Science.gov

Sample records for non-linear feedback control

  1. Non-linear feedback control of the p53 protein-mdm2 inhibitor system using the derivative-free non-linear Kalman filter.

    PubMed

    Rigatos, Gerasimos G

    2016-06-01

    It is proven that the model of the p53-mdm2 protein synthesis loop is a differentially flat one and using a diffeomorphism (change of state variables) that is proposed by differential flatness theory it is shown that the protein synthesis model can be transformed into the canonical (Brunovsky) form. This enables the design of a feedback control law that maintains the concentration of the p53 protein at the desirable levels. To estimate the non-measurable elements of the state vector describing the p53-mdm2 system dynamics, the derivative-free non-linear Kalman filter is used. Moreover, to compensate for modelling uncertainties and external disturbances that affect the p53-mdm2 system, the derivative-free non-linear Kalman filter is re-designed as a disturbance observer. The derivative-free non-linear Kalman filter consists of the Kalman filter recursion applied on the linearised equivalent of the protein synthesis model together with an inverse transformation based on differential flatness theory that enables to retrieve estimates for the state variables of the initial non-linear model. The proposed non-linear feedback control and perturbations compensation method for the p53-mdm2 system can result in more efficient chemotherapy schemes where the infusion of medication will be better administered.

  2. Bayesian Integration and Non-Linear Feedback Control in a Full-Body Motor Task

    PubMed Central

    Stevenson, Ian H.; Fernandes, Hugo L.; Vilares, Iris; Wei, Kunlin; Körding, Konrad P.

    2009-01-01

    A large number of experiments have asked to what degree human reaching movements can be understood as being close to optimal in a statistical sense. However, little is known about whether these principles are relevant for other classes of movements. Here we analyzed movement in a task that is similar to surfing or snowboarding. Human subjects stand on a force plate that measures their center of pressure. This center of pressure affects the acceleration of a cursor that is displayed in a noisy fashion (as a cloud of dots) on a projection screen while the subject is incentivized to keep the cursor close to a fixed position. We find that salient aspects of observed behavior are well-described by optimal control models where a Bayesian estimation model (Kalman filter) is combined with an optimal controller (either a Linear-Quadratic-Regulator or Bang-bang controller). We find evidence that subjects integrate information over time taking into account uncertainty. However, behavior in this continuous steering task appears to be a highly non-linear function of the visual feedback. While the nervous system appears to implement Bayes-like mechanisms for a full-body, dynamic task, it may additionally take into account the specific costs and constraints of the task. PMID:20041205

  3. Closed-loop, non-linear feedback control simulations of beam-driven field-reversed configurations (FRCs)

    NASA Astrophysics Data System (ADS)

    Rath, N.; Onofri, M.; Barnes, D.; Romero, J.; the TAE Team

    2015-11-01

    The C-2U device has recently demonstrated sustainment of an advanced, beam-driven FRC over time scales longer than the characteristic times for confinement, fast ion slow-down, and wall current decay. In anticipation of further advances in plasma lifetime, we are developing feedback control techniques for major FRC parameters and resistive instabilities. The LamyRidge code solves the time-dependent extended MHD equations in axisymmetric geometry. In the Q2D code, LamyRidge is combined with a 3-D kinetic code that tracks fast ions and runs in parallel with LamyRidge. Periodically, the background fields in the kinetic code are updated from the MHD simulation and the averaged fast particle distribution is integrated into the fluid equations. Recently, we have added the capability to run Q2D simulations as subordinate processes in Simulink, giving us the ability to run non-linear, closed-loop simulations using control algorithms developed in Simulink. The same Simulink models can be exported to real-time targets (CPU or FPGA) to perform feedback control in experiments. We present closed-loop simulations of beam-driven FRCs under magnetically-actuated feedback control. Results for positionally unstable FRCs are compared with the predictions of a linearized rigid-plasma model. Plasmas predicted to be passively stabilized by the linear model are found to exhibit Alfvenic growth in several cases. Feedback gains predicted to be stabilizing in the linear model are generally found to be insufficient in non-linear simulations, and vice versa. Control of separatrix geometry is demonstrated.

  4. Output feedback non-linear decoupled control synthesis and observer design for manoeuvring aircraft

    NASA Technical Reports Server (NTRS)

    Singh, S. N.; Schy, A. A.

    1980-01-01

    A study of the applicability of nonlinear decoupling theory to the design of control systems using output feedback for maneuvering aircraft is presented. The response variables chosen for decoupled control were angular velocity components along roll, pitch, and yaw axes, angle of attack (p), and angle of sideslip, using aileron, rudder, and elevator controls. An observer design for a class of nonlinear systems was presented and this method was used to estimate angle of attack and sideslip; an approximate observer was obtained by neglecting derivatives of p and aileron deflection angles and it was used in a simulation study. A simulation study showed that precise rapid combined lateral and longitudinal maneuvers can be performed; it was also demonstrated that a bank-angle-command outer loop could be designed for precise bank angles changes and simultaneous large lift maneuvers.

  5. Gain optimization with non-linear controls

    NASA Technical Reports Server (NTRS)

    Slater, G. L.; Kandadai, R. D.

    1984-01-01

    An algorithm has been developed for the analysis and design of controls for non-linear systems. The technical approach is to use statistical linearization to model the non-linear dynamics of a system by a quasi-Gaussian model. A covariance analysis is performed to determine the behavior of the dynamical system and a quadratic cost function. Expressions for the cost function and its derivatives are determined so that numerical optimization techniques can be applied to determine optimal feedback laws. The primary application for this paper is centered about the design of controls for nominally linear systems but where the controls are saturated or limited by fixed constraints. The analysis is general, however, and numerical computation requires only that the specific non-linearity be considered in the analysis.

  6. Controllability of non-linear biochemical systems.

    PubMed

    Ervadi-Radhakrishnan, Anandhi; Voit, Eberhard O

    2005-07-01

    Mathematical methods of biochemical pathway analysis are rapidly maturing to a point where it is possible to provide objective rationale for the natural design of metabolic systems and where it is becoming feasible to manipulate these systems based on model predictions, for instance, with the goal of optimizing the yield of a desired microbial product. So far, theory-based metabolic optimization techniques have mostly been applied to steady-state conditions or the minimization of transition time, using either linear stoichiometric models or fully kinetic models within biochemical systems theory (BST). This article addresses the related problem of controllability, where the task is to steer a non-linear biochemical system, within a given time period, from an initial state to some target state, which may or may not be a steady state. For this purpose, BST models in S-system form are transformed into affine non-linear control systems, which are subjected to an exact feedback linearization that permits controllability through independent variables. The method is exemplified with a small glycolytic-glycogenolytic pathway that had been analyzed previously by several other authors in different contexts.

  7. Special Purpose Non-Linear Digital Position Control Algorithm

    NASA Astrophysics Data System (ADS)

    Knudsen, David W.

    1987-10-01

    A Position Control Algorithm with interesting features has been used in the design of an electro-mechanical actuator for a particular application where volume and weight limits are extremely tight. Position feedback, non-linear derived rate feedback, a saturable full-time main integrator, an intermittent fast integrator, compensation for mechanical system compliance, and derived acceleration feedback are used in an extension and modification of classical control concepts. The calculating and decision making power of a microcomputer contained in the actuator has been used to significantly improve upon well known control methods for this special case.

  8. Evidence of fast non-linear feedback in EBR-II rod-drop measurements

    SciTech Connect

    Grimm, K.N.; Meneghetti, D.

    1987-06-01

    Feedback reactivities determine the time dependence of a reactor during and after a transient initiating event. Recent analysis of control-rod drops in the Experimental Breeder Reactor II (EBR-II) Reactor has indicated that some relatively fast feedback may exist which cannot be accounted for by the linear feedback mechanisms. The linear and deduced non-linear feedback reactivities from a control-rod drop in EBR-II run 93A using detailed temperature coefficients of reactivity in the EROS kinetics code have been reported. The transient analyses have now been examined in more detail for times close to the drop to ascertain if additional positive reactivity is being built-in early in the drop which could be gradually released later in the drop.

  9. Passive dynamic controllers for non-linear mechanical systems

    NASA Technical Reports Server (NTRS)

    Juang, Jer-Nan; Wu, Shih-Chin; Phan, Minh; Longman, Richard W.

    1991-01-01

    A methodology for model-independent controller design for controlling large angular motion of multi-body dynamic systems is outlined.The controlled system may consist of rigid and flexible components that undergo large rigid body motion and small elastic deformations. Control forces/torques are applied to drive the system, and at the same time suppress the vibrations due to flexibility of the components. The proposed controller consists of passive second-order systems which may be designed with little knowledge of the system parameters, even if the controlled system is non-linear. Under rather general assumptions, the passive design assures that the closed loop system has guaranteed stability properties. Unlike positive real controller design, stabilization can be accomplished without direct velocity feedback. In addition, the second-order passive design allows dynamic feedback controllers with considerable freedom to tune for desired system response, and to avoid actuator saturation. After developing the basic mathematical formulation of the design methodology, simulation results are presented to illustrate the proposed approach applied to a flexible six-degree-of-freedom manipulator.

  10. Passive dynamic controllers for non-linear mechanical systems

    NASA Technical Reports Server (NTRS)

    Juang, Jer-Nan; Wu, Shih-Chin; Phan, Minh; Longman, Richard W.

    1991-01-01

    A methodology for model-independent controller design for controlling large angular motion of multi-body dynamic systems is outlined.The controlled system may consist of rigid and flexible components that undergo large rigid body motion and small elastic deformations. Control forces/torques are applied to drive the system, and at the same time suppress the vibrations due to flexibility of the components. The proposed controller consists of passive second-order systems which may be designed with little knowledge of the system parameters, even if the controlled system is non-linear. Under rather general assumptions, the passive design assures that the closed loop system has guaranteed stability properties. Unlike positive real controller design, stabilization can be accomplished without direct velocity feedback. In addition, the second-order passive design allows dynamic feedback controllers with considerable freedom to tune for desired system response, and to avoid actuator saturation. After developing the basic mathematical formulation of the design methodology, simulation results are presented to illustrate the proposed approach applied to a flexible six-degree-of-freedom manipulator.

  11. Passive dynamic controllers for non-linear mechanical systems

    NASA Technical Reports Server (NTRS)

    Juang, Jer-Nan; Wu, Shih-Chin; Phan, Minh; Longman, Richard W.

    1992-01-01

    The objective is to develop active model-independent controllers for slewing and vibration control of nonlinear multibody flexible systems, including flexible robots. The topics are presented in viewgraph form and include: passive stabilization; work-energy rate principle; Liapunov theory; displacement feedback; dynamic controller; displacement and acceleration feedback; velocity feedback; displacement feedback; physical interaction; a 6-DOF robot; and simulation results.

  12. Tunneling control using classical non-linear oscillator

    SciTech Connect

    Kar, Susmita; Bhattacharyya, S. P.

    2014-04-24

    A quantum particle is placed in symmetric double well potential which is coupled to a classical non-linear oscillator via a coupling function. With different spatial symmetry of the coupling and under various controlling fashions, the tunneling of the quantum particle can be enhanced or suppressed, or totally destroyed.

  13. A non-linear UAV altitude PSO-PD control

    NASA Astrophysics Data System (ADS)

    Orlando, Calogero

    2015-12-01

    In this work, a nonlinear model based approach is presented for the altitude stabilization of a hexarotor unmanned aerial vehicle (UAV). The mathematical model and control of the hexacopter airframe is presented. To stabilize the system along the vertical direction, a Proportional Derivative (PD) control is taken into account. A particle swarm optimization (PSO) approach is used in this paper to select the optimal parameters of the control algorithm taking into account different objective functions. Simulation sets are performed to carry out the results for the non-linear system to show how the PSO tuned PD controller leads to zero the error of the position along Z earth direction.

  14. Learning from observation, feedback, and intervention in linear and non-linear task environments.

    PubMed

    Henriksson, Maria P; Enkvist, Tommy

    2016-12-12

    This multiple-cue judgment study investigates whether we can manipulate the judgment strategy and increase accuracy in linear and non-linear cue-criterion environments just by changing the training mode. Three experiments show that accuracy in simple linear additive task environments are improved with feedback training and intervention training, while accuracy in complex multiplicative tasks are improved with observational training. The observed interaction effect suggests that the training mode invites different strategies that are adjusted as a function of experience to the demands from the underlying cue-criterion structure. Thus, feedback and the intervention training modes invite cue abstraction, an effortful but successful strategy in combination with simple linear task structures, and observational training invites exemplar memory processes, a simple but successful strategy in combination with complex non-linear task structures. The study discusses adaptive cognition and the implication of the different training modes across a life span and for clinical populations.

  15. The amazing evolutionary dynamics of non-linear optical systems with feedback

    NASA Astrophysics Data System (ADS)

    Yaroslavsky, Leonid

    2013-09-01

    Optical systems with feedback are, generally, non-linear dynamic systems. As such, they exhibit evolutionary behavior. In the paper we present results of experimental investigation of evolutionary dynamics of several models of such systems. The models are modifications of the famous mathematical "Game of Life". The modifications are two-fold: "Game of Life" rules are made stochastic and mutual influence of cells is made spatially non-uniform. A number of new phenomena in the evolutionary dynamics of the models are revealed: - "Ordering of chaos". Formation, from seed patterns, of stable maze-like patterns with chaotic "dislocations" that resemble natural patterