with respect to the considered error factors in comparison with that of the earlier models available in the literature.

An Intelligent Ensemble Neural Network Model for Wind Speed Prediction in Renewable Energy Systems

PubMed Central

Ranganayaki, V.; Deepa, S. N.

2016-01-01

Various criteria are proposed to select the number of hidden neurons in artificial neural network (ANN) models and based on the criterion evolved an intelligent ensemble neural network model is proposed to predict wind speed in renewable energy applications. The intelligent ensemble neural model based wind speed forecasting is designed by averaging the forecasted values from multiple neural network models which includes multilayer perceptron (MLP), multilayer adaptive linear neuron (Madaline), back propagation neural network (BPN), and probabilistic neural network (PNN) so as to obtain better accuracy in wind speed prediction with minimum error. The random selection of hidden neurons numbers in artificial neural network results in overfitting or underfitting problem. This paper aims to avoid the occurrence of overfitting and underfitting problems. The selection of number of hidden neurons is done in this paper employing 102 criteria; these evolved criteria are verified by the computed various error values. The proposed criteria for fixing hidden neurons are validated employing the convergence theorem. The proposed intelligent ensemble neural model is applied for wind speed prediction application considering the real time wind data collected from the nearby locations. The obtained simulation results substantiate that the proposed ensemble model reduces the error value to minimum and enhances the accuracy. The computed results prove the effectiveness of the proposed ensemble neural network (ENN) model with respect to the considered error factors in comparison with that of the earlier models available in the literature. PMID:27034973

Delay compensation - Its effect in reducing sampling errors in Fourier spectroscopy

NASA Technical Reports Server (NTRS)

Zachor, A. S.; Aaronson, S. M.

1979-01-01

An approximate formula is derived for the spectrum ghosts caused by periodic drive speed variations in a Michelson interferometer. The solution represents the case of fringe-controlled sampling and is applicable when the reference fringes are delayed to compensate for the delay introduced by the electrical filter in the signal channel. Numerical results are worked out for several common low-pass filters. It is shown that the maximum relative ghost amplitude over the range of frequencies corresponding to the lower half of the filter band is typically 20 times smaller than the relative zero-to-peak velocity error, when delayed sampling is used. In the lowest quarter of the filter band it is more than 100 times smaller than the relative velocity error. These values are ten and forty times smaller, respectively, than they would be without delay compensation if the filter is a 6-pole Butterworth.

Variations on a theme: novel immersed grating based spectrometer designs for space

NASA Astrophysics Data System (ADS)

Agócs, T.; Navarro, R.; Venema, L.

2017-11-01

We present novel immersed grating (IG) based spectrometer designs that can be used in space instrumentation. They are based on the design approach that aims to optimize the optical design using the expanded parameter space that the IG technology offers. In principle the wavefront error (WFE) of any optical system the most conveniently can be corrected in the pupil, where in the case of the IG based spectrometer, the IG itself is positioned. By modifying existing three-mirror based optical systems, which can form the main part of double pass spectrometer designs, a large portion of the WFE of the optical system can be transferred to the pupil and to the IG. In these cases the IG can compensate simple low order aberrations of the system and consequently the main benefit is that the mirrors that tend to be off-axis conical sections can be substituted by spherical mirrors. The WFE budget of such designs has only a minor contribution from the very high quality spherical mirrors and the majority of the WFE can be then allocated to the most complex part of the system, the IG. The latter can be designed so that the errors are compensated by a special grating pattern that in turn can be manufactured using the expertise and experience of the semiconductor industry.

Serial robot for the trajectory optimization and error compensation of TMT mask exchange system

NASA Astrophysics Data System (ADS)

Wang, Jianping; Zhang, Feifan; Zhou, Zengxiang; Zhai, Chao

2015-10-01

Mask exchange system is the main part of Multi-Object Broadband Imaging Echellette (MOBIE) on the Thirty Meter Telescope (TMT). According to the conception of the TMT mask exchange system, the pre-design was introduced in the paper which was based on IRB 140 robot. The stiffness model of IRB 140 in SolidWorks was analyzed under different gravity vectors for further error compensation. In order to find the right location and path planning, the robot and the mask cassette model was imported into MOBIE model to perform different schemes simulation. And obtained the initial installation position and routing. Based on these initial parameters, IRB 140 robot was operated to simulate the path and estimate the mask exchange time. Meanwhile, MATLAB and ADAMS software were used to perform simulation analysis and optimize the route to acquire the kinematics parameters and compare with the experiment results. After simulation and experimental research mentioned in the paper, the theoretical reference was acquired which could high efficient improve the structure of the mask exchange system parameters optimization of the path and precision of the robot position.

Interactive Video Coding and Transmission over Heterogeneous Wired-to-Wireless IP Networks Using an Edge Proxy

NASA Astrophysics Data System (ADS)

Pei, Yong; Modestino, James W.

2004-12-01

Digital video delivered over wired-to-wireless networks is expected to suffer quality degradation from both packet loss and bit errors in the payload. In this paper, the quality degradation due to packet loss and bit errors in the payload are quantitatively evaluated and their effects are assessed. We propose the use of a concatenated forward error correction (FEC) coding scheme employing Reed-Solomon (RS) codes and rate-compatible punctured convolutional (RCPC) codes to protect the video data from packet loss and bit errors, respectively. Furthermore, the performance of a joint source-channel coding (JSCC) approach employing this concatenated FEC coding scheme for video transmission is studied. Finally, we describe an improved end-to-end architecture using an edge proxy in a mobile support station to implement differential error protection for the corresponding channel impairments expected on the two networks. Results indicate that with an appropriate JSCC approach and the use of an edge proxy, FEC-based error-control techniques together with passive error-recovery techniques can significantly improve the effective video throughput and lead to acceptable video delivery quality over time-varying heterogeneous wired-to-wireless IP networks.

Compensation method of cloud infrared radiation interference based on a spinning projectile's attitude measurement

NASA Astrophysics Data System (ADS)

Xu, Miaomiao; Bu, Xiongzhu; Yu, Jing; He, Zilu

2018-01-01

Based on the study of earth infrared radiation and further requirement of anticloud interference ability for a spinning projectile's infrared attitude measurement, a compensation method of cloud infrared radiation interference is proposed. First, the theoretical model of infrared radiation interference is established by analyzing the generation mechanism and interference characteristics of cloud infrared radiation. Then, the influence of cloud infrared radiation on attitude angle is calculated in the following two situations. The first situation is the projectile in cloud, and the maximum of roll angle error can reach ± 20 deg. The second situation is the projectile outside of cloud, and it results in the inability to measure the projectile's attitude angle. Finally, a multisensor weighted fusion algorithm is proposed based on trust function method to reduce the influence of cloud infrared radiation. The results of semiphysical experiments show that the error of roll angle with a weighted fusion algorithm can be kept within ± 0.5 deg in the presence of cloud infrared radiation interference. This proposed method improves the accuracy of roll angle by nearly four times in attitude measurement and also solves the problem of low accuracy of infrared radiation attitude measurement in navigation and guidance field.

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

PubMed

Yin, Xiuxing; Pan, Li

2018-01-01

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

Applying Neural Networks in Optical Communication Systems: Possible Pitfalls

NASA Astrophysics Data System (ADS)

Eriksson, Tobias A.; Bulow, Henning; Leven, Andreas

2017-12-01

We investigate the risk of overestimating the performance gain when applying neural network based receivers in systems with pseudo random bit sequences or with limited memory depths, resulting in repeated short patterns. We show that with such sequences, a large artificial gain can be obtained which comes from pattern prediction rather than predicting or compensating the studied channel/phenomena.

Non-Data Aided Doppler Shift Estimation for Underwater Acoustic Communication

DTIC Science & Technology

2014-05-01

in underwater acoustic wireless sensor networks . We analyzed the data collected from our experiments using non-data aided (blind) techniques such as...investigated different methods for blind Doppler shift estimation and compensation for a single carrier in underwater acoustic wireless sensor ...distributed underwater sensor networks . Detailed experimental and simulated results based on second order cyclostationary features of the received signals

Inversion of surface parameters using fast learning neural networks

NASA Technical Reports Server (NTRS)

Dawson, M. S.; Olvera, J.; Fung, A. K.; Manry, M. T.

1992-01-01

A neural network approach to the inversion of surface scattering parameters is presented. Simulated data sets based on a surface scattering model are used so that the data may be viewed as taken from a completely known randomly rough surface. The fast learning (FL) neural network and a multilayer perceptron (MLP) trained with backpropagation learning (BP network) are tested on the simulated backscattering data. The RMS error of training the FL network is found to be less than one half the error of the BP network while requiring one to two orders of magnitude less CPU time. When applied to inversion of parameters from a statistically rough surface, the FL method is successful at recovering the surface permittivity, the surface correlation length, and the RMS surface height in less time and with less error than the BP network. Further applications of the FL neural network to the inversion of parameters from backscatter measurements of an inhomogeneous layer above a half space are shown.

Optimal Objective-Based Experimental Design for Uncertain Dynamical Gene Networks with Experimental Error.

PubMed

Mohsenizadeh, Daniel N; Dehghannasiri, Roozbeh; Dougherty, Edward R

2018-01-01

In systems biology, network models are often used to study interactions among cellular components, a salient aim being to develop drugs and therapeutic mechanisms to change the dynamical behavior of the network to avoid undesirable phenotypes. Owing to limited knowledge, model uncertainty is commonplace and network dynamics can be updated in different ways, thereby giving multiple dynamic trajectories, that is, dynamics uncertainty. In this manuscript, we propose an experimental design method that can effectively reduce the dynamics uncertainty and improve performance in an interaction-based network. Both dynamics uncertainty and experimental error are quantified with respect to the modeling objective, herein, therapeutic intervention. The aim of experimental design is to select among a set of candidate experiments the experiment whose outcome, when applied to the network model, maximally reduces the dynamics uncertainty pertinent to the intervention objective.

Real-time hydraulic interval state estimation for water transport networks: a case study

NASA Astrophysics Data System (ADS)

Vrachimis, Stelios G.; Eliades, Demetrios G.; Polycarpou, Marios M.

2018-03-01

Hydraulic state estimation in water distribution networks is the task of estimating water flows and pressures in the pipes and nodes of the network based on some sensor measurements. This requires a model of the network as well as knowledge of demand outflow and tank water levels. Due to modeling and measurement uncertainty, standard state estimation may result in inaccurate hydraulic estimates without any measure of the estimation error. This paper describes a methodology for generating hydraulic state bounding estimates based on interval bounds on the parametric and measurement uncertainties. The estimation error bounds provided by this method can be applied to determine the existence of unaccounted-for water in water distribution networks. As a case study, the method is applied to a modified transport network in Cyprus, using actual data in real time.

Hybrid adaptive ascent flight control for a flexible launch vehicle

NASA Astrophysics Data System (ADS)

Lefevre, Brian D.

For the purpose of maintaining dynamic stability and improving guidance command tracking performance under off-nominal flight conditions, a hybrid adaptive control scheme is selected and modified for use as a launch vehicle flight controller. This architecture merges a model reference adaptive approach, which utilizes both direct and indirect adaptive elements, with a classical dynamic inversion controller. This structure is chosen for a number of reasons: the properties of the reference model can be easily adjusted to tune the desired handling qualities of the spacecraft, the indirect adaptive element (which consists of an online parameter identification algorithm) continually refines the estimates of the evolving characteristic parameters utilized in the dynamic inversion, and the direct adaptive element (which consists of a neural network) augments the linear feedback signal to compensate for any nonlinearities in the vehicle dynamics. The combination of these elements enables the control system to retain the nonlinear capabilities of an adaptive network while relying heavily on the linear portion of the feedback signal to dictate the dynamic response under most operating conditions. To begin the analysis, the ascent dynamics of a launch vehicle with a single 1st stage rocket motor (typical of the Ares 1 spacecraft) are characterized. The dynamics are then linearized with assumptions that are appropriate for a launch vehicle, so that the resulting equations may be inverted by the flight controller in order to compute the control signals necessary to generate the desired response from the vehicle. Next, the development of the hybrid adaptive launch vehicle ascent flight control architecture is discussed in detail. Alterations of the generic hybrid adaptive control architecture include the incorporation of a command conversion operation which transforms guidance input from quaternion form (as provided by NASA) to the body-fixed angular rate commands needed by the hybrid adaptive flight controller, development of a Newton's method based online parameter update that is modified to include a step size which regulates the rate of change in the parameter estimates, comparison of the modified Newton's method and recursive least squares online parameter update algorithms, modification of the neural network's input structure to accommodate for the nature of the nonlinearities present in a launch vehicle's ascent flight, examination of both tracking error based and modeling error based neural network weight update laws, and integration of feedback filters for the purpose of preventing harmful interaction between the flight control system and flexible structural modes. To validate the hybrid adaptive controller, a high-fidelity Ares I ascent flight simulator and a classical gain-scheduled proportional-integral-derivative (PID) ascent flight controller were obtained from the NASA Marshall Space Flight Center. The classical PID flight controller is used as a benchmark when analyzing the performance of the hybrid adaptive flight controller. Simulations are conducted which model both nominal and off-nominal flight conditions with structural flexibility of the vehicle either enabled or disabled. First, rigid body ascent simulations are performed with the hybrid adaptive controller under nominal flight conditions for the purpose of selecting the update laws which drive the indirect and direct adaptive components. With the neural network disabled, the results revealed that the recursive least squares online parameter update caused high frequency oscillations to appear in the engine gimbal commands. This is highly undesirable for long and slender launch vehicles, such as the Ares I, because such oscillation of the rocket nozzle could excite unstable structural flex modes. In contrast, the modified Newton's method online parameter update produced smooth control signals and was thus selected for use in the hybrid adaptive launch vehicle flight controller. In the simulations where the online parameter identification algorithm was disabled, the tracking error based neural network weight update law forced the network's output to diverge despite repeated reductions of the adaptive learning rate. As a result, the modeling error based neural network weight update law (which generated bounded signals) is utilized by the hybrid adaptive controller in all subsequent simulations. Comparing the PID and hybrid adaptive flight controllers under nominal flight conditions in rigid body ascent simulations showed that their tracking error magnitudes are similar for a period of time during the middle of the ascent phase. Though the PID controller performs better for a short interval around the 20 second mark, the hybrid adaptive controller performs far better from roughly 70 to 120 seconds. Elevating the aerodynamic loads by increasing the force and moment coefficients produced results very similar to the nominal case. However, applying a 5% or 10% thrust reduction to the first stage rocket motor causes the tracking error magnitude observed by the PID controller to be significantly elevated and diverge rapidly as the simulation concludes. In contrast, the hybrid adaptive controller steadily maintains smaller errors (often less than 50% of the corresponding PID value). Under the same sets of flight conditions with flexibility enabled, the results exhibit similar trends with the hybrid adaptive controller performing even better in each case. Again, the reduction of the first stage rocket motor's thrust clearly illustrated the superior robustness of the hybrid adaptive flight controller.

Compensation of modal dispersion in multimode fiber systems using adaptive optics via convex optimization

NASA Astrophysics Data System (ADS)

Panicker, Rahul Alex

Multimode fibers (MMF) are widely deployed in local-, campus-, and storage-area-networks. Achievable data rates and transmission distances are, however, limited by the phenomenon of modal dispersion. We propose a system to compensate for modal dispersion using adaptive optics. This leads to a 10- to 100-fold improvement in performance over current standards. We propose a provably optimal technique for minimizing inter-symbol interference (ISI) in MMF systems using adaptive optics via convex optimization. We use a spatial light modulator (SLM) to shape the spatial profile of light launched into an MMF. We derive an expression for the system impulse response in terms of the SLM reflectance and the field patterns of the MMF principal modes. Finding optimal SLM settings to minimize ISI, subject to physical constraints, is posed as an optimization problem. We observe that our problem can be cast as a second-order cone program, which is a convex optimization problem. Its global solution can, therefore, be found with minimal computational complexity. Simulations show that this technique opens up an eye pattern originally closed due to ISI. We then propose fast, low-complexity adaptive algorithms for optimizing the SLM settings. We show that some of these converge to the global optimum in the absence of noise. We also propose modified versions of these algorithms to improve resilience to noise and speed of convergence. Next, we experimentally compare the proposed adaptive algorithms in 50-mum graded-index (GRIN) MMFs using a liquid-crystal SLM. We show that continuous-phase sequential coordinate ascent (CPSCA) gives better bit-error-ratio performance than 2- or 4-phase sequential coordinate ascent, in concordance with simulations. We evaluate the bandwidth characteristics of CPSCA, and show that a single SLM is able to simultaneously compensate over up to 9 wavelength-division-multiplexed (WDM) 10-Gb/s channels, spaced by 50 GHz, over a total bandwidth of 450 GHz. We also show that CPSCA is able to compensate for modal dispersion over up to 2.2 km, even in the presence of mid-span connector offsets up to 4 mum (simulated in experiment by offset splices). A known non-adaptive launching technique using a fusion-spliced single-mode-to-multimode patchcord is shown to fail under these conditions. Finally, we demonstrate 10 x 10 Gb/s dense WDM transmission over 2.2 km of 50-mum GRIN MMF. We combine transmitter-based adaptive optics and receiver-based single-mode filtering, and control the launched field pattern for ten 10-Gb/s non-return-to-zero channels, wavelength-division multiplexed on a 200-GHz grid in the C band. We achieve error-free transmission through 2.2 km of 50-mum GRIN MMF for launch offsets up to 10 mum and for worst-case launched polarization. We employ a ten-channel transceiver based on parallel integration of electronics and photonics.

Coherent receiver design based on digital signal processing in optical high-speed intersatellite links with M-phase-shift keying

NASA Astrophysics Data System (ADS)

Schaefer, Semjon; Gregory, Mark; Rosenkranz, Werner

2016-11-01

We present simulative and experimental investigations of different coherent receiver designs for high-speed optical intersatellite links. We focus on frequency offset (FO) compensation in homodyne and intradyne detection systems. The considered laser communication terminal uses an optical phase-locked loop (OPLL), which ensures stable homodyne detection. However, the hardware complexity increases with the modulation order. Therefore, we show that software-based intradyne detection is an attractive alternative for OPLL-based homodyne systems. Our approach is based on digital FO and phase noise compensation, in order to achieve a more flexible coherent detection scheme. Analytic results will further show the theoretical impact of the different detection schemes on the receiver sensitivity. Finally, we compare the schemes in terms of bit error ratio measurements and optimal receiver design.

Sci-Thur AM: YIS – 05: Prediction of lung tumor motion using a generalized neural network optimized from the average prediction outcome of a group of patients

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

Teo, Troy; Alayoubi, Nadia; Bruce, Neil

Purpose: In image-guided adaptive radiotherapy systems, prediction of tumor motion is required to compensate for system latencies. However, due to the non-stationary nature of respiration, it is a challenge to predict the associated tumor motions. In this work, a systematic design of the neural network (NN) using a mixture of online data acquired during the initial period of the tumor trajectory, coupled with a generalized model optimized using a group of patient data (obtained offline) is presented. Methods: The average error surface obtained from seven patients was used to determine the input data size and number of hidden neurons formore » the generalized NN. To reduce training time, instead of using random weights to initialize learning (method 1), weights inherited from previous training batches (method 2) were used to predict tumor position for each sliding window. Results: The generalized network was established with 35 input data (∼4.66s) and 20 hidden nodes. For a prediction horizon of 650 ms, mean absolute errors of 0.73 mm and 0.59 mm were obtained for method 1 and 2 respectively. An average initial learning period of 8.82 s is obtained. Conclusions: A network with a relatively short initial learning time was achieved. Its accuracy is comparable to previous studies. This network could be used as a plug-and play predictor in which (a) tumor positions can be predicted as soon as treatment begins and (b) the need for pretreatment data and optimization for individual patients can be avoided.« less

Phonology, Decoding, and Lexical Compensation in Vowel Spelling Errors Made by Children with Dyslexia

ERIC Educational Resources Information Center

Bernstein, Stuart E.

2009-01-01

A descriptive study of vowel spelling errors made by children first diagnosed with dyslexia (n = 79) revealed that phonological errors, such as "bet" for "bat", outnumbered orthographic errors, such as "bate" for "bait". These errors were more frequent in nonwords than words, suggesting that lexical context helps with vowel spelling. In a second…

DC-Compensated Current Transformer.

PubMed

Ripka, Pavel; Draxler, Karel; Styblíková, Renata

2016-01-20

Instrument current transformers (CTs) measure AC currents. The DC component in the measured current can saturate the transformer and cause gross error. We use fluxgate detection and digital feedback compensation of the DC flux to suppress the overall error to 0.15%. This concept can be used not only for high-end CTs with a nanocrystalline core, but it also works for low-cost CTs with FeSi cores. The method described here allows simultaneous measurements of the DC current component.

Motion compensation and noise tolerance in phase-shifting digital in-line holography.

PubMed

Stenner, Michael D; Neifeld, Mark A

2006-05-15

We present a technique for phase-shifting digital in-line holography which compensates for lateral object motion. By collecting two frames of interference between object and reference fields with identical reference phase, one can estimate the lateral motion that occurred between frames using the cross-correlation. We also describe a very general linear framework for phase-shifting holographic reconstruction which minimizes additive white Gaussian noise (AWGN) for an arbitrary set of reference field amplitudes and phases. We analyze the technique's sensitivity to noise (AWGN, quantization, and shot), errors in the reference fields, errors in motion estimation, resolution, and depth of field. We also present experimental motion-compensated images achieving the expected resolution.

Generalized Autobalanced Ramsey Spectroscopy of Clock Transitions

NASA Astrophysics Data System (ADS)

Yudin, V. I.; Taichenachev, A. V.; Basalaev, M. Yu.; Zanon-Willette, T.; Pollock, J. W.; Shuker, M.; Donley, E. A.; Kitching, J.

2018-05-01

When performing precision measurements, the quantity being measured is often perturbed by the measurement process itself. Such measurements include precision frequency measurements for atomic clock applications carried out with Ramsey spectroscopy. With the aim of eliminating probe-induced perturbations, a method of generalized autobalanced Ramsey spectroscopy (GABRS) is presented and rigorously substantiated. The usual local-oscillator frequency control loop is augmented with a second control loop derived from secondary Ramsey sequences interspersed with the primary sequences and with a different Ramsey period. This second loop feeds back to a secondary clock variable and ultimately compensates for the perturbation of the clock frequency caused by the measurements in the first loop. We show that such a two-loop scheme can lead to perfect compensation for measurement-induced light shifts and does not suffer from the effects of relaxation, time-dependent pulse fluctuations and phase-jump modulation errors that are typical of other hyper-Ramsey schemes. Several variants of GABRS are explored based on different secondary variables including added relative phase shifts between Ramsey pulses, external frequency-step compensation, and variable second-pulse duration. We demonstrate that a universal antisymmetric error signal, and hence perfect compensation at a finite modulation amplitude, is generated only if an additional frequency step applied during both Ramsey pulses is used as the concomitant variable parameter. This universal technique can be applied to the fields of atomic clocks, high-resolution molecular spectroscopy, magnetically induced and two-photon probing schemes, Ramsey-type mass spectrometry, and the field of precision measurements. Some variants of GABRS can also be applied for rf atomic clocks using coherent-population-trapping-based Ramsey spectroscopy of the two-photon dark resonance.

Patient-centered consumer health social network websites: a pilot study of quality of user-generated health information.

PubMed

Tsai, Christopher C; Tsai, Sarai H; Zeng-Treitler, Qing; Liang, Bryan A

2007-10-11

The quality of user-generated health information on consumer health social networking websites has not been studied. We collected a set of postings related to Diabetes Mellitus Type I from three such sites and classified them based on accuracy, error type, and clinical significance of error. We found 48% of postings contained medical content, and 54% of these were either incomplete or contained errors. About 85% of the incomplete and erroneous messages were potentially clinically significant.

Neural network L1 adaptive control of MIMO systems with nonlinear uncertainty.

PubMed

Zhen, Hong-tao; Qi, Xiao-hui; Li, Jie; Tian, Qing-min

2014-01-01

An indirect adaptive controller is developed for a class of multiple-input multiple-output (MIMO) nonlinear systems with unknown uncertainties. This control system is comprised of an L 1 adaptive controller and an auxiliary neural network (NN) compensation controller. The L 1 adaptive controller has guaranteed transient response in addition to stable tracking. In this architecture, a low-pass filter is adopted to guarantee fast adaptive rate without generating high-frequency oscillations in control signals. The auxiliary compensation controller is designed to approximate the unknown nonlinear functions by MIMO RBF neural networks to suppress the influence of uncertainties. NN weights are tuned on-line with no prior training and the project operator ensures the weights bounded. The global stability of the closed-system is derived based on the Lyapunov function. Numerical simulations of an MIMO system coupled with nonlinear uncertainties are used to illustrate the practical potential of our theoretical results.

Design and simulation of sensor networks for tracking Wifi users in outdoor urban environments

NASA Astrophysics Data System (ADS)

Thron, Christopher; Tran, Khoi; Smith, Douglas; Benincasa, Daniel

2017-05-01

We present a proof-of-concept investigation into the use of sensor networks for tracking of WiFi users in outdoor urban environments. Sensors are fixed, and are capable of measuring signal power from users' WiFi devices. We derive a maximum likelihood estimate for user location based on instantaneous sensor power measurements. The algorithm takes into account the effects of power control, and is self-calibrating in that the signal power model used by the location algorithm is adjusted and improved as part of the operation of the network. Simulation results to verify the system's performance are presented. The simulation scenario is based on a 1.5 km2 area of lower Manhattan, The self-calibration mechanism was verified for initial rms (root mean square) errors of up to 12 dB in the channel power estimates: rms errors were reduced by over 60% in 300 track-hours, in systems with limited power control. Under typical operating conditions with (without) power control, location rms errors are about 8.5 (5) meters with 90% accuracy within 9 (13) meters, for both pedestrian and vehicular users. The distance error distributions for smaller distances (<30 m) are well-approximated by an exponential distribution, while the distributions for large distance errors have fat tails. The issue of optimal sensor placement in the sensor network is also addressed. We specify a linear programming algorithm for determining sensor placement for networks with reduced number of sensors. In our test case, the algorithm produces a network with 18.5% fewer sensors with comparable accuracy estimation performance. Finally, we discuss future research directions for improving the accuracy and capabilities of sensor network systems in urban environments.

Fault detection and diagnosis using neural network approaches

NASA Technical Reports Server (NTRS)

Kramer, Mark A.

1992-01-01

Neural networks can be used to detect and identify abnormalities in real-time process data. Two basic approaches can be used, the first based on training networks using data representing both normal and abnormal modes of process behavior, and the second based on statistical characterization of the normal mode only. Given data representative of process faults, radial basis function networks can effectively identify failures. This approach is often limited by the lack of fault data, but can be facilitated by process simulation. The second approach employs elliptical and radial basis function neural networks and other models to learn the statistical distributions of process observables under normal conditions. Analytical models of failure modes can then be applied in combination with the neural network models to identify faults. Special methods can be applied to compensate for sensor failures, to produce real-time estimation of missing or failed sensors based on the correlations codified in the neural network.

Adaptive control of servo system based on LuGre model

NASA Astrophysics Data System (ADS)

Jin, Wang; Niancong, Liu; Jianlong, Chen; Weitao, Geng

2018-03-01

This paper established a mechanical model of feed system based on LuGre model. In order to solve the influence of nonlinear factors on the system running stability, a nonlinear single observer is designed to estimate the parameter z in the LuGre model and an adaptive friction compensation controller is designed. Simulink simulation results show that the control method can effectively suppress the adverse effects of friction and external disturbances. The simulation show that the adaptive parameter kz is between 0.11-0.13, and the value of gamma1 is between 1.9-2.1. Position tracking error reaches level 10-3 and is stabilized near 0 values within 0.3 seconds, the compensation method has better tracking accuracy and robustness.

Evaluation and automatic correction of metal-implant-induced artifacts in MR-based attenuation correction in whole-body PET/MR imaging

NASA Astrophysics Data System (ADS)

Schramm, G.; Maus, J.; Hofheinz, F.; Petr, J.; Lougovski, A.; Beuthien-Baumann, B.; Platzek, I.; van den Hoff, J.

2014-06-01

The aim of this paper is to describe a new automatic method for compensation of metal-implant-induced segmentation errors in MR-based attenuation maps (MRMaps) and to evaluate the quantitative influence of those artifacts on the reconstructed PET activity concentration. The developed method uses a PET-based delineation of the patient contour to compensate metal-implant-caused signal voids in the MR scan that is segmented for PET attenuation correction. PET emission data of 13 patients with metal implants examined in a Philips Ingenuity PET/MR were reconstructed with the vendor-provided method for attenuation correction (MRMaporig, PETorig) and additionally with a method for attenuation correction (MRMapcor, PETcor) developed by our group. MRMaps produced by both methods were visually inspected for segmentation errors. The segmentation errors in MRMaporig were classified into four classes (L1 and L2 artifacts inside the lung and B1 and B2 artifacts inside the remaining body depending on the assigned attenuation coefficients). The average relative SUV differences (\\varepsilon _{rel}^{av}) between PETorig and PETcor of all regions showing wrong attenuation coefficients in MRMaporig were calculated. Additionally, relative SUVmean differences (ɛrel) of tracer accumulations in hot focal structures inside or in the vicinity of these regions were evaluated. MRMaporig showed erroneous attenuation coefficients inside the regions affected by metal artifacts and inside the patients' lung in all 13 cases. In MRMapcor, all regions with metal artifacts, except for the sternum, were filled with the soft-tissue attenuation coefficient and the lung was correctly segmented in all patients. MRMapcor only showed small residual segmentation errors in eight patients. \\varepsilon _{rel}^{av} (mean ± standard deviation) were: ( - 56 ± 3)% for B1, ( - 43 ± 4)% for B2, (21 ± 18)% for L1, (120 ± 47)% for L2 regions. ɛrel (mean ± standard deviation) of hot focal structures were: ( - 52 ± 12)% in B1, ( - 45 ± 13)% in B2, (19 ± 19)% in L1, (51 ± 31)% in L2 regions. Consequently, metal-implant-induced artifacts severely disturb MR-based attenuation correction and SUV quantification in PET/MR. The developed algorithm is able to compensate for these artifacts and improves SUV quantification accuracy distinctly.

Moving beyond the total sea ice extent in gauging model biases

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

Ivanova, Detelina P.; Gleckler, Peter J.; Taylor, Karl E.

Here, reproducing characteristics of observed sea ice extent remains an important climate modeling challenge. This study describes several approaches to improve how model biases in total sea ice distribution are quantified, and applies them to historically forced simulations contributed to phase 5 of the Coupled Model Intercomparison Project (CMIP5). The quantity of hemispheric total sea ice area, or some measure of its equatorward extent, is often used to evaluate model performance. A new approach is introduced that investigates additional details about the structure of model errors, with an aim to reduce the potential impact of compensating errors when gauging differencesmore » between simulated and observed sea ice. Using multiple observational datasets, several new methods are applied to evaluate the climatological spatial distribution and the annual cycle of sea ice cover in 41 CMIP5 models. It is shown that in some models, error compensation can be substantial, for example resulting from too much sea ice in one region and too little in another. Error compensation tends to be larger in models that agree more closely with the observed total sea ice area, which may result from model tuning. The results herein suggest that consideration of only the total hemispheric sea ice area or extent can be misleading when quantitatively comparing how well models agree with observations. Further work is needed to fully develop robust methods to holistically evaluate the ability of models to capture the finescale structure of sea ice characteristics; however, the “sector scale” metric used here aids in reducing the impact of compensating errors in hemispheric integrals.« less

Moving beyond the total sea ice extent in gauging model biases

DOE PAGES

Ivanova, Detelina P.; Gleckler, Peter J.; Taylor, Karl E.; ...

2016-11-29

Here, reproducing characteristics of observed sea ice extent remains an important climate modeling challenge. This study describes several approaches to improve how model biases in total sea ice distribution are quantified, and applies them to historically forced simulations contributed to phase 5 of the Coupled Model Intercomparison Project (CMIP5). The quantity of hemispheric total sea ice area, or some measure of its equatorward extent, is often used to evaluate model performance. A new approach is introduced that investigates additional details about the structure of model errors, with an aim to reduce the potential impact of compensating errors when gauging differencesmore » between simulated and observed sea ice. Using multiple observational datasets, several new methods are applied to evaluate the climatological spatial distribution and the annual cycle of sea ice cover in 41 CMIP5 models. It is shown that in some models, error compensation can be substantial, for example resulting from too much sea ice in one region and too little in another. Error compensation tends to be larger in models that agree more closely with the observed total sea ice area, which may result from model tuning. The results herein suggest that consideration of only the total hemispheric sea ice area or extent can be misleading when quantitatively comparing how well models agree with observations. Further work is needed to fully develop robust methods to holistically evaluate the ability of models to capture the finescale structure of sea ice characteristics; however, the “sector scale” metric used here aids in reducing the impact of compensating errors in hemispheric integrals.« less

Comparative study of four time series methods in forecasting typhoid fever incidence in China.

PubMed

Zhang, Xingyu; Liu, Yuanyuan; Yang, Min; Zhang, Tao; Young, Alistair A; Li, Xiaosong

2013-01-01

Accurate incidence forecasting of infectious disease is critical for early prevention and for better government strategic planning. In this paper, we present a comprehensive study of different forecasting methods based on the monthly incidence of typhoid fever. The seasonal autoregressive integrated moving average (SARIMA) model and three different models inspired by neural networks, namely, back propagation neural networks (BPNN), radial basis function neural networks (RBFNN), and Elman recurrent neural networks (ERNN) were compared. The differences as well as the advantages and disadvantages, among the SARIMA model and the neural networks were summarized and discussed. The data obtained for 2005 to 2009 and for 2010 from the Chinese Center for Disease Control and Prevention were used as modeling and forecasting samples, respectively. The performances were evaluated based on three metrics: mean absolute error (MAE), mean absolute percentage error (MAPE), and mean square error (MSE). The results showed that RBFNN obtained the smallest MAE, MAPE and MSE in both the modeling and forecasting processes. The performances of the four models ranked in descending order were: RBFNN, ERNN, BPNN and the SARIMA model.

Comparative Study of Four Time Series Methods in Forecasting Typhoid Fever Incidence in China

PubMed Central

Zhang, Xingyu; Liu, Yuanyuan; Yang, Min; Zhang, Tao; Young, Alistair A.; Li, Xiaosong

2013-01-01

Accurate incidence forecasting of infectious disease is critical for early prevention and for better government strategic planning. In this paper, we present a comprehensive study of different forecasting methods based on the monthly incidence of typhoid fever. The seasonal autoregressive integrated moving average (SARIMA) model and three different models inspired by neural networks, namely, back propagation neural networks (BPNN), radial basis function neural networks (RBFNN), and Elman recurrent neural networks (ERNN) were compared. The differences as well as the advantages and disadvantages, among the SARIMA model and the neural networks were summarized and discussed. The data obtained for 2005 to 2009 and for 2010 from the Chinese Center for Disease Control and Prevention were used as modeling and forecasting samples, respectively. The performances were evaluated based on three metrics: mean absolute error (MAE), mean absolute percentage error (MAPE), and mean square error (MSE). The results showed that RBFNN obtained the smallest MAE, MAPE and MSE in both the modeling and forecasting processes. The performances of the four models ranked in descending order were: RBFNN, ERNN, BPNN and the SARIMA model. PMID:23650546

Real-time auto-adaptive margin generation for MLC-tracked radiotherapy

NASA Astrophysics Data System (ADS)

Glitzner, M.; Fast, M. F.; de Senneville, B. Denis; Nill, S.; Oelfke, U.; Lagendijk, J. J. W.; Raaymakers, B. W.; Crijns, S. P. M.

2017-01-01

In radiotherapy, abdominal and thoracic sites are candidates for performing motion tracking. With real-time control it is possible to adjust the multileaf collimator (MLC) position to the target position. However, positions are not perfectly matched and position errors arise from system delays and complicated response of the electromechanic MLC system. Although, it is possible to compensate parts of these errors by using predictors, residual errors remain and need to be compensated to retain target coverage. This work presents a method to statistically describe tracking errors and to automatically derive a patient-specific, per-segment margin to compensate the arising underdosage on-line, i.e. during plan delivery. The statistics of the geometric error between intended and actual machine position are derived using kernel density estimators. Subsequently a margin is calculated on-line according to a selected coverage parameter, which determines the amount of accepted underdosage. The margin is then applied onto the actual segment to accommodate the positioning errors in the enlarged segment. The proof-of-concept was tested in an on-line tracking experiment and showed the ability to recover underdosages for two test cases, increasing {{V}90 %} in the underdosed area about 47 % and 41 % , respectively. The used dose model was able to predict the loss of dose due to tracking errors and could be used to infer the necessary margins. The implementation had a running time of 23 ms which is compatible with real-time requirements of MLC tracking systems. The auto-adaptivity to machine and patient characteristics makes the technique a generic yet intuitive candidate to avoid underdosages due to MLC tracking errors.

ION Configuration Editor

NASA Technical Reports Server (NTRS)

Borgen, Richard L.

2013-01-01

The configuration of ION (Inter - planetary Overlay Network) network nodes is a manual task that is complex, time-consuming, and error-prone. This program seeks to accelerate this job and produce reliable configurations. The ION Configuration Editor is a model-based smart editor based on Eclipse Modeling Framework technology. An ION network designer uses this Eclipse-based GUI to construct a data model of the complete target network and then generate configurations. The data model is captured in an XML file. Intrinsic editor features aid in achieving model correctness, such as field fill-in, type-checking, lists of valid values, and suitable default values. Additionally, an explicit "validation" feature executes custom rules to catch more subtle model errors. A "survey" feature provides a set of reports providing an overview of the entire network, enabling a quick assessment of the model s completeness and correctness. The "configuration" feature produces the main final result, a complete set of ION configuration files (eight distinct file types) for each ION node in the network.

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

PubMed

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

2015-11-01

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

Delay compensation in integrated communication and control systems. I - Conceptual development and analysis

NASA Technical Reports Server (NTRS)

Luck, Rogelio; Ray, Asok

1990-01-01

A procedure for compensating for the effects of distributed network-induced delays in integrated communication and control systems (ICCS) is proposed. The problem of analyzing systems with time-varying and possibly stochastic delays could be circumvented by use of a deterministic observer which is designed to perform under certain restrictive but realistic assumptions. The proposed delay-compensation algorithm is based on a deterministic state estimator and a linear state-variable-feedback control law. The deterministic observer can be replaced by a stochastic observer without any structural modifications of the delay compensation algorithm. However, if a feedforward-feedback control law is chosen instead of the state-variable feedback control law, the observer must be modified as a conventional nondelayed system would be. Under these circumstances, the delay compensation algorithm would be accordingly changed. The separation principle of the classical Luenberger observer holds true for the proposed delay compensator. The algorithm is suitable for ICCS in advanced aircraft, spacecraft, manufacturing automation, and chemical process applications.

Backlash compensator mechanism

DOEpatents

Chrislock, Jerry L.

1979-01-01

Mechanism which compensates for backlash error in a lead screw position indicator by decoupling the indicator shaft from the lead screw when reversing rotation. The position indicator then displays correct information regardless of the direction of rotation of the lead screw.

Smith predictor-based robot control for ultrasound-guided teleoperated beating-heart surgery.

PubMed

Bowthorpe, Meaghan; Tavakoli, Mahdi; Becher, Harald; Howe, Robert

2014-01-01

Performing surgery on fast-moving heart structures while the heart is freely beating is next to impossible. Nevertheless, the ability to do this would greatly benefit patients. By controlling a teleoperated robot to continuously follow the heart's motion, the heart can be made to appear stationary. The surgeon will then be able to operate on a seemingly stationary heart when in reality it is freely beating. The heart's motion is measured from ultrasound images and thus involves a non-negligible delay due to image acquisition and processing, estimated to be 150 ms that, if not compensated for, can cause the teleoperated robot's end-effector (i.e., the surgical tool) to collide with and puncture the heart. This research proposes the use of a Smith predictor to compensate for this time delay in calculating the reference position for the teleoperated robot. The results suggest that heart motion tracking is improved as the introduction of the Smith predictor significantly decreases the mean absolute error, which is the error in making the distance between the robot's end-effector and the heart follow the surgeon's motion, and the mean integrated square error.

Ion beam machining error control and correction for small scale optics.

PubMed

Xie, Xuhui; Zhou, Lin; Dai, Yifan; Li, Shengyi

2011-09-20

Ion beam figuring (IBF) technology for small scale optical components is discussed. Since the small removal function can be obtained in IBF, it makes computer-controlled optical surfacing technology possible to machine precision centimeter- or millimeter-scale optical components deterministically. Using a small ion beam to machine small optical components, there are some key problems, such as small ion beam positioning on the optical surface, material removal rate, ion beam scanning pitch control on the optical surface, and so on, that must be seriously considered. The main reasons for the problems are that it is more sensitive to the above problems than a big ion beam because of its small beam diameter and lower material ratio. In this paper, we discuss these problems and their influences in machining small optical components in detail. Based on the identification-compensation principle, an iterative machining compensation method is deduced for correcting the positioning error of an ion beam with the material removal rate estimated by a selected optimal scanning pitch. Experiments on ϕ10 mm Zerodur planar and spherical samples are made, and the final surface errors are both smaller than λ/100 measured by a Zygo GPI interferometer.

Experimental demonstration of non-iterative interpolation-based partial ICI compensation in100G RGI-DP-CO-OFDM transport systems.

PubMed

Mousa-Pasandi, Mohammad E; Zhuge, Qunbi; Xu, Xian; Osman, Mohamed M; El-Sahn, Ziad A; Chagnon, Mathieu; Plant, David V

2012-07-02

We experimentally investigate the performance of a low-complexity non-iterative phase noise induced inter-carrier interference (ICI) compensation algorithm in reduced-guard-interval dual-polarization coherent-optical orthogonal-frequency-division-multiplexing (RGI-DP-CO-OFDM) transport systems. This interpolation-based ICI compensator estimates the time-domain phase noise samples by a linear interpolation between the CPE estimates of the consecutive OFDM symbols. We experimentally study the performance of this scheme for a 28 Gbaud QPSK RGI-DP-CO-OFDM employing a low cost distributed feedback (DFB) laser. Experimental results using a DFB laser with the linewidth of 2.6 MHz demonstrate 24% and 13% improvement in transmission reach with respect to the conventional equalizer (CE) in presence of weak and strong dispersion-enhanced-phase-noise (DEPN), respectively. A brief analysis of the computational complexity of this scheme in terms of the number of required complex multiplications is provided. This practical approach does not suffer from error propagation while enjoying low computational complexity.

Neural network based adaptive control for nonlinear dynamic regimes

NASA Astrophysics Data System (ADS)

Shin, Yoonghyun

Adaptive control designs using neural networks (NNs) based on dynamic inversion are investigated for aerospace vehicles which are operated at highly nonlinear dynamic regimes. NNs play a key role as the principal element of adaptation to approximately cancel the effect of inversion error, which subsequently improves robustness to parametric uncertainty and unmodeled dynamics in nonlinear regimes. An adaptive control scheme previously named 'composite model reference adaptive control' is further developed so that it can be applied to multi-input multi-output output feedback dynamic inversion. It can have adaptive elements in both the dynamic compensator (linear controller) part and/or in the conventional adaptive controller part, also utilizing state estimation information for NN adaptation. This methodology has more flexibility and thus hopefully greater potential than conventional adaptive designs for adaptive flight control in highly nonlinear flight regimes. The stability of the control system is proved through Lyapunov theorems, and validated with simulations. The control designs in this thesis also include the use of 'pseudo-control hedging' techniques which are introduced to prevent the NNs from attempting to adapt to various actuation nonlinearities such as actuator position and rate saturations. Control allocation is introduced for the case of redundant control effectors including thrust vectoring nozzles. A thorough comparison study of conventional and NN-based adaptive designs for a system under a limit cycle, wing-rock, is included in this research, and the NN-based adaptive control designs demonstrate their performances for two highly maneuverable aerial vehicles, NASA F-15 ACTIVE and FQM-117B unmanned aerial vehicle (UAV), operated under various nonlinearities and uncertainties.

Approximate reasoning-based learning and control for proximity operations and docking in space

NASA Technical Reports Server (NTRS)

Berenji, Hamid R.; Jani, Yashvant; Lea, Robert N.

1991-01-01

A recently proposed hybrid-neutral-network and fuzzy-logic-control architecture is applied to a fuzzy logic controller developed for attitude control of the Space Shuttle. A model using reinforcement learning and learning from past experience for fine-tuning its knowledge base is proposed. Two main components of this approximate reasoning-based intelligent control (ARIC) model - an action-state evaluation network and action selection network are described as well as the Space Shuttle attitude controller. An ARIC model for the controller is presented, and it is noted that the input layer in each network includes three nodes representing the angle error, angle error rate, and bias node. Preliminary results indicate that the controller can hold the pitch rate within its desired deadband and starts to use the jets at about 500 sec in the run.

Electronic implementation of associative memory based on neural network models

NASA Technical Reports Server (NTRS)

Moopenn, A.; Lambe, John; Thakoor, A. P.

1987-01-01

An electronic embodiment of a neural network based associative memory in the form of a binary connection matrix is described. The nature of false memory errors, their effect on the information storage capacity of binary connection matrix memories, and a novel technique to eliminate such errors with the help of asymmetrical extra connections are discussed. The stability of the matrix memory system incorporating a unique local inhibition scheme is analyzed in terms of local minimization of an energy function. The memory's stability, dynamic behavior, and recall capability are investigated using a 32-'neuron' electronic neural network memory with a 1024-programmable binary connection matrix.

Numerical Predictions of Static-Pressure-Error Corrections for a Modified T-38C Aircraft

DTIC Science & Technology

2014-12-15

but the more modern work of Latif et al . [11] demonstrated that compensated Pitot-static probes can be simulated accurately for subsonic and...what was originally estimated from CFD simulations in Bhamidipati et al . [3] by extracting the static-pressure error in front of the production probe...Aerodynamically Compensating Pitot Tube,” Journal of Aircraft, Vol. 25, No. 6, 1988, pp. 544–547. doi:10.2514/3.45620 [11] Latif , A., Masud, J., Sheikh, S. R., and

DC-Compensated Current Transformer †

PubMed Central

Ripka, Pavel; Draxler, Karel; Styblíková, Renata

2016-01-01

Instrument current transformers (CTs) measure AC currents. The DC component in the measured current can saturate the transformer and cause gross error. We use fluxgate detection and digital feedback compensation of the DC flux to suppress the overall error to 0.15%. This concept can be used not only for high-end CTs with a nanocrystalline core, but it also works for low-cost CTs with FeSi cores. The method described here allows simultaneous measurements of the DC current component. PMID:26805830

Compensation, benefits, and satisfaction: the Longitudinal Emergency Medical Technician Demographic Study (LEADS) Project.

PubMed

Brown, William E; Dawson, Drew; Levine, Roger

2003-01-01

To determine the compensation, benefit package, and level of satisfaction with the benefits of nationally registered emergency medical technicians (NREMTs) in 2001. The Longitudinal EMT Attribute Demographic Study (LEADS) Project included an 18-question snapshot survey on compensation with the 2001 core survey. This survey was sent to 4,835 randomly selected NREMTs. A total of 1,718 NREMT-Basics and NREMT-Paramedics, from 1,317 different postal zip codes, responded to the survey. Most NREMTs in the survey (86% of the compensated NREMT-Basics and 85% of the compensated NREMT-Paramedics) were employed primarily as patient care providers. For their emergency medical services (EMS) work in the previous 12 months, compensated NREMT-Basics had mean earnings of 18,324 US dollars (standard error, 978 US dollars) and compensated NREMT-Paramedics had mean earnings of 34,654 US dollars (standard error, 646 US dollars). At least 26% of compensated NREMT-Basics and 9% of compensated NREMT-Paramedics had no health insurance. The majority of compensated NREMTs (62% of the Basics and 57% of the Paramedics) reported their retirement plans were not adequate to meet their financial needs. EMTs are not satisfied with the appreciation and recognition they receive from EMS employers. About one-third (35% of the compensated NREMT-Basics and 30% of the compensated NREMT-Paramedics) were not satisfied with all of the benefits they receive from their EMS employer. Nearly all (94% of both compensated NREMT-Basics and NREMT-Paramedics) believed that EMTs should be paid more for the job that they do. The adequacy of EMT compensation and benefit packages is an area of concern. It is not unreasonable to believe that these factors are associated with EMT retention and attrition. Additional longitudinal EMT information on compensation and benefits are anticipated to determine the extent to which compensation and benefits are factors in EMT retention.

Error analysis of mechanical system and wavelength calibration of monochromator

NASA Astrophysics Data System (ADS)

Zhang, Fudong; Chen, Chen; Liu, Jie; Wang, Zhihong

2018-02-01

This study focuses on improving the accuracy of a grating monochromator on the basis of the grating diffraction equation in combination with an analysis of the mechanical transmission relationship between the grating, the sine bar, and the screw of the scanning mechanism. First, the relationship between the mechanical error in the monochromator with the sine drive and the wavelength error is analyzed. Second, a mathematical model of the wavelength error and mechanical error is developed, and an accurate wavelength calibration method based on the sine bar's length adjustment and error compensation is proposed. Based on the mathematical model and calibration method, experiments using a standard light source with known spectral lines and a pre-adjusted sine bar length are conducted. The model parameter equations are solved, and subsequent parameter optimization simulations are performed to determine the optimal length ratio. Lastly, the length of the sine bar is adjusted. The experimental results indicate that the wavelength accuracy is ±0.3 nm, which is better than the original accuracy of ±2.6 nm. The results confirm the validity of the error analysis of the mechanical system of the monochromator as well as the validity of the calibration method.

Decoding small surface codes with feedforward neural networks

NASA Astrophysics Data System (ADS)

Varsamopoulos, Savvas; Criger, Ben; Bertels, Koen

2018-01-01

Surface codes reach high error thresholds when decoded with known algorithms, but the decoding time will likely exceed the available time budget, especially for near-term implementations. To decrease the decoding time, we reduce the decoding problem to a classification problem that a feedforward neural network can solve. We investigate quantum error correction and fault tolerance at small code distances using neural network-based decoders, demonstrating that the neural network can generalize to inputs that were not provided during training and that they can reach similar or better decoding performance compared to previous algorithms. We conclude by discussing the time required by a feedforward neural network decoder in hardware.

An error-based micro-sensor capture system for real-time motion estimation

NASA Astrophysics Data System (ADS)

Yang, Lin; Ye, Shiwei; Wang, Zhibo; Huang, Zhipei; Wu, Jiankang; Kong, Yongmei; Zhang, Li

2017-10-01

A wearable micro-sensor motion capture system with 16 IMUs and an error-compensatory complementary filter algorithm for real-time motion estimation has been developed to acquire accurate 3D orientation and displacement in real life activities. In the proposed filter algorithm, the gyroscope bias error, orientation error and magnetic disturbance error are estimated and compensated, significantly reducing the orientation estimation error due to sensor noise and drift. Displacement estimation, especially for activities such as jumping, has been the challenge in micro-sensor motion capture. An adaptive gait phase detection algorithm has been developed to accommodate accurate displacement estimation in different types of activities. The performance of this system is benchmarked with respect to the results of VICON optical capture system. The experimental results have demonstrated effectiveness of the system in daily activities tracking, with estimation error 0.16 ± 0.06 m for normal walking and 0.13 ± 0.11 m for jumping motions. Research supported by the National Natural Science Foundation of China (Nos. 61431017, 81272166).

Ophthalmic compensation of visual ametropia based on a programmable diffractive lens

NASA Astrophysics Data System (ADS)

Millán, Maria S.; Pérez-Cabré, Elisabet; Romero, Lenny A.; Ramírez, Natalia

2013-11-01

Pixelated liquid crystal displays have been widely used as spatial light modulators to implement programmable diffractive optical elements (DOEs), particularly diffractive lenses. Many different applications of such components have been developed in information optics and optical processors that take advantage of their properties of great flexibility, easy and fast refreshment, and multiplexing capability in comparison with equivalent conventional refractive lenses. In this paper, we explore the application of programmable diffractive lenses displayed on the pixelated screen of a liquid crystal on silicon spatial light modulator (LCoS-SLM) to ophthalmic optics. In particular, we consider the use of programmable diffractive lenses for the visual compensation of some refractive errors (myopia, hyperopia). The theoretical principles of compensation are described and sketched using geometrical optics and paraxial ray tracing. A series of experiments with artificial eye in optical bench are conducted to analyze the compensation accuracy in terms of optical power and to compare the results with those obtained by means of conventional ophthalmic lenses. Practical considerations oriented to feasible applications are provided.

Reference voltage calculation method based on zero-sequence component optimisation for a regional compensation DVR

NASA Astrophysics Data System (ADS)

Jian, Le; Cao, Wang; Jintao, Yang; Yinge, Wang

2018-04-01

This paper describes the design of a dynamic voltage restorer (DVR) that can simultaneously protect several sensitive loads from voltage sags in a region of an MV distribution network. A novel reference voltage calculation method based on zero-sequence voltage optimisation is proposed for this DVR to optimise cost-effectiveness in compensation of voltage sags with different characteristics in an ungrounded neutral system. Based on a detailed analysis of the characteristics of voltage sags caused by different types of faults and the effect of the wiring mode of the transformer on these characteristics, the optimisation target of the reference voltage calculation is presented with several constraints. The reference voltages under all types of voltage sags are calculated by optimising the zero-sequence component, which can reduce the degree of swell in the phase-to-ground voltage after compensation to the maximum extent and can improve the symmetry degree of the output voltages of the DVR, thereby effectively increasing the compensation ability. The validity and effectiveness of the proposed method are verified by simulation and experimental results.

Quantification of fructo-oligosaccharides based on the evaluation of oligomer ratios using an artificial neural network.

PubMed

Onofrejová, Lucia; Farková, Marta; Preisler, Jan

2009-04-13

The application of an internal standard in quantitative analysis is desirable in order to correct for variations in sample preparation and instrumental response. In mass spectrometry of organic compounds, the internal standard is preferably labelled with a stable isotope, such as (18)O, (15)N or (13)C. In this study, a method for the quantification of fructo-oligosaccharides using matrix-assisted laser desorption/ionisation time-of-flight mass spectrometry (MALDI TOF MS) was proposed and tested on raftilose, a partially hydrolysed inulin with a degree of polymeration 2-7. A tetraoligosaccharide nystose, which is chemically identical to the raftilose tetramer, was used as an internal standard rather than an isotope-labelled analyte. Two mathematical approaches used for data processing, conventional calculations and artificial neural networks (ANN), were compared. The conventional data processing relies on the assumption that a constant oligomer dispersion profile will change after the addition of the internal standard and some simple numerical calculations. On the other hand, ANN was found to compensate for a non-linear MALDI response and variations in the oligomer dispersion profile with raftilose concentration. As a result, the application of ANN led to lower quantification errors and excellent day-to-day repeatability compared to the conventional data analysis. The developed method is feasible for MS quantification of raftilose in the range of 10-750 pg with errors below 7%. The content of raftilose was determined in dietary cream; application can be extended to other similar polymers. It should be stressed that no special optimisation of the MALDI process was carried out. A common MALDI matrix and sample preparation were used and only the basic parameters, such as sampling and laser energy, were optimised prior to quantification.

A hybrid method for synthetic aperture ladar phase-error compensation

NASA Astrophysics Data System (ADS)

Hua, Zhili; Li, Hongping; Gu, Yongjian

2009-07-01

As a high resolution imaging sensor, synthetic aperture ladar data contain phase-error whose source include uncompensated platform motion and atmospheric turbulence distortion errors. Two previously devised methods, rank one phase-error estimation algorithm and iterative blind deconvolution are reexamined, of which a hybrid method that can recover both the images and PSF's without any a priori information on the PSF is built to speed up the convergence rate by the consideration in the choice of initialization. To be integrated into spotlight mode SAL imaging model respectively, three methods all can effectively reduce the phase-error distortion. For each approach, signal to noise ratio, root mean square error and CPU time are computed, from which we can see the convergence rate of the hybrid method can be improved because a more efficient initialization set of blind deconvolution. Moreover, by making a further discussion of the hybrid method, the weight distribution of ROPE and IBD is found to be an important factor that affects the final result of the whole compensation process.

Precise method of compensating radiation-induced errors in a hot-cathode-ionization gauge with correcting electrode

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

Saeki, Hiroshi, E-mail: saeki@spring8.or.jp; Magome, Tamotsu, E-mail: saeki@spring8.or.jp

2014-10-06

To compensate pressure-measurement errors caused by a synchrotron radiation environment, a precise method using a hot-cathode-ionization-gauge head with correcting electrode, was developed and tested in a simulation experiment with excess electrons in the SPring-8 storage ring. This precise method to improve the measurement accuracy, can correctly reduce the pressure-measurement errors caused by electrons originating from the external environment, and originating from the primary gauge filament influenced by spatial conditions of the installed vacuum-gauge head. As the result of the simulation experiment to confirm the performance reducing the errors caused by the external environment, the pressure-measurement error using this method wasmore » approximately less than several percent in the pressure range from 10{sup −5} Pa to 10{sup −8} Pa. After the experiment, to confirm the performance reducing the error caused by spatial conditions, an additional experiment was carried out using a sleeve and showed that the improved function was available.« less

A New Measure for Neural Compensation Is Positively Correlated With Working Memory and Gait Speed.

PubMed

Ji, Lanxin; Pearlson, Godfrey D; Hawkins, Keith A; Steffens, David C; Guo, Hua; Wang, Lihong

2018-01-01

Neuroimaging studies suggest that older adults may compensate for declines in brain function and cognition through reorganization of neural resources. A limitation of prior research is reliance on between-group comparisons of neural activation (e.g., younger vs. older), which cannot be used to assess compensatory ability quantitatively. It is also unclear about the relationship between compensatory ability with cognitive function or how other factors such as physical exercise modulates compensatory ability. Here, we proposed a data-driven method to semi-quantitatively measure neural compensation under a challenging cognitive task, and we then explored connections between neural compensation to cognitive engagement and cognitive reserve (CR). Functional and structural magnetic resonance imaging scans were acquired for 26 healthy older adults during a face-name memory task. Spatial independent component analysis (ICA) identified visual, attentional and left executive as core networks. Results show that the smaller the volumes of the gray matter (GM) structures within core networks, the more networks were needed to conduct the task ( r = -0.408, p = 0.035). Therefore, the number of task-activated networks controlling for the GM volume within core networks was defined as a measure of neural compensatory ability. We found that compensatory ability correlated with working memory performance ( r = 0.528, p = 0.035). Among subjects with good memory task performance, those with higher CR used fewer networks than subjects with lower CR. Among poor-performance subjects, those using more networks had higher CR. Our results indicated that using a high cognitive-demanding task to measure the number of activated neural networks could be a useful and sensitive measure of neural compensation in older adults.

Practical synchronization on complex dynamical networks via optimal pinning control

NASA Astrophysics Data System (ADS)

Li, Kezan; Sun, Weigang; Small, Michael; Fu, Xinchu

2015-07-01

We consider practical synchronization on complex dynamical networks under linear feedback control designed by optimal control theory. The control goal is to minimize global synchronization error and control strength over a given finite time interval, and synchronization error at terminal time. By utilizing the Pontryagin's minimum principle, and based on a general complex dynamical network, we obtain an optimal system to achieve the control goal. The result is verified by performing some numerical simulations on Star networks, Watts-Strogatz networks, and Barabási-Albert networks. Moreover, by combining optimal control and traditional pinning control, we propose an optimal pinning control strategy which depends on the network's topological structure. Obtained results show that optimal pinning control is very effective for synchronization control in real applications.

Mitigation of Subsynchronous Resonance with Fractional-order PI based UPFC controller

NASA Astrophysics Data System (ADS)

Raju, D. Koteswara; Umre, Bhimrao S.; Junghare, Anjali S.; Babu, B. Chitti

2017-02-01

Due to incorporation of series capacitor compensation in transmission line for stability improvement, subsynchronous oscillations are generated at turbine-generator shaft. These oscillations can damage the shaft system if these are not well suppressed. In order to damp out these oscillations, usually power system network should have sufficient damping and the increase of network damping is obtained by the injection of subsynchronous component of voltage and current into the line, which are extracted from the measured signal of the system. However, the effectiveness of damp out of these subsynchronous oscillations is possibly by incorporating UPFC in the transmission line network is of high interest and it should be further investigated. This research article proposes the mitigation of subsynchronous resonance (SSR) using fractional-order PI (FOPI) based unified power flow controller (UPFC). The robustness of the proposed controller is tested for 25%, 55% and 70% series compensation with a symmetrical fault (L-L-L fault). Further, Eigenvalue analysis and Fast Fourier Transform (FFT) analysis against operating point variations and uncertainties in the system are also examined. The IEEE first benchmark model is adopted for this study and the superiority of the FOPI based UPFC controller over PI based UPFC controller is discussed by comparing the results with various performance indices.

High-Accuracy Decoupling Estimation of the Systematic Coordinate Errors of an INS and Intensified High Dynamic Star Tracker Based on the Constrained Least Squares Method

PubMed Central

Jiang, Jie; Yu, Wenbo; Zhang, Guangjun

2017-01-01

Navigation accuracy is one of the key performance indicators of an inertial navigation system (INS). Requirements for an accuracy assessment of an INS in a real work environment are exceedingly urgent because of enormous differences between real work and laboratory test environments. An attitude accuracy assessment of an INS based on the intensified high dynamic star tracker (IHDST) is particularly suitable for a real complex dynamic environment. However, the coupled systematic coordinate errors of an INS and the IHDST severely decrease the attitude assessment accuracy of an INS. Given that, a high-accuracy decoupling estimation method of the above systematic coordinate errors based on the constrained least squares (CLS) method is proposed in this paper. The reference frame of the IHDST is firstly converted to be consistent with that of the INS because their reference frames are completely different. Thereafter, the decoupling estimation model of the systematic coordinate errors is established and the CLS-based optimization method is utilized to estimate errors accurately. After compensating for error, the attitude accuracy of an INS can be assessed based on IHDST accurately. Both simulated experiments and real flight experiments of aircraft are conducted, and the experimental results demonstrate that the proposed method is effective and shows excellent performance for the attitude accuracy assessment of an INS in a real work environment. PMID:28991179

Optoelectronic scanning system upgrade by energy center localization methods

NASA Astrophysics Data System (ADS)

Flores-Fuentes, W.; Sergiyenko, O.; Rodriguez-Quiñonez, J. C.; Rivas-López, M.; Hernández-Balbuena, D.; Básaca-Preciado, L. C.; Lindner, L.; González-Navarro, F. F.

2016-11-01

A problem of upgrading an optoelectronic scanning system with digital post-processing of the signal based on adequate methods of energy center localization is considered. An improved dynamic triangulation analysis technique is proposed by an example of industrial infrastructure damage detection. A modification of our previously published method aimed at searching for the energy center of an optoelectronic signal is described. Application of the artificial intelligence algorithm of compensation for the error of determining the angular coordinate in calculating the spatial coordinate through dynamic triangulation is demonstrated. Five energy center localization methods are developed and tested to select the best method. After implementation of these methods, digital compensation for the measurement error, and statistical data analysis, a non-parametric behavior of the data is identified. The Wilcoxon signed rank test is applied to improve the result further. For optical scanning systems, it is necessary to detect a light emitter mounted on the infrastructure being investigated to calculate its spatial coordinate by the energy center localization method.

Compensator development and examination of performance and robustness

NASA Technical Reports Server (NTRS)

1985-01-01

This research focuses on the development of compensators to control the mean square surface error of a wraprib antenna. The methodology is as follows: A model of appropriate size and structure is developed by looking at the convergence of functional gains for control and estimation. Then an LQG compensator is designed using this model. Finally, the compensator is simplified using balanced realization theory. In the conventional approach for compensator design, there is no mechanism for ensuring that the model is adequate for designing a compensator which will achieve the desired level of performance. It is shown here that both the model order and compensator order are directly related to the closed loop performance requirements for the system.

Network Adjustment of Orbit Errors in SAR Interferometry

NASA Astrophysics Data System (ADS)

Bahr, Hermann; Hanssen, Ramon

2010-03-01

Orbit errors can induce significant long wavelength error signals in synthetic aperture radar (SAR) interferograms and thus bias estimates of wide-scale deformation phenomena. The presented approach aims for correcting orbit errors in a preprocessing step to deformation analysis by modifying state vectors. Whereas absolute errors in the orbital trajectory are negligible, the influence of relative errors (baseline errors) is parametrised by their parallel and perpendicular component as a linear function of time. As the sensitivity of the interferometric phase is only significant with respect to the perpendicular base-line and the rate of change of the parallel baseline, the algorithm focuses on estimating updates to these two parameters. This is achieved by a least squares approach, where the unwrapped residual interferometric phase is observed and atmospheric contributions are considered to be stochastic with constant mean. To enhance reliability, baseline errors are adjusted in an overdetermined network of interferograms, yielding individual orbit corrections per acquisition.

Influence of OPD in wavelength-shifting interferometry

NASA Astrophysics Data System (ADS)

Wang, Hongjun; Tian, Ailing; Liu, Bingcai; Dang, Juanjuan

2009-12-01

Phase-shifting interferometry is a powerful tool for high accuracy optical measurement. It operates by change the optical path length in the reference arm or test arm. This method practices by move optical device. So it has much problem when the optical device is very large and heavy. For solve this problem, the wavelength-shifting interferometry was put forwarded. In wavelength-shifting interferometry, the phase shifting angle was achieved by change the wavelength of optical source. The phase shifting angle was decided by wavelength and OPD (Optical Path Difference) between test and reference wavefront. So the OPD is an important factor to measure results. But in measurement, because the positional error and profile error of under testing optical element is exist, the phase shifting angle is different in different test point when wavelength scanning, it will introduce phase shifting angle error, so it will introduce optical surface measure error. For analysis influence of OPD on optical surface error, the relation between surface error and OPD was researched. By simulation, the relation between phase shifting error and OPD was established. By analysis, the error compensation method was put forward. After error compensation, the measure results can be improved to great extend.

Influence of OPD in wavelength-shifting interferometry

NASA Astrophysics Data System (ADS)

Wang, Hongjun; Tian, Ailing; Liu, Bingcai; Dang, Juanjuan

2010-03-01

Phase-shifting interferometry is a powerful tool for high accuracy optical measurement. It operates by change the optical path length in the reference arm or test arm. This method practices by move optical device. So it has much problem when the optical device is very large and heavy. For solve this problem, the wavelength-shifting interferometry was put forwarded. In wavelength-shifting interferometry, the phase shifting angle was achieved by change the wavelength of optical source. The phase shifting angle was decided by wavelength and OPD (Optical Path Difference) between test and reference wavefront. So the OPD is an important factor to measure results. But in measurement, because the positional error and profile error of under testing optical element is exist, the phase shifting angle is different in different test point when wavelength scanning, it will introduce phase shifting angle error, so it will introduce optical surface measure error. For analysis influence of OPD on optical surface error, the relation between surface error and OPD was researched. By simulation, the relation between phase shifting error and OPD was established. By analysis, the error compensation method was put forward. After error compensation, the measure results can be improved to great extend.

An innovative method for coordinate measuring machine one-dimensional self-calibration with simplified experimental process.

PubMed

Fang, Cheng; Butler, David Lee

2013-05-01

In this paper, an innovative method for CMM (Coordinate Measuring Machine) self-calibration is proposed. In contrast to conventional CMM calibration that relies heavily on a high precision reference standard such as a laser interferometer, the proposed calibration method is based on a low-cost artefact which is fabricated with commercially available precision ball bearings. By optimizing the mathematical model and rearranging the data sampling positions, the experimental process and data analysis can be simplified. In mathematical expression, the samples can be minimized by eliminating the redundant equations among those configured by the experimental data array. The section lengths of the artefact are measured at arranged positions, with which an equation set can be configured to determine the measurement errors at the corresponding positions. With the proposed method, the equation set is short of one equation, which can be supplemented by either measuring the total length of the artefact with a higher-precision CMM or calibrating the single point error at the extreme position with a laser interferometer. In this paper, the latter is selected. With spline interpolation, the error compensation curve can be determined. To verify the proposed method, a simple calibration system was set up on a commercial CMM. Experimental results showed that with the error compensation curve uncertainty of the measurement can be reduced to 50%.

Effect of crosstalk on QBER in QKD in urban telecommunication fiber lines

NASA Astrophysics Data System (ADS)

Kurochkin, Vladimir L.; Kurochkin, Yuriy V.; Miller, Alexander V.; Sokolov, Alexander S.; Kanapin, Alan A.

2016-12-01

Quantum key distribution (QKD) as a technology is being actively implemented into existing urban telecommunication networks. QKD devices are commercially available products. While sending single photons through optical fiber, adjacent fibers, which are used to transfer classical information, might influence the amount of registrations of single photon detectors. This influence is registered, since it directly introduces a higher quantum bit error rate (QBER) into the final key [1-3]. Our report presents the results of the first tests of the QKD device, developed in the Russian Quantum Center. These tests were conducted in Moscow, and are the first of such a device in Russia in urban optical fiber telecommunication networks. The device in question is based on a two-pass auto-compensating optical scheme, which provides stable single photon transfer through urban optical fiber telecommunication networks [4,5]. The single photon detectors ID230 by ID Quantique were used. They operate in free-running mode, and with a quantum effectiveness of 10 % have a dark count 10 Hz. The background signal level in the dedicated fiber was no less than 5.6•10-14 W, which corresponds to 4.4•104 detector clicks per second. The single mode fiber length in Moscow was 30.6 km, the total attenuation equal to 11.7 dB. The sifted quantum key bit rate reached values of 1.9 kbit/s with the QBER level equal to 5.1 %. Methods of lowering the influence of crosstalk on the QBER are considered.

Cogging effect minimization in PMSM position servo system using dual high-order periodic adaptive learning compensation.

PubMed

Luo, Ying; Chen, Yangquan; Pi, Youguo

2010-10-01

Cogging effect which can be treated as a type of position-dependent periodic disturbance, is a serious disadvantage of the permanent magnetic synchronous motor (PMSM). In this paper, based on a simulation system model of PMSM position servo control, the cogging force, viscous friction, and applied load in the real PMSM control system are considered and presented. A dual high-order periodic adaptive learning compensation (DHO-PALC) method is proposed to minimize the cogging effect on the PMSM position and velocity servo system. In this DHO-PALC scheme, more than one previous periods stored information of both the composite tracking error and the estimate of the cogging force is used for the control law updating. Asymptotical stability proof with the proposed DHO-PALC scheme is presented. Simulation is implemented on the PMSM servo system model to illustrate the proposed method. When the constant speed reference is applied, the DHO-PALC can achieve a faster learning convergence speed than the first-order periodic adaptive learning compensation (FO-PALC). Moreover, when the designed reference signal changes periodically, the proposed DHO-PALC can obtain not only faster convergence speed, but also much smaller final error bound than the FO-PALC. Copyright © 2010 ISA. Published by Elsevier Ltd. All rights reserved.

Time-varying delays compensation algorithm for powertrain active damping of an electrified vehicle equipped with an axle motor during regenerative braking

NASA Astrophysics Data System (ADS)

Zhang, Junzhi; Li, Yutong; Lv, Chen; Gou, Jinfang; Yuan, Ye

2017-03-01

The flexibility of the electrified powertrain system elicits a negative effect upon the cooperative control performance between regenerative and hydraulic braking and the active damping control performance. Meanwhile, the connections among sensors, controllers, and actuators are realized via network communication, i.e., controller area network (CAN), that introduces time-varying delays and deteriorates the control performances of the closed-loop control systems. As such, the goal of this paper is to develop a control algorithm to cope with all these challenges. To this end, the models of the stochastic network induced time-varying delays, based on a real in-vehicle network topology and on a flexible electrified powertrain, were firstly built. In order to further enhance the control performances of active damping and cooperative control of regenerative and hydraulic braking, the time-varying delays compensation algorithm for the electrified powertrain active damping during regenerative braking was developed based on a predictive scheme. The augmented system is constructed and the H∞ performance is analyzed. Based on this analysis, the control gains are derived by solving a nonlinear minimization problem. The simulations and hardware-in-loop (HIL) tests were carried out to validate the effectiveness of the developed algorithm. The test results show that the active damping and cooperative control performances are enhanced significantly.

Adaptive feedforward control of non-minimum phase structural systems

NASA Astrophysics Data System (ADS)

Vipperman, J. S.; Burdisso, R. A.

1995-06-01

Adaptive feedforward control algorithms have been effectively applied to stationary disturbance rejection. For structural systems, the ideal feedforward compensator is a recursive filter which is a function of the transfer functions between the disturbance and control inputs and the error sensor output. Unfortunately, most control configurations result in a non-minimum phase control path; even a collocated control actuator and error sensor will not necessarily produce a minimum phase control path in the discrete domain. Therefore, the common practice is to choose a suitable approximation of the ideal compensator. In particular, all-zero finite impulse response (FIR) filters are desirable because of their inherent stability for adaptive control approaches. However, for highly resonant systems, large order filters are required for broadband applications. In this work, a control configuration is investigated for controlling non-minimum phase lightly damped structural systems. The control approach uses low order FIR filters as feedforward compensators in a configuration that has one more control actuator than error sensors. The performance of the controller was experimentally evaluated on a simply supported plate under white noise excitation for a two-input, one-output (2I1O) system. The results show excellent error signal reduction, attesting to the effectiveness of the method.

Analysis of DSN software anomalies

NASA Technical Reports Server (NTRS)

Galorath, D. D.; Hecht, H.; Hecht, M.; Reifer, D. J.

1981-01-01

A categorized data base of software errors which were discovered during the various stages of development and operational use of the Deep Space Network DSN/Mark 3 System was developed. A study team identified several existing error classification schemes (taxonomies), prepared a detailed annotated bibliography of the error taxonomy literature, and produced a new classification scheme which was tuned to the DSN anomaly reporting system and encapsulated the work of others. Based upon the DSN/RCI error taxonomy, error data on approximately 1000 reported DSN/Mark 3 anomalies were analyzed, interpreted and classified. Next, error data are summarized and histograms were produced highlighting key tendencies.

A linearization time-domain CMOS smart temperature sensor using a curvature compensation oscillator.

PubMed

Chen, Chun-Chi; Chen, Hao-Wen

2013-08-28

This paper presents an area-efficient time-domain CMOS smart temperature sensor using a curvature compensation oscillator for linearity enhancement with a -40 to 120 °C temperature range operability. The inverter-based smart temperature sensors can substantially reduce the cost and circuit complexity of integrated temperature sensors. However, a large curvature exists on the temperature-to-time transfer curve of the inverter-based delay line and results in poor linearity of the sensor output. For cost reduction and error improvement, a temperature-to-pulse generator composed of a ring oscillator and a time amplifier was used to generate a thermal sensing pulse with a sufficient width proportional to the absolute temperature (PTAT). Then, a simple but effective on-chip curvature compensation oscillator is proposed to simultaneously count and compensate the PTAT pulse with curvature for linearization. With such a simple structure, the proposed sensor possesses an extremely small area of 0.07 mm2 in a TSMC 0.35-mm CMOS 2P4M digital process. By using an oscillator-based scheme design, the proposed sensor achieves a fine resolution of 0.045 °C without significantly increasing the circuit area. With the curvature compensation, the inaccuracy of -1.2 to 0.2 °C is achieved in an operation range of -40 to 120 °C after two-point calibration for 14 packaged chips. The power consumption is measured as 23 mW at a sample rate of 10 samples/s.

High-precision register error control using active-motion-based roller in roll-to-roll gravure printing

NASA Astrophysics Data System (ADS)

Jung, Hoeryong; Nguyen, Ho Anh Duc; Choi, Jaeho; Yim, Hongsik; Shin, Kee-Hyun

2018-05-01

The roll-to-roll (R2R) gravure printing method is increasingly being utilized to fabricate electronic devices such as organic thin-film transistor (OTFT), radio-frequency identification (RFID) tags, and flexible PCB owing to its characteristics of high throughput and large area. High precision registration is crucial to satisfy the demand for device miniaturization, the improvement of resolution and accuracy. This paper presents a novel register control method that uses an active motion-based roller (AMBR) to reduce register error in R2R gravure printing. Instead of shifting the phase of the downstream printing roller, which leads to undesired tension disturbance, the 1 degree-of-freedom (1-DOF) mechanical device AMBR is used to compensate for web elongation by controlling its motion according to the register error. The performance of the proposed control method is verified through simulations and experiments, and the results show that the proposed register control method using the AMBR could maintain a register error under ±15 µm.

Design and analysis of a tendon-based computed tomography-compatible robot with remote center of motion for lung biopsy.

PubMed

Yang, Yunpeng; Jiang, Shan; Yang, Zhiyong; Yuan, Wei; Dou, Huaisu; Wang, Wei; Zhang, Daguang; Bian, Yuan

2017-04-01

Nowadays, biopsy is a decisive method of lung cancer diagnosis, whereas lung biopsy is time-consuming, complex and inaccurate. So a computed tomography-compatible robot for rapid and precise lung biopsy is developed in this article. According to the actual operation process, the robot is divided into two modules: 4-degree-of-freedom position module for location of puncture point is appropriate for patient's almost all positions and 3-degree-of-freedom tendon-based orientation module with remote center of motion is compact and computed tomography-compatible to orientate and insert needle automatically inside computed tomography bore. The workspace of the robot surrounds patient's thorax, and the needle tip forms a cone under patient's skin. A new error model of the robot based on screw theory is proposed in view of structure error and actuation error, which are regarded as screw motions. Simulation is carried out to verify the precision of the error model contrasted with compensation via inverse kinematics. The results of insertion experiment on specific phantom prove the feasibility of the robot with mean error of 1.373 mm in laboratory environment, which is accurate enough to replace manual operation.

An ultralow power athermal silicon modulator.

PubMed

Timurdogan, Erman; Sorace-Agaskar, Cheryl M; Sun, Jie; Shah Hosseini, Ehsan; Biberman, Aleksandr; Watts, Michael R

2014-06-11

Silicon photonics has emerged as the leading candidate for implementing ultralow power wavelength-division-multiplexed communication networks in high-performance computers, yet current components (lasers, modulators, filters and detectors) consume too much power for the high-speed femtojoule-class links that ultimately will be required. Here we demonstrate and characterize the first modulator to achieve simultaneous high-speed (25 Gb s(-1)), low-voltage (0.5 VPP) and efficient 0.9 fJ per bit error-free operation. This low-energy high-speed operation is enabled by a record electro-optic response, obtained in a vertical p-n junction device that at 250 pm V(-1) (30 GHz V(-1)) is up to 10 times larger than prior demonstrations. In addition, this record electro-optic response is used to compensate for thermal drift over a 7.5 °C temperature range with little additional energy consumption (0.24 fJ per bit for a total energy consumption below 1.03 J per bit). The combined results of highly efficient modulation and electro-optic thermal compensation represent a new paradigm in modulator development and a major step towards single-digit femtojoule-class communications.

Feasibility of predicting tumor motion using online data acquired during treatment and a generalized neural network optimized with offline patient tumor trajectories.

PubMed

Teo, Troy P; Ahmed, Syed Bilal; Kawalec, Philip; Alayoubi, Nadia; Bruce, Neil; Lyn, Ethan; Pistorius, Stephen

2018-02-01

The accurate prediction of intrafraction lung tumor motion is required to compensate for system latency in image-guided adaptive radiotherapy systems. The goal of this study was to identify an optimal prediction model that has a short learning period so that prediction and adaptation can commence soon after treatment begins, and requires minimal reoptimization for individual patients. Specifically, the feasibility of predicting tumor position using a combination of a generalized (i.e., averaged) neural network, optimized using historical patient data (i.e., tumor trajectories) obtained offline, coupled with the use of real-time online tumor positions (obtained during treatment delivery) was examined. A 3-layer perceptron neural network was implemented to predict tumor motion for a prediction horizon of 650 ms. A backpropagation algorithm and batch gradient descent approach were used to train the model. Twenty-seven 1-min lung tumor motion samples (selected from a CyberKnife patient dataset) were sampled at a rate of 7.5 Hz (0.133 s) to emulate the frame rate of an electronic portal imaging device (EPID). A sliding temporal window was used to sample the data for learning. The sliding window length was set to be equivalent to the first breathing cycle detected from each trajectory. Performing a parametric sweep, an averaged error surface of mean square errors (MSE) was obtained from the prediction responses of seven trajectories used for the training of the model (Group 1). An optimal input data size and number of hidden neurons were selected to represent the generalized model. To evaluate the prediction performance of the generalized model on unseen data, twenty tumor traces (Group 2) that were not involved in the training of the model were used for the leave-one-out cross-validation purposes. An input data size of 35 samples (4.6 s) and 20 hidden neurons were selected for the generalized neural network. An average sliding window length of 28 data samples was used. The average initial learning period prior to the availability of the first predicted tumor position was 8.53 ± 1.03 s. Average mean absolute error (MAE) of 0.59 ± 0.13 mm and 0.56 ± 0.18 mm were obtained from Groups 1 and 2, respectively, giving an overall MAE of 0.57 ± 0.17 mm. Average root-mean-square-error (RMSE) of 0.67 ± 0.36 for all the traces (0.76 ± 0.34 mm, Group 1 and 0.63 ± 0.36 mm, Group 2), is comparable to previously published results. Prediction errors are mainly due to the irregular periodicities between cycles. Since the errors from Groups 1 and 2 are within the same range, it demonstrates that this model can generalize and predict on unseen data. This is a first attempt to use an averaged MSE error surface (obtained from the prediction of different patients' tumor trajectories) to determine the parameters of a generalized neural network. This network could be deployed as a plug-and-play predictor for tumor trajectory during treatment delivery, eliminating the need for optimizing individual networks with pretreatment patient data. © 2017 American Association of Physicists in Medicine.

Using Laser Scanners to Augment the Systematic Error Pointing Model

NASA Astrophysics Data System (ADS)

Wernicke, D. R.

2016-08-01

The antennas of the Deep Space Network (DSN) rely on precise pointing algorithms to communicate with spacecraft that are billions of miles away. Although the existing systematic error pointing model is effective at reducing blind pointing errors due to static misalignments, several of its terms have a strong dependence on seasonal and even daily thermal variation and are thus not easily modeled. Changes in the thermal state of the structure create a separation from the model and introduce a varying pointing offset. Compensating for this varying offset is possible by augmenting the pointing model with laser scanners. In this approach, laser scanners mounted to the alidade measure structural displacements while a series of transformations generate correction angles. Two sets of experiments were conducted in August 2015 using commercially available laser scanners. When compared with historical monopulse corrections under similar conditions, the computed corrections are within 3 mdeg of the mean. However, although the results show promise, several key challenges relating to the sensitivity of the optical equipment to sunlight render an implementation of this approach impractical. Other measurement devices such as inclinometers may be implementable at a significantly lower cost.

Extended use of two crossed Babinet compensators for wavefront sensing in adaptive optics

NASA Astrophysics Data System (ADS)

Paul, Lancelot; Kumar Saxena, Ajay

2010-12-01

An extended use of two crossed Babinet compensators as a wavefront sensor for adaptive optics applications is proposed. This method is based on the lateral shearing interferometry technique in two directions. A single record of the fringes in a pupil plane provides the information about the wavefront. The theoretical simulations based on this approach for various atmospheric conditions and other errors of optical surfaces are provided for better understanding of this method. Derivation of the results from a laboratory experiment using simulated atmospheric conditions demonstrates the steps involved in data analysis and wavefront evaluation. It is shown that this method has a higher degree of freedom in terms of subapertures and on the choice of detectors, and can be suitably adopted for real-time wavefront sensing for adaptive optics.

Objective assessment of the contribution of the RECOPESCA network to the monitoring of 3D coastal ocean variables in the Bay of Biscay and the English Channel

NASA Astrophysics Data System (ADS)

Lamouroux, Julien; Charria, Guillaume; De Mey, Pierre; Raynaud, Stéphane; Heyraud, Catherine; Craneguy, Philippe; Dumas, Franck; Le Hénaff, Matthieu

2016-04-01

In the Bay of Biscay and the English Channel, in situ observations represent a key element to monitor and to understand the wide range of processes in the coastal ocean and their direct impacts on human activities. An efficient way to measure the hydrological content of the water column over the main part of the continental shelf is to consider ships of opportunity as the surface to cover is wide and could be far from the coast. In the French observation strategy, the RECOPESCA programme, as a component of the High frequency Observation network for the environment in coastal SEAs (HOSEA), aims to collect environmental observations from sensors attached to fishing nets. In the present study, we assess that network using the Array Modes (ArM) method (a stochastic implementation of Le Hénaff et al. Ocean Dyn 59: 3-20. doi: 10.1007/s10236-008-0144-7, 2009). That model ensemble-based method is used here to compare model and observation errors and to quantitatively evaluate the performance of the observation network at detecting prior (model) uncertainties, based on hypotheses on error sources. A reference network, based on fishing vessel observations in 2008, is assessed using that method. Considering the various seasons, we show the efficiency of the network at detecting the main model uncertainties. Moreover, three scenarios, based on the reference network, a denser network in 2010 and a fictive network aggregated from a pluri-annual collection of profiles, are also analysed. Our sensitivity study shows the importance of the profile positions with respect to the sheer number of profiles for ensuring the ability of the network to describe the main error modes. More generally, we demonstrate the capacity of this method, with a low computational cost, to assess and to design new in situ observation networks.

Hierarchical information fusion for global displacement estimation in microsensor motion capture.

PubMed

Meng, Xiaoli; Zhang, Zhi-Qiang; Wu, Jian-Kang; Wong, Wai-Choong

2013-07-01

This paper presents a novel hierarchical information fusion algorithm to obtain human global displacement for different gait patterns, including walking, running, and hopping based on seven body-worn inertial and magnetic measurement units. In the first-level sensor fusion, the orientation for each segment is achieved by a complementary Kalman filter (CKF) which compensates for the orientation error of the inertial navigation system solution through its error state vector. For each foot segment, the displacement is also estimated by the CKF, and zero velocity update is included for the drift reduction in foot displacement estimation. Based on the segment orientations and left/right foot locations, two global displacement estimates can be acquired from left/right lower limb separately using a linked biomechanical model. In the second-level geometric fusion, another Kalman filter is deployed to compensate for the difference between the two estimates from the sensor fusion and get more accurate overall global displacement estimation. The updated global displacement will be transmitted to left/right foot based on the human lower biomechanical model to restrict the drifts in both feet displacements. The experimental results have shown that our proposed method can accurately estimate human locomotion for the three different gait patterns with regard to the optical motion tracker.

Open architecture CMM motion controller

NASA Astrophysics Data System (ADS)

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

2001-12-01

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

Indoor positioning algorithm combined with angular vibration compensation and the trust region technique based on received signal strength-visible light communication

NASA Astrophysics Data System (ADS)

Wang, Jin; Li, Haoxu; Zhang, Xiaofeng; Wu, Rangzhong

2017-05-01

Indoor positioning using visible light communication has become a topic of intensive research in recent years. Because the normal of the receiver always deviates from that of the transmitter in application, the positioning systems which require that the normal of the receiver be aligned with that of the transmitter have large positioning errors. Some algorithms take the angular vibrations into account; nevertheless, these positioning algorithms cannot meet the requirement of high accuracy or low complexity. A visible light positioning algorithm combined with angular vibration compensation is proposed. The angle information from the accelerometer or other angle acquisition devices is used to calculate the angle of incidence even when the receiver is not horizontal. Meanwhile, a received signal strength technique with high accuracy is employed to determine the location. Moreover, an eight-light-emitting-diode (LED) system model is provided to improve the accuracy. The simulation results show that the proposed system can achieve a low positioning error with low complexity, and the eight-LED system exhibits improved performance. Furthermore, trust region-based positioning is proposed to determine three-dimensional locations and achieves high accuracy in both the horizontal and the vertical components.

Kinematic markers dissociate error correction from sensorimotor realignment during prism adaptation.

PubMed

O'Shea, Jacinta; Gaveau, Valérie; Kandel, Matthieu; Koga, Kazuo; Susami, Kenji; Prablanc, Claude; Rossetti, Yves

2014-03-01

This study investigated the motor control mechanisms that enable healthy individuals to adapt their pointing movements during prism exposure to a rightward optical shift. In the prism adaptation literature, two processes are typically distinguished. Strategic motor adjustments are thought to drive the pattern of rapid endpoint error correction typically observed during the early stage of prism exposure. This is distinguished from so-called 'true sensorimotor realignment', normally measured with a different pointing task, at the end of prism exposure, which reveals a compensatory leftward 'prism after-effect'. Here, we tested whether each mode of motor compensation - strategic adjustments versus 'true sensorimotor realignment' - could be distinguished, by analyzing patterns of kinematic change during prism exposure. We hypothesized that fast feedforward versus slower feedback error corrective processes would map onto two distinct phases of the reach trajectory. Specifically, we predicted that feedforward adjustments would drive rapid compensation of the initial (acceleration) phase of the reach, resulting in the rapid reduction of endpoint errors typically observed early during prism exposure. By contrast, we expected visual-proprioceptive realignment to unfold more slowly and to reflect feedback influences during the terminal (deceleration) phase of the reach. The results confirmed these hypotheses. Rapid error reduction during the early stage of prism exposure was achieved by trial-by-trial adjustments of the motor plan, which were proportional to the endpoint error feedback from the previous trial. By contrast, compensation of the terminal reach phase unfolded slowly across the duration of prism exposure. Even after 100 trials of pointing through prisms, adaptation was incomplete, with participants continuing to exhibit a small rightward shift in both the reach endpoints and in the terminal phase of reach trajectories. Individual differences in the degree of adaptation of the terminal reach phase predicted the magnitude of prism after-effects. In summary, this study identifies distinct kinematic signatures of fast strategic versus slow sensorimotor realignment processes, which combine to adjust motor performance to compensate for a prismatic shift. © 2013 Elsevier Ltd. All rights reserved.

Development of a patient positioning error compensation tool for Korea Heavy-Ion Medical Accelerator Treatment Center

NASA Astrophysics Data System (ADS)

Kim, Min-Joo; Suh, Tae-Suk; Cho, Woong; Jung, Won-Gyun

2015-07-01

In this study, a potential validation tool for compensating for the patient positioning error was developed by using 2D/3D and 3D/3D image registration. For 2D/3D registration, digitallyreconstructed radiography (DRR) and three-dimensional computed tomography (3D-CT) images were applied. The ray-casting algorithm is the most straightforward method for generating DRR, so we adopted the traditional ray-casting method, which finds the intersections of a ray with all objects, voxels of the 3D-CT volume in the scene. The similarity between the extracted DRR and the orthogonal image was measured by using a normalized mutual information method. Two orthogonal images were acquired from a Cyber-knife system from the anterior-posterior (AP) and right lateral (RL) views. The 3D-CT and the two orthogonal images of an anthropomorphic phantom and of the head and neck of a cancer patient were used in this study. For 3D/3D registration, planning CT and in-room CT images were applied. After registration, the translation and the rotation factors were calculated to position a couch to be movable in six dimensions. Registration accuracies and average errors of 2.12 mm ± 0.50 mm for transformations and 1.23 ° ± 0.40 ° for rotations were acquired by using 2D/3D registration with the anthropomorphic Alderson-Rando phantom. In addition, registration accuracies and average errors of 0.90 mm ± 0.30 mm for transformations and 1.00 ° ± 0.2 ° for rotations were acquired by using CT image sets. We demonstrated that this validation tool could compensate for patient positioning errors. In addition, this research could be a fundamental step in compensating for patient positioning errors at the Korea Heavy-ion Medical Accelerator Treatment Center.

A Hyper-Dense GNSS Receiver Network for Monitoring Time and Spatial Variations of Precipitable Water Vapor (PWV)

NASA Astrophysics Data System (ADS)

Tsuda, T.; Ito, N.; Takeda, Y.; Realini, E.; Shinbori, A.

2016-12-01

We employ the GNSS meteorology technique to measure precipitable water vapor (PWV) from the propagation delay of GNSS signal in the atmosphere. We installed a hyper-dense GNSS network using 15 receivers with a horizontal spacing of 1-2 km in Uji, Japan (Uji network). We also obtained precipitation with a rain gauge at a nearby operational weather station and rain cloud distribution by an X-band radar. We selected 40 days from April 2011 to March 2013, when considerable precipitation was detected. Difference in PWV within 10 km was 3-10 mm during a heavy rain. We found PWV increased 10-20 minutes before a passage of a rain cloud. The maximum value of PWV correlated well with the amount of precipitation on the ground. The variance of PWV between the GNSS sites was enhanced during a heavy rain. For a future practical hyper-dense GNSS network system with many receivers, we consider to use inexpensive single frequency (SF) receivers. Because SF receiver cannot eliminate the ionospheric delay by itself, we interpolate the delay referring the delay measured by the nearby dual frequency (DF) receivers. We investigated ionospheric delay by the Uji network, taking advantages of Quasi-Zenith Satellite System (QZSS) that gives signals at high elevation angles. During a travelling ionospheric disturbance (TID), a wavy structure with a horizontal scale of several tens km was recognized. The ionospheric delay was compensated by a linear and quadratic interpolation, then the resulting error of PWV compared with DF solution was about 1.50 mm in RMS. For a real-time estimation of PWV, we used real-time satellite clock information corrected by GEONET. Difference of PWV between the real-time analysis and the post processing with the final orbit was 0.7 mm in RMS. We estimated an overall error of PWV with a dense SF-receiver network on a real-time basis was 1.7 mm in RMS.

Incorporation of a laser range scanner into image-guided liver surgery: surface acquisition, registration, and tracking.

PubMed

Cash, David M; Sinha, Tuhin K; Chapman, William C; Terawaki, Hiromi; Dawant, Benoit M; Galloway, Robert L; Miga, Michael I

2003-07-01

As image guided surgical procedures become increasingly diverse, there will be more scenarios where point-based fiducials cannot be accurately localized for registration and rigid body assumptions no longer hold. As a result, procedures will rely more frequently on anatomical surfaces for the basis of image alignment and will require intraoperative geometric data to measure and compensate for tissue deformation in the organ. In this paper we outline methods for which a laser range scanner may be used to accomplish these tasks intraoperatively. A laser range scanner based on the optical principle of triangulation acquires a dense set of three-dimensional point data in a very rapid, noncontact fashion. Phantom studies were performed to test the ability to link range scan data with traditional modes of image-guided surgery data through localization, registration, and tracking in physical space. The experiments demonstrate that the scanner is capable of localizing point-based fiducials to within 0.2 mm and capable of achieving point and surface based registrations with target registration error of less than 2.0 mm. Tracking points in physical space with the range scanning system yields an error of 1.4 +/- 0.8 mm. Surface deformation studies were performed with the range scanner in order to determine if this device was capable of acquiring enough information for compensation algorithms. In the surface deformation studies, the range scanner was able to detect changes in surface shape due to deformation comparable to those detected by tomographic image studies. Use of the range scanner has been approved for clinical trials, and an initial intraoperative range scan experiment is presented. In all of these studies, the primary source of error in range scan data is deterministically related to the position and orientation of the surface within the scanner's field of view. However, this systematic error can be corrected, allowing the range scanner to provide a rapid, robust method of acquiring anatomical surfaces intraoperatively.

Network compensation for missing sensors

NASA Technical Reports Server (NTRS)

Ahumada, Albert J., Jr.; Mulligan, Jeffrey B.

1991-01-01

A network learning translation invariance algorithm to compute interpolation functions is presented. This algorithm with one fixed receptive field can construct a linear transformation compensating for gain changes, sensor position jitter, and sensor loss when there are enough remaining sensors to adequately sample the input images. However, when the images are undersampled and complete compensation is not possible, the algorithm need to be modified. For moderate sensor losses, the algorithm works if the transformation weight adjustment is restricted to the weights to output units affected by the loss.

Feedforward-Feedback Hybrid Control for Magnetic Shape Memory Alloy Actuators Based on the Krasnosel'skii-Pokrovskii Model

PubMed Central

Zhou, Miaolei; Zhang, Qi; Wang, Jingyuan

2014-01-01

As a new type of smart material, magnetic shape memory alloy has the advantages of a fast response frequency and outstanding strain capability in the field of microdrive and microposition actuators. The hysteresis nonlinearity in magnetic shape memory alloy actuators, however, limits system performance and further application. Here we propose a feedforward-feedback hybrid control method to improve control precision and mitigate the effects of the hysteresis nonlinearity of magnetic shape memory alloy actuators. First, hysteresis nonlinearity compensation for the magnetic shape memory alloy actuator is implemented by establishing a feedforward controller which is an inverse hysteresis model based on Krasnosel'skii-Pokrovskii operator. Secondly, the paper employs the classical Proportion Integration Differentiation feedback control with feedforward control to comprise the hybrid control system, and for further enhancing the adaptive performance of the system and improving the control accuracy, the Radial Basis Function neural network self-tuning Proportion Integration Differentiation feedback control replaces the classical Proportion Integration Differentiation feedback control. Utilizing self-learning ability of the Radial Basis Function neural network obtains Jacobian information of magnetic shape memory alloy actuator for the on-line adjustment of parameters in Proportion Integration Differentiation controller. Finally, simulation results show that the hybrid control method proposed in this paper can greatly improve the control precision of magnetic shape memory alloy actuator and the maximum tracking error is reduced from 1.1% in the open-loop system to 0.43% in the hybrid control system. PMID:24828010

Feedforward-feedback hybrid control for magnetic shape memory alloy actuators based on the Krasnosel'skii-Pokrovskii model.

PubMed

Zhou, Miaolei; Zhang, Qi; Wang, Jingyuan

2014-01-01

As a new type of smart material, magnetic shape memory alloy has the advantages of a fast response frequency and outstanding strain capability in the field of microdrive and microposition actuators. The hysteresis nonlinearity in magnetic shape memory alloy actuators, however, limits system performance and further application. Here we propose a feedforward-feedback hybrid control method to improve control precision and mitigate the effects of the hysteresis nonlinearity of magnetic shape memory alloy actuators. First, hysteresis nonlinearity compensation for the magnetic shape memory alloy actuator is implemented by establishing a feedforward controller which is an inverse hysteresis model based on Krasnosel'skii-Pokrovskii operator. Secondly, the paper employs the classical Proportion Integration Differentiation feedback control with feedforward control to comprise the hybrid control system, and for further enhancing the adaptive performance of the system and improving the control accuracy, the Radial Basis Function neural network self-tuning Proportion Integration Differentiation feedback control replaces the classical Proportion Integration Differentiation feedback control. Utilizing self-learning ability of the Radial Basis Function neural network obtains Jacobian information of magnetic shape memory alloy actuator for the on-line adjustment of parameters in Proportion Integration Differentiation controller. Finally, simulation results show that the hybrid control method proposed in this paper can greatly improve the control precision of magnetic shape memory alloy actuator and the maximum tracking error is reduced from 1.1% in the open-loop system to 0.43% in the hybrid control system.

A map overlay error model based on boundary geometry

USGS Publications Warehouse

Gaeuman, D.; Symanzik, J.; Schmidt, J.C.

2005-01-01

An error model for quantifying the magnitudes and variability of errors generated in the areas of polygons during spatial overlay of vector geographic information system layers is presented. Numerical simulation of polygon boundary displacements was used to propagate coordinate errors to spatial overlays. The model departs from most previous error models in that it incorporates spatial dependence of coordinate errors at the scale of the boundary segment. It can be readily adapted to match the scale of error-boundary interactions responsible for error generation on a given overlay. The area of error generated by overlay depends on the sinuosity of polygon boundaries, as well as the magnitude of the coordinate errors on the input layers. Asymmetry in boundary shape has relatively little effect on error generation. Overlay errors are affected by real differences in boundary positions on the input layers, as well as errors in the boundary positions. Real differences between input layers tend to compensate for much of the error generated by coordinate errors. Thus, the area of change measured on an overlay layer produced by the XOR overlay operation will be more accurate if the area of real change depicted on the overlay is large. The model presented here considers these interactions, making it especially useful for estimating errors studies of landscape change over time. ?? 2005 The Ohio State University.

Image defects from surface and alignment errors in grazing incidence telescopes

NASA Technical Reports Server (NTRS)

Saha, Timo T.

1989-01-01

The rigid body motions and low frequency surface errors of grazing incidence Wolter telescopes are studied. The analysis is based on surface error descriptors proposed by Paul Glenn. In his analysis, the alignment and surface errors are expressed in terms of Legendre-Fourier polynomials. Individual terms in the expression correspond to rigid body motions (decenter and tilt) and low spatial frequency surface errors of mirrors. With the help of the Legendre-Fourier polynomials and the geometry of grazing incidence telescopes, exact and approximated first order equations are derived in this paper for the components of the ray intercepts at the image plane. These equations are then used to calculate the sensitivities of Wolter type I and II telescopes for the rigid body motions and surface deformations. The rms spot diameters calculated from this theory and OSAC ray tracing code agree very well. This theory also provides a tool to predict how rigid body motions and surface errors of the mirrors compensate each other.

Adaptive control of nonlinear system using online error minimum neural networks.

PubMed

Jia, Chao; Li, Xiaoli; Wang, Kang; Ding, Dawei

2016-11-01

In this paper, a new learning algorithm named OEM-ELM (Online Error Minimized-ELM) is proposed based on ELM (Extreme Learning Machine) neural network algorithm and the spreading of its main structure. The core idea of this OEM-ELM algorithm is: online learning, evaluation of network performance, and increasing of the number of hidden nodes. It combines the advantages of OS-ELM and EM-ELM, which can improve the capability of identification and avoid the redundancy of networks. The adaptive control based on the proposed algorithm OEM-ELM is set up which has stronger adaptive capability to the change of environment. The adaptive control of chemical process Continuous Stirred Tank Reactor (CSTR) is also given for application. The simulation results show that the proposed algorithm with respect to the traditional ELM algorithm can avoid network redundancy and improve the control performance greatly. Copyright © 2016 ISA. Published by Elsevier Ltd. All rights reserved.

DEADS: Depth and Energy Aware Dominating Set Based Algorithm for Cooperative Routing along with Sink Mobility in Underwater WSNs.

PubMed

Umar, Amara; Javaid, Nadeem; Ahmad, Ashfaq; Khan, Zahoor Ali; Qasim, Umar; Alrajeh, Nabil; Hayat, Amir

2015-06-18

Performance enhancement of Underwater Wireless Sensor Networks (UWSNs) in terms of throughput maximization, energy conservation and Bit Error Rate (BER) minimization is a potential research area. However, limited available bandwidth, high propagation delay, highly dynamic network topology, and high error probability leads to performance degradation in these networks. In this regard, many cooperative communication protocols have been developed that either investigate the physical layer or the Medium Access Control (MAC) layer, however, the network layer is still unexplored. More specifically, cooperative routing has not yet been jointly considered with sink mobility. Therefore, this paper aims to enhance the network reliability and efficiency via dominating set based cooperative routing and sink mobility. The proposed work is validated via simulations which show relatively improved performance of our proposed work in terms the selected performance metrics.

Sea ice classification using fast learning neural networks

NASA Technical Reports Server (NTRS)

Dawson, M. S.; Fung, A. K.; Manry, M. T.

1992-01-01

A first learning neural network approach to the classification of sea ice is presented. The fast learning (FL) neural network and a multilayer perceptron (MLP) trained with backpropagation learning (BP network) were tested on simulated data sets based on the known dominant scattering characteristics of the target class. Four classes were used in the data simulation: open water, thick lossy saline ice, thin saline ice, and multiyear ice. The BP network was unable to consistently converge to less than 25 percent error while the FL method yielded an average error of approximately 1 percent on the first iteration of training. The fast learning method presented can significantly reduce the CPU time necessary to train a neural network as well as consistently yield higher classification accuracy than BP networks.

An accurate nonlinear stochastic model for MEMS-based inertial sensor error with wavelet networks

NASA Astrophysics Data System (ADS)

El-Diasty, Mohammed; El-Rabbany, Ahmed; Pagiatakis, Spiros

2007-12-01

The integration of Global Positioning System (GPS) with Inertial Navigation System (INS) has been widely used in many applications for positioning and orientation purposes. Traditionally, random walk (RW), Gauss-Markov (GM), and autoregressive (AR) processes have been used to develop the stochastic model in classical Kalman filters. The main disadvantage of classical Kalman filter is the potentially unstable linearization of the nonlinear dynamic system. Consequently, a nonlinear stochastic model is not optimal in derivative-based filters due to the expected linearization error. With a derivativeless-based filter such as the unscented Kalman filter or the divided difference filter, the filtering process of a complicated highly nonlinear dynamic system is possible without linearization error. This paper develops a novel nonlinear stochastic model for inertial sensor error using a wavelet network (WN). A wavelet network is a highly nonlinear model, which has recently been introduced as a powerful tool for modelling and prediction. Static and kinematic data sets are collected using a MEMS-based IMU (DQI-100) to develop the stochastic model in the static mode and then implement it in the kinematic mode. The derivativeless-based filtering method using GM, AR, and the proposed WN-based processes are used to validate the new model. It is shown that the first-order WN-based nonlinear stochastic model gives superior positioning results to the first-order GM and AR models with an overall improvement of 30% when 30 and 60 seconds GPS outages are introduced.

Compensation for first-order polarization-mode dispersion by using a novel tunable compensator

NASA Astrophysics Data System (ADS)

Qiu, Feng; Ning, Tigang; Pei, Shanshan; Xing, Yujun; Jian, Shuisheng

2005-01-01

Polarization-related impairments have become a critical issue for high-data-rate optical systems, particularly when considering polarization-mode dispersion (PMD). Consequently, compensation of PMD, especially for the first-order PMD is necessary to maintain adequate performance in long-haul systems at a high bit rate of 10 Gb/s or beyond. In this paper, we successfully demonstrated automatic and tunable compensation for first-order polarization-mode dispersion. Furthermore, we reported the statistical assessment of this tunable compensator at 10 Gbit/s. Experimental results, including bit error rate measurements, are successfully compared with theory, therefore demonstrating the compensator efficiency at 10 Gbit/s. The first-order PMD was max 274 ps before PMD compensation, and it was lower than 7ps after PMD compensation.

Model Predictive Control techniques with application to photovoltaic, DC Microgrid, and a multi-sourced hybrid energy system

NASA Astrophysics Data System (ADS)

Shadmand, Mohammad Bagher

Renewable energy sources continue to gain popularity. However, two major limitations exist that prevent widespread adoption: availability and variability of the electricity generated and the cost of the equipment. The focus of this dissertation is Model Predictive Control (MPC) for optimal sized photovoltaic (PV), DC Microgrid, and multi-sourced hybrid energy systems. The main considered applications are: maximum power point tracking (MPPT) by MPC, droop predictive control of DC microgrid, MPC of grid-interaction inverter, MPC of a capacitor-less VAR compensator based on matrix converter (MC). This dissertation firstly investigates a multi-objective optimization technique for a hybrid distribution system. The variability of a high-penetration PV scenario is also studied when incorporated into the microgrid concept. Emerging (PV) technologies have enabled the creation of contoured and conformal PV surfaces; the effect of using non-planar PV modules on variability is also analyzed. The proposed predictive control to achieve maximum power point for isolated and grid-tied PV systems speeds up the control loop since it predicts error before the switching signal is applied to the converter. The low conversion efficiency of PV cells means we want to ensure always operating at maximum possible power point to make the system economical. Thus the proposed MPPT technique can capture more energy compared to the conventional MPPT techniques from same amount of installed solar panel. Because of the MPPT requirement, the output voltage of the converter may vary. Therefore a droop control is needed to feed multiple arrays of photovoltaic systems to a DC bus in microgrid community. Development of a droop control technique by means of predictive control is another application of this dissertation. Reactive power, denoted as Volt Ampere Reactive (VAR), has several undesirable consequences on AC power system network such as reduction in power transfer capability and increase in transmission loss if not controlled appropriately. Inductive loads which operate with lagging power factor consume VARs, thus load compensation techniques by capacitor bank employment locally supply VARs needed by the load. Capacitors are highly unreliable components due to their failure modes and aging inherent. Approximately 60% of power electronic devices failure such as voltage-source inverter based static synchronous compensator (STATCOM) is due to the use of aluminum electrolytic DC capacitors. Therefore, a capacitor-less VAR compensation is desired. This dissertation also investigates a STATCOM capacitor-less reactive power compensation that uses only inductors combined with predictive controlled matrix converter.

Roll and pitch set-up errors during volumetric modulated arc delivery: can adapting gantry and collimator angles compensate?

PubMed

Hoffmans-Holtzer, Nienke A; Hoffmans, Daan; Dahele, Max; Slotman, Ben J; Verbakel, Wilko F A R

2015-03-01

The purpose of this work was to investigate whether adapting gantry and collimator angles can compensate for roll and pitch setup errors during volumetric modulated arc therapy (VMAT) delivery. Previously delivered clinical plans for locally advanced head-and-neck (H&N) cancer (n = 5), localized prostate cancer (n = 2), and whole brain with simultaneous integrated boost to 5 metastases (WB + 5M, n = 1) were used for this study. Known rigid rotations were introduced in the planning CT scans. To compensate for these, in-house software was used to adapt gantry and collimator angles in the plan. Doses to planning target volumes (PTV) and critical organs at risk (OAR) were calculated with and without compensation and compared with the original clinical plan. Measurements in the sagittal plane in a polystyrene phantom using radiochromic film were compared by gamma (γ) evaluation for 2 H&N cancer patients. For H&N plans, the introduction of 2°-roll and 3°-pitch rotations reduced mean PTV coverage from 98.7 to 96.3%. This improved to 98.1% with gantry and collimator compensation. For prostate plans respective figures were 98.4, 97.5, and 98.4%. For WB + 5M, compensation worked less well, especially for smaller volumes and volumes farther from the isocenter. Mean comparative γ evaluation (3%, 1 mm) between original and pitched plans resulted in 86% γ < 1. The corrected plan restored the mean comparison to 96% γ < 1. Preliminary data suggest that adapting gantry and collimator angles is a promising way to correct roll and pitch set-up errors of < 3° during VMAT for H&N and prostate cancer.

Liability claims and costs before and after implementation of a medical error disclosure program.

PubMed

Kachalia, Allen; Kaufman, Samuel R; Boothman, Richard; Anderson, Susan; Welch, Kathleen; Saint, Sanjay; Rogers, Mary A M

2010-08-17

Since 2001, the University of Michigan Health System (UMHS) has fully disclosed and offered compensation to patients for medical errors. To compare liability claims and costs before and after implementation of the UMHS disclosure-with-offer program. Retrospective before-after analysis from 1995 to 2007. Public academic medical center and health system. Inpatients and outpatients involved in claims made to UMHS. Number of new claims for compensation, number of claims compensated, time to claim resolution, and claims-related costs. After full implementation of a disclosure-with-offer program, the average monthly rate of new claims decreased from 7.03 to 4.52 per 100,000 patient encounters (rate ratio [RR], 0.64 [95% CI, 0.44 to 0.95]). The average monthly rate of lawsuits decreased from 2.13 to 0.75 per 100,000 patient encounters (RR, 0.35 [CI, 0.22 to 0.58]). Median time from claim reporting to resolution decreased from 1.36 to 0.95 years. Average monthly cost rates decreased for total liability (RR, 0.41 [CI, 0.26 to 0.66]), patient compensation (RR, 0.41 [CI, 0.26 to 0.67]), and non-compensation-related legal costs (RR, 0.39 [CI, 0.22 to 0.67]). The study design cannot establish causality. Malpractice claims generally declined in Michigan during the latter part of the study period. The findings might not apply to other health systems, given that UMHS has a closed staff model covered by a captive insurance company and often assumes legal responsibility. The UMHS implemented a program of full disclosure of medical errors with offers of compensation without increasing its total claims and liability costs. Blue Cross Blue Shield of Michigan Foundation.

SU-C-213-04: Application of Depth Sensing and 3D-Printing Technique for Total Body Irradiation (TBI) Patient Measurement and Treatment Planning

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

Lee, M; Suh, T; Research Institute of Biomedical Engineering, College of Medicine, The Catholic University of Korea, Seoul

2015-06-15

Purpose: To develop and validate an innovative method of using depth sensing cameras and 3D printing techniques for Total Body Irradiation (TBI) treatment planning and compensator fabrication. Methods: A tablet with motion tracking cameras and integrated depth sensing was used to scan a RANDOTM phantom arranged in a TBI treatment booth to detect and store the 3D surface in a point cloud (PC) format. The accuracy of the detected surface was evaluated by comparison to extracted measurements from CT scan images. The thickness, source to surface distance and off-axis distance of the phantom at different body section was measured formore » TBI treatment planning. A 2D map containing a detailed compensator design was calculated to achieve uniform dose distribution throughout the phantom. The compensator was fabricated using a 3D printer, silicone molding and tungsten powder. In vivo dosimetry measurements were performed using optically stimulated luminescent detectors (OSLDs). Results: The whole scan of the anthropomorphic phantom took approximately 30 seconds. The mean error for thickness measurements at each section of phantom compare to CT was 0.44 ± 0.268 cm. These errors resulted in approximately 2% dose error calculation and 0.4 mm tungsten thickness deviation for the compensator design. The accuracy of 3D compensator printing was within 0.2 mm. In vivo measurements for an end-to-end test showed the overall dose difference was within 3%. Conclusion: Motion cameras and depth sensing techniques proved to be an accurate and efficient tool for TBI patient measurement and treatment planning. 3D printing technique improved the efficiency and accuracy of the compensator production and ensured a more accurate treatment delivery.« less

Structural methodologies for auditing SNOMED.

PubMed

Wang, Yue; Halper, Michael; Min, Hua; Perl, Yehoshua; Chen, Yan; Spackman, Kent A

2007-10-01

SNOMED is one of the leading health care terminologies being used worldwide. As such, quality assurance is an important part of its maintenance cycle. Methodologies for auditing SNOMED based on structural aspects of its organization are presented. In particular, automated techniques for partitioning SNOMED into smaller groups of concepts based primarily on relationships patterns are defined. Two abstraction networks, the area taxonomy and p-area taxonomy, are derived from the partitions. The high-level views afforded by these abstraction networks form the basis for systematic auditing. The networks tend to highlight errors that manifest themselves as irregularities at the abstract level. They also support group-based auditing, where sets of purportedly similar concepts are focused on for review. The auditing methodologies are demonstrated on one of SNOMED's top-level hierarchies. Errors discovered during the auditing process are reported.

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

PubMed

Wai, Rong-Jong; Lee, Jeng-Dao

2008-01-01

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

An Enhanced MEMS Error Modeling Approach Based on Nu-Support Vector Regression

PubMed Central

Bhatt, Deepak; Aggarwal, Priyanka; Bhattacharya, Prabir; Devabhaktuni, Vijay

2012-01-01

Micro Electro Mechanical System (MEMS)-based inertial sensors have made possible the development of a civilian land vehicle navigation system by offering a low-cost solution. However, the accurate modeling of the MEMS sensor errors is one of the most challenging tasks in the design of low-cost navigation systems. These sensors exhibit significant errors like biases, drift, noises; which are negligible for higher grade units. Different conventional techniques utilizing the Gauss Markov model and neural network method have been previously utilized to model the errors. However, Gauss Markov model works unsatisfactorily in the case of MEMS units due to the presence of high inherent sensor errors. On the other hand, modeling the random drift utilizing Neural Network (NN) is time consuming, thereby affecting its real-time implementation. We overcome these existing drawbacks by developing an enhanced Support Vector Machine (SVM) based error model. Unlike NN, SVMs do not suffer from local minimisation or over-fitting problems and delivers a reliable global solution. Experimental results proved that the proposed SVM approach reduced the noise standard deviation by 10–35% for gyroscopes and 61–76% for accelerometers. Further, positional error drifts under static conditions improved by 41% and 80% in comparison to NN and GM approaches. PMID:23012552

Tracking control of WMRs on loose soil based on mixed H2/H∞ control with longitudinal slip ratio estimation

NASA Astrophysics Data System (ADS)

Gao, Haibo; Chen, Chao; Ding, Liang; Li, Weihua; Yu, Haitao; Xia, Kerui; Liu, Zhen

2017-11-01

Wheeled mobile robots (WMRs) often suffer from the longitudinal slipping when moving on the loose soil of the surface of the moon during exploration. Longitudinal slip is the main cause of WMRs' delay in trajectory tracking. In this paper, a nonlinear extended state observer (NESO) is introduced to estimate the longitudinal velocity in order to estimate the slip ratio and the derivative of the loss of velocity which are used in modelled disturbance compensation. Owing to the uncertainty and disturbance caused by estimation errors, a multi-objective controller using the mixed H2/H∞ method is employed to ensure the robust stability and performance of the WMR system. The final inputs of the trajectory tracking consist of the feedforward compensation, compensation for the modelled disturbances and designed multi-objective control inputs. Finally, the simulation results demonstrate the effectiveness of the controller, which exhibits a satisfactory tracking performance.

A wireless sensor network based personnel positioning scheme in coal mines with blind areas.

PubMed

Liu, Zhigao; Li, Chunwen; Wu, Danchen; Dai, Wenhan; Geng, Shaobo; Ding, Qingqing

2010-01-01

This paper proposes a novel personnel positioning scheme for a tunnel network with blind areas, which compared with most existing schemes offers both low-cost and high-precision. Based on the data models of tunnel networks, measurement networks and mobile miners, the global positioning method is divided into four steps: (1) calculate the real time personnel location in local areas using a location engine, and send it to the upper computer through the gateway; (2) correct any localization errors resulting from the underground tunnel environmental interference; (3) determine the global three-dimensional position by coordinate transformation; (4) estimate the personnel locations in the blind areas. A prototype system constructed to verify the positioning performance shows that the proposed positioning system has good reliability, scalability, and positioning performance. In particular, the static localization error of the positioning system is less than 2.4 m in the underground tunnel environment and the moving estimation error is below 4.5 m in the corridor environment. The system was operated continuously over three months without any failures.

A Wireless Sensor Network Based Personnel Positioning Scheme in Coal Mines with Blind Areas

PubMed Central

Liu, Zhigao; Li, Chunwen; Wu, Danchen; Dai, Wenhan; Geng, Shaobo; Ding, Qingqing

2010-01-01

This paper proposes a novel personnel positioning scheme for a tunnel network with blind areas, which compared with most existing schemes offers both low-cost and high-precision. Based on the data models of tunnel networks, measurement networks and mobile miners, the global positioning method is divided into four steps: (1) calculate the real time personnel location in local areas using a location engine, and send it to the upper computer through the gateway; (2) correct any localization errors resulting from the underground tunnel environmental interference; (3) determine the global three-dimensional position by coordinate transformation; (4) estimate the personnel locations in the blind areas. A prototype system constructed to verify the positioning performance shows that the proposed positioning system has good reliability, scalability, and positioning performance. In particular, the static localization error of the positioning system is less than 2.4 m in the underground tunnel environment and the moving estimation error is below 4.5 m in the corridor environment. The system was operated continuously over three months without any failures. PMID:22163446

Compensators: An alternative IMRT delivery technique

PubMed Central

Chang, Sha X.; Cullip, Timothy J.; Deschesne, Katharin M.; Miller, Elizabeth P.; Rosenman, Julian G.

2004-01-01

Seven years of experience in compensator intensity‐modulated radiotherapy (IMRT) clinical implementation are presented. An inverse planning dose optimization algorithm was used to generate intensity modulation maps, which were delivered via either the compensator or segmental multileaf collimator (MLC) IMRT techniques. The in‐house developed compensator‐IMRT technique is presented with the focus on several design issues. The dosimetry of the delivery techniques was analyzed for several clinical cases. The treatment time for both delivery techniques on Siemens accelerators was retrospectively analyzed based on the electronic treatment record in LANTIS for 95 patients. We found that the compensator technique consistently took noticeably less time for treatment of equal numbers of fields compared to the segmental technique. The typical time needed to fabricate a compensator was 13 min, 3 min of which was manual processing. More than 80% of the approximately 700 compensators evaluated had a maximum deviation of less than 5% from the calculation in intensity profile. Seventy‐two percent of the patient treatment dosimetry measurements for 340 patients have an error of no more than 5%. The pros and cons of different IMRT compensator materials are also discussed. Our experience shows that the compensator‐IMRT technique offers robustness, excellent intensity modulation resolution, high treatment delivery efficiency, simple fabrication and quality assurance (QA) procedures, and the flexibility to be used in any teletherapy unit. PACS numbers: 87.53Mr, 87.53Tf PMID:15753937

On the Statistical Errors of RADAR Location Sensor Networks with Built-In Wi-Fi Gaussian Linear Fingerprints

PubMed Central

Zhou, Mu; Xu, Yu Bin; Ma, Lin; Tian, Shuo

2012-01-01

The expected errors of RADAR sensor networks with linear probabilistic location fingerprints inside buildings with varying Wi-Fi Gaussian strength are discussed. As far as we know, the statistical errors of equal and unequal-weighted RADAR networks have been suggested as a better way to evaluate the behavior of different system parameters and the deployment of reference points (RPs). However, up to now, there is still not enough related work on the relations between the statistical errors, system parameters, number and interval of the RPs, let alone calculating the correlated analytical expressions of concern. Therefore, in response to this compelling problem, under a simple linear distribution model, much attention will be paid to the mathematical relations of the linear expected errors, number of neighbors, number and interval of RPs, parameters in logarithmic attenuation model and variations of radio signal strength (RSS) at the test point (TP) with the purpose of constructing more practical and reliable RADAR location sensor networks (RLSNs) and also guaranteeing the accuracy requirements for the location based services in future ubiquitous context-awareness environments. Moreover, the numerical results and some real experimental evaluations of the error theories addressed in this paper will also be presented for our future extended analysis. PMID:22737027

On the statistical errors of RADAR location sensor networks with built-in Wi-Fi Gaussian linear fingerprints.

PubMed

Zhou, Mu; Xu, Yu Bin; Ma, Lin; Tian, Shuo

2012-01-01

The expected errors of RADAR sensor networks with linear probabilistic location fingerprints inside buildings with varying Wi-Fi Gaussian strength are discussed. As far as we know, the statistical errors of equal and unequal-weighted RADAR networks have been suggested as a better way to evaluate the behavior of different system parameters and the deployment of reference points (RPs). However, up to now, there is still not enough related work on the relations between the statistical errors, system parameters, number and interval of the RPs, let alone calculating the correlated analytical expressions of concern. Therefore, in response to this compelling problem, under a simple linear distribution model, much attention will be paid to the mathematical relations of the linear expected errors, number of neighbors, number and interval of RPs, parameters in logarithmic attenuation model and variations of radio signal strength (RSS) at the test point (TP) with the purpose of constructing more practical and reliable RADAR location sensor networks (RLSNs) and also guaranteeing the accuracy requirements for the location based services in future ubiquitous context-awareness environments. Moreover, the numerical results and some real experimental evaluations of the error theories addressed in this paper will also be presented for our future extended analysis.

Improved ambiguity resolution for URTK with dynamic atmosphere constraints

NASA Astrophysics Data System (ADS)

Tang, Weiming; Liu, Wenjian; Zou, Xuan; Li, Zongnan; Chen, Liang; Deng, Chenlong; Shi, Chuang

2016-12-01

Raw observation processing method with prior knowledge of ionospheric delay could strengthen the ambiguity resolution (AR), but it does not make full use of the relatively longer wavelength of wide-lane (WL) observation. Furthermore, the accuracy of calculated atmospheric delays from the regional augmentation information has quite different in quality, while the atmospheric constraint used in the current methods is usually set to an empirical value. A proper constraint, which matches the accuracy of calculated atmospheric delays, can most effectively compensate the residual systematic biases caused by large inter-station distances. Therefore, the standard deviation of the residual atmospheric parameters should be fine-tuned. This paper presents an atmosphere-constrained AR method for undifferenced network RTK (URTK) rover, whose ambiguities are sequentially fixed according to their wavelengths. Furthermore, this research systematically analyzes the residual atmospheric error and finds that it mainly varies along the positional relationship between the rover and the chosen reference stations. More importantly, its ionospheric part of certain location will also be cyclically influenced every day. Therefore, the standard deviation of residual ionospheric error can be modeled by a daily repeated cosine or other functions with the help of data one day before, and applied by rovers as pseudo-observation. With the data collected at 29 stations from a continuously operating reference station network in Guangdong Province (GDCORS) in China, the efficiency of the proposed approach is confirmed by improving the success and error rates of AR for 10-20 % compared to that of the WL-L1-IF one, as well as making much better positioning accuracy.

UMI-tools: modeling sequencing errors in Unique Molecular Identifiers to improve quantification accuracy

PubMed Central

2017-01-01

Unique Molecular Identifiers (UMIs) are random oligonucleotide barcodes that are increasingly used in high-throughput sequencing experiments. Through a UMI, identical copies arising from distinct molecules can be distinguished from those arising through PCR amplification of the same molecule. However, bioinformatic methods to leverage the information from UMIs have yet to be formalized. In particular, sequencing errors in the UMI sequence are often ignored or else resolved in an ad hoc manner. We show that errors in the UMI sequence are common and introduce network-based methods to account for these errors when identifying PCR duplicates. Using these methods, we demonstrate improved quantification accuracy both under simulated conditions and real iCLIP and single-cell RNA-seq data sets. Reproducibility between iCLIP replicates and single-cell RNA-seq clustering are both improved using our proposed network-based method, demonstrating the value of properly accounting for errors in UMIs. These methods are implemented in the open source UMI-tools software package. PMID:28100584

Study on compensation algorithm of head skew in hard disk drives

NASA Astrophysics Data System (ADS)

Xiao, Yong; Ge, Xiaoyu; Sun, Jingna; Wang, Xiaoyan

2011-10-01

In hard disk drives (HDDs), head skew among multiple heads is pre-calibrated during manufacturing process. In real applications with high capacity of storage, the head stack may be tilted due to environmental change, resulting in additional head skew errors from outer diameter (OD) to inner diameter (ID). In case these errors are below the preset threshold for power on recalibration, the current strategy may not be aware, and drive performance under severe environment will be degraded. In this paper, in-the-field compensation of small DC head skew variation across stroke is proposed, where a zone table has been equipped. Test results demonstrating its effectiveness to reduce observer error and to enhance drive performance via accurate prediction of DC head skew are provided.

Gravity compensation in a Strapdown Inertial Navigation System to improve the attitude accuracy

NASA Astrophysics Data System (ADS)

Zhu, Jing; Wang, Jun; Wang, Xingshu; Yang, Shuai

2017-10-01

Attitude errors in a strapdown inertial navigation system due to gravity disturbances and system noises can be relatively large, although they are bound within the Schuler and the Earth rotation period. The principal objective of the investigation is to determine to what extent accurate gravity data can improve the attitude accuracy. The way the gravity disturbances affect the attitude were analyzed and compared with system noises by the analytic solution and simulation. The gravity disturbances affect the attitude accuracy by introducing the initial attitude error and the equivalent accelerometer bias. With the development of the high precision inertial devices and the application of the rotation modulation technology, the gravity disturbance cannot be neglected anymore. The gravity compensation was performed using the EGM2008 and simulations with and without accurate gravity compensation under varying navigation conditions were carried out. The results show that the gravity compensation improves the horizontal components of attitude accuracy evidently while the yaw angle is badly affected by the uncompensated gyro bias in vertical channel.

Cascaded multiplexed optical link on a telecommunication network for frequency dissemination.

PubMed

Lopez, Olivier; Haboucha, Adil; Kéfélian, Fabien; Jiang, Haifeng; Chanteau, Bruno; Roncin, Vincent; Chardonnet, Christian; Amy-Klein, Anne; Santarelli, Giorgio

2010-08-02

We demonstrate a cascaded optical link for ultrastable frequency dissemination comprised of two compensated links of 150 km and a repeater station. Each link includes 114 km of Internet fiber simultaneously carrying data traffic through a dense wavelength division multiplexing technology, and passes through two routing centers of the telecommunication network. The optical reference signal is inserted in and extracted from the communication network using bidirectional optical add-drop multiplexers. The repeater station operates autonomously ensuring noise compensation on the two links and the ultra-stable signal optical regeneration. The compensated link shows a fractional frequency instability of 3 x 10(-15) at one second measurement time and 5 x 10(-20) at 20 hours. This work paves the way to a wide dissemination of ultra-stable optical clock signals between distant laboratories via the Internet network.

Sensor Drift Compensation Algorithm based on PDF Distance Minimization

NASA Astrophysics Data System (ADS)

Kim, Namyong; Byun, Hyung-Gi; Persaud, Krishna C.; Huh, Jeung-Soo

2009-05-01

In this paper, a new unsupervised classification algorithm is introduced for the compensation of sensor drift effects of the odor sensing system using a conducting polymer sensor array. The proposed method continues updating adaptive Radial Basis Function Network (RBFN) weights in the testing phase based on minimizing Euclidian Distance between two Probability Density Functions (PDFs) of a set of training phase output data and another set of testing phase output data. The output in the testing phase using the fixed weights of the RBFN are significantly dispersed and shifted from each target value due mostly to sensor drift effect. In the experimental results, the output data by the proposed methods are observed to be concentrated closer again to their own target values significantly. This indicates that the proposed method can be effectively applied to improved odor sensing system equipped with the capability of sensor drift effect compensation

Ultrasound fusion image error correction using subject-specific liver motion model and automatic image registration.

PubMed

Yang, Minglei; Ding, Hui; Zhu, Lei; Wang, Guangzhi

2016-12-01

Ultrasound fusion imaging is an emerging tool and benefits a variety of clinical applications, such as image-guided diagnosis and treatment of hepatocellular carcinoma and unresectable liver metastases. However, respiratory liver motion-induced misalignment of multimodal images (i.e., fusion error) compromises the effectiveness and practicability of this method. The purpose of this paper is to develop a subject-specific liver motion model and automatic registration-based method to correct the fusion error. An online-built subject-specific motion model and automatic image registration method for 2D ultrasound-3D magnetic resonance (MR) images were combined to compensate for the respiratory liver motion. The key steps included: 1) Build a subject-specific liver motion model for current subject online and perform the initial registration of pre-acquired 3D MR and intra-operative ultrasound images; 2) During fusion imaging, compensate for liver motion first using the motion model, and then using an automatic registration method to further correct the respiratory fusion error. Evaluation experiments were conducted on liver phantom and five subjects. In the phantom study, the fusion error (superior-inferior axis) was reduced from 13.90±2.38mm to 4.26±0.78mm by using the motion model only. The fusion error further decreased to 0.63±0.53mm by using the registration method. The registration method also decreased the rotation error from 7.06±0.21° to 1.18±0.66°. In the clinical study, the fusion error was reduced from 12.90±9.58mm to 6.12±2.90mm by using the motion model alone. Moreover, the fusion error decreased to 1.96±0.33mm by using the registration method. The proposed method can effectively correct the respiration-induced fusion error to improve the fusion image quality. This method can also reduce the error correction dependency on the initial registration of ultrasound and MR images. Overall, the proposed method can improve the clinical practicability of ultrasound fusion imaging. Copyright © 2016 Elsevier Ltd. All rights reserved.

Study of SPM tolerances of electronically compensated DML based systems.

PubMed

Papagiannakis, I; Klonidis, D; Birbas, Alexios N; Kikidis, J; Tomkos, I

2009-05-25

This paper experimentally investigates the effectiveness of electronic dispersion compensation (EDC) for signals limited by self phase modulation (SPM) and various dispersion levels. The sources considered are low-cost conventional directly modulated lasers (DMLs), fabricated for operation at 2.5 Gb/s but modulated at 10 Gb/s. Performance improvement is achieved by means of electronic feed-forward and decision-feedback equalization (FFE/DFE) at the receiver end. Experimental studies consider both transient and adiabatic chirp dominated DMLs sources. The improvement is evaluated in terms of required optical signal-to-noise ratio (ROSNR) for bit-error-rate (BER) values of 10(-3) versus launch power over uncompensated links of standard single mode fiber (SSMF).

An optimized strain demodulation method for PZT driven fiber Fabry-Perot tunable filter

NASA Astrophysics Data System (ADS)

Sheng, Wenjuan; Peng, G. D.; Liu, Yang; Yang, Ning

2015-08-01

An optimized strain-demodulation-method based on piezo-electrical transducer (PZT) driven fiber Fabry-Perot (FFP) filter is proposed and experimentally demonstrated. Using a parallel processing mode to drive the PZT continuously, the hysteresis effect is eliminated, and the system demodulation rate is increased. Furthermore, an AC-DC compensation method is developed to address the intrinsic nonlinear relationship between the displacement and voltage of PZT. The experimental results show that the actual demodulation rate is improved from 15 Hz to 30 Hz, the random error of the strain measurement is decreased by 95%, and the deviation between the test values after compensation and the theoretical values is less than 1 pm/με.

Motion-based nonuniformity correction in DoFP polarimeters

NASA Astrophysics Data System (ADS)

Kumar, Rakesh; Tyo, J. Scott; Ratliff, Bradley M.

2007-09-01

Division of Focal Plane polarimeters (DoFP) operate by integrating an array of micropolarizer elements with a focal plane array. These devices have been investigated for over a decade, and example systems have been built in all regions of the optical spectrum. DoFP devices have the distinct advantage that they are mechanically rugged, inherently temporally synchronized, and optically aligned. They have the concomitant disadvantage that each pixel in the FPA has a different instantaneous field of view (IFOV), meaning that the polarization component measurements that go into estimating the Stokes vector across the image come from four different points in the field. In addition to IFOV errors, microgrid camera systems operating in the LWIR have the additional problem that FPA nonuniformity (NU) noise can be quite severe. The spatial differencing nature of a DoFP system exacerbates the residual NU noise that is remaining after calibration, and is often the largest source of false polarization signatures away from regions where IFOV error dominates. We have recently presented a scene based algorithm that uses frame-to-frame motion to compensate for NU noise in unpolarized IR imagers. In this paper, we have extended that algorithm so that it can be used to compensate for NU noise on a DoFP polarimeter. Furthermore, the additional information provided by the scene motion can be used to significantly reduce the IFOV error. We have found a reduction of IFOV error by a factor of 10 if the scene motion is known exactly. Performance is reduced when the motion must be estimated from the scene, but still shows a marked improvement over static DoFP images.

Neural-network hybrid control for antilock braking systems.

PubMed

Lin, Chih-Min; Hsu, C F

2003-01-01

The antilock braking systems are designed to maximize wheel traction by preventing the wheels from locking during braking, while also maintaining adequate vehicle steerability; however, the performance is often degraded under harsh road conditions. In this paper, a hybrid control system with a recurrent neural network (RNN) observer is developed for antilock braking systems. This hybrid control system is comprised of an ideal controller and a compensation controller. The ideal controller, containing an RNN uncertainty observer, is the principal controller; and the compensation controller is a compensator for the difference between the system uncertainty and the estimated uncertainty. Since for dynamic response the RNN has capabilities superior to the feedforward NN, it is utilized for the uncertainty observer. The Taylor linearization technique is employed to increase the learning ability of the RNN. In addition, the on-line parameter adaptation laws are derived based on a Lyapunov function, so the stability of the system can be guaranteed. Simulations are performed to demonstrate the effectiveness of the proposed NN hybrid control system for antilock braking control under various road conditions.

An Algebraic Approach to Guarantee Harmonic Balance Method Using Gröbner Base

NASA Astrophysics Data System (ADS)

Yagi, Masakazu; Hisakado, Takashi; Okumura, Kohshi

Harmonic balance (HB) method is well known principle for analyzing periodic oscillations on nonlinear networks and systems. Because the HB method has a truncation error, approximated solutions have been guaranteed by error bounds. However, its numerical computation is very time-consuming compared with solving the HB equation. This paper proposes an algebraic representation of the error bound using Gröbner base. The algebraic representation enables to decrease the computational cost of the error bound considerably. Moreover, using singular points of the algebraic representation, we can obtain accurate break points of the error bound by collisions.

Value-Based Emergency Management.

PubMed

Corrigan, Zachary; Winslow, Walter; Miramonti, Charlie; Stephens, Tim

2016-02-01

This article touches on the complex and decentralized network that is the US health care system and how important it is to include emergency management in this network. By aligning the overarching incentives of opposing health care organizations, emergency management can become resilient to up-and-coming changes in reimbursement, staffing, and network ownership. Coalitions must grasp the opportunity created by changes in value-based purchasing and impending Centers for Medicare and Medicaid Services emergency management rules to engage payers, physicians, and executives. Hope and faith in doing good is no longer enough for preparedness and health care coalitions; understanding how physicians are employed and health care is delivered and paid for is now necessary. Incentivizing preparedness through value-based compensation systems will become the new standard for emergency management.

Distributed formation control of nonholonomic autonomous vehicle via RBF neural network

NASA Astrophysics Data System (ADS)

Yang, Shichun; Cao, Yaoguang; Peng, Zhaoxia; Wen, Guoguang; Guo, Konghui

2017-03-01

In this paper, RBF neural network consensus-based distributed control scheme is proposed for nonholonomic autonomous vehicles in a pre-defined formation along the specified reference trajectory. A variable transformation is first designed to convert the formation control problem into a state consensus problem. Then, the complete dynamics of the vehicles including inertia, Coriolis, friction model and unmodeled bounded disturbances are considered, which lead to the formation unstable when the distributed kinematic controllers are proposed based on the kinematics. RBF neural network torque controllers are derived to compensate for them. Some sufficient conditions are derived to accomplish the asymptotically stability of the systems based on algebraic graph theory, matrix theory, and Lyapunov theory. Finally, simulation examples illustrate the effectiveness of the proposed controllers.

Compensating for the effects of site and equipment variation on delphinid species identification from their echolocation clicks.

PubMed

Roch, Marie A; Stinner-Sloan, Johanna; Baumann-Pickering, Simone; Wiggins, Sean M

2015-01-01

A concern for applications of machine learning techniques to bioacoustics is whether or not classifiers learn the categories for which they were trained. Unfortunately, information such as characteristics of specific recording equipment or noise environments can also be learned. This question is examined in the context of identifying delphinid species by their echolocation clicks. To reduce the ambiguity between species classification performance and other confounding factors, species whose clicks can be readily distinguished were used in this study: Pacific white-sided and Risso's dolphins. A subset of data from autonomous acoustic recorders located at seven sites in the Southern California Bight collected between 2006 and 2012 was selected. Cepstral-based features were extracted for each echolocation click and Gaussian mixture models were used to classify groups of 100 clicks. One hundred Monte-Carlo three-fold experiments were conducted to examine classification performance where fold composition was determined by acoustic encounter, recorder characteristics, or recording site. The error rate increased from 6.1% when grouped by acoustic encounter to 18.1%, 46.2%, and 33.2% for grouping by equipment, equipment category, and site, respectively. A noise compensation technique reduced error for these grouping schemes to 2.7%, 4.4%, 6.7%, and 11.4%, respectively, a reduction in error rate of 56%-86%.

Vision-based mobile robot navigation through deep convolutional neural networks and end-to-end learning

NASA Astrophysics Data System (ADS)

Zhang, Yachu; Zhao, Yuejin; Liu, Ming; Dong, Liquan; Kong, Lingqin; Liu, Lingling

2017-09-01

In contrast to humans, who use only visual information for navigation, many mobile robots use laser scanners and ultrasonic sensors along with vision cameras to navigate. This work proposes a vision-based robot control algorithm based on deep convolutional neural networks. We create a large 15-layer convolutional neural network learning system and achieve the advanced recognition performance. Our system is trained from end to end to map raw input images to direction in supervised mode. The images of data sets are collected in a wide variety of weather conditions and lighting conditions. Besides, the data sets are augmented by adding Gaussian noise and Salt-and-pepper noise to avoid overfitting. The algorithm is verified by two experiments, which are line tracking and obstacle avoidance. The line tracking experiment is proceeded in order to track the desired path which is composed of straight and curved lines. The goal of obstacle avoidance experiment is to avoid the obstacles indoor. Finally, we get 3.29% error rate on the training set and 5.1% error rate on the test set in the line tracking experiment, 1.8% error rate on the training set and less than 5% error rate on the test set in the obstacle avoidance experiment. During the actual test, the robot can follow the runway centerline outdoor and avoid the obstacle in the room accurately. The result confirms the effectiveness of the algorithm and our improvement in the network structure and train parameters

Quantitative methods for compensation of matrix effects and self-absorption in Laser Induced Breakdown Spectroscopy signals of solids

NASA Astrophysics Data System (ADS)

Takahashi, Tomoko; Thornton, Blair

2017-12-01

This paper reviews methods to compensate for matrix effects and self-absorption during quantitative analysis of compositions of solids measured using Laser Induced Breakdown Spectroscopy (LIBS) and their applications to in-situ analysis. Methods to reduce matrix and self-absorption effects on calibration curves are first introduced. The conditions where calibration curves are applicable to quantification of compositions of solid samples and their limitations are discussed. While calibration-free LIBS (CF-LIBS), which corrects matrix effects theoretically based on the Boltzmann distribution law and Saha equation, has been applied in a number of studies, requirements need to be satisfied for the calculation of chemical compositions to be valid. Also, peaks of all elements contained in the target need to be detected, which is a bottleneck for in-situ analysis of unknown materials. Multivariate analysis techniques are gaining momentum in LIBS analysis. Among the available techniques, principal component regression (PCR) analysis and partial least squares (PLS) regression analysis, which can extract related information to compositions from all spectral data, are widely established methods and have been applied to various fields including in-situ applications in air and for planetary explorations. Artificial neural networks (ANNs), where non-linear effects can be modelled, have also been investigated as a quantitative method and their applications are introduced. The ability to make quantitative estimates based on LIBS signals is seen as a key element for the technique to gain wider acceptance as an analytical method, especially in in-situ applications. In order to accelerate this process, it is recommended that the accuracy should be described using common figures of merit which express the overall normalised accuracy, such as the normalised root mean square errors (NRMSEs), when comparing the accuracy obtained from different setups and analytical methods.

A new balancing three level three dimensional space vector modulation strategy for three level neutral point clamped four leg inverter based shunt active power filter controlling by nonlinear back stepping controllers.

PubMed

Chebabhi, Ali; Fellah, Mohammed Karim; Kessal, Abdelhalim; Benkhoris, Mohamed F

2016-07-01

In this paper is proposed a new balancing three-level three dimensional space vector modulation (B3L-3DSVM) strategy which uses a redundant voltage vectors to realize precise control and high-performance for a three phase three-level four-leg neutral point clamped (NPC) inverter based Shunt Active Power Filter (SAPF) for eliminate the source currents harmonics, reduce the magnitude of neutral wire current (eliminate the zero-sequence current produced by single-phase nonlinear loads), and to compensate the reactive power in the three-phase four-wire electrical networks. This strategy is proposed in order to gate switching pulses generation, dc bus voltage capacitors balancing (conserve equal voltage of the two dc bus capacitors), and to switching frequency reduced and fixed of inverter switches in same times. A Nonlinear Back Stepping Controllers (NBSC) are used for regulated the dc bus voltage capacitors and the SAPF injected currents to robustness, stabilizing the system and to improve the response and to eliminate the overshoot and undershoot of traditional PI (Proportional-Integral). Conventional three-level three dimensional space vector modulation (C3L-3DSVM) and B3L-3DSVM are calculated and compared in terms of error between the two dc bus voltage capacitors, SAPF output voltages and THDv, THDi of source currents, magnitude of source neutral wire current, and the reactive power compensation under unbalanced single phase nonlinear loads. The success, robustness, and the effectiveness of the proposed control strategies are demonstrated through simulation using Sim Power Systems and S-Function of MATLAB/SIMULINK. Copyright © 2016 ISA. Published by Elsevier Ltd. All rights reserved.

Hardware-Efficient On-line Learning through Pipelined Truncated-Error Backpropagation in Binary-State Networks

PubMed Central

Mostafa, Hesham; Pedroni, Bruno; Sheik, Sadique; Cauwenberghs, Gert

2017-01-01

Artificial neural networks (ANNs) trained using backpropagation are powerful learning architectures that have achieved state-of-the-art performance in various benchmarks. Significant effort has been devoted to developing custom silicon devices to accelerate inference in ANNs. Accelerating the training phase, however, has attracted relatively little attention. In this paper, we describe a hardware-efficient on-line learning technique for feedforward multi-layer ANNs that is based on pipelined backpropagation. Learning is performed in parallel with inference in the forward pass, removing the need for an explicit backward pass and requiring no extra weight lookup. By using binary state variables in the feedforward network and ternary errors in truncated-error backpropagation, the need for any multiplications in the forward and backward passes is removed, and memory requirements for the pipelining are drastically reduced. Further reduction in addition operations owing to the sparsity in the forward neural and backpropagating error signal paths contributes to highly efficient hardware implementation. For proof-of-concept validation, we demonstrate on-line learning of MNIST handwritten digit classification on a Spartan 6 FPGA interfacing with an external 1Gb DDR2 DRAM, that shows small degradation in test error performance compared to an equivalently sized binary ANN trained off-line using standard back-propagation and exact errors. Our results highlight an attractive synergy between pipelined backpropagation and binary-state networks in substantially reducing computation and memory requirements, making pipelined on-line learning practical in deep networks. PMID:28932180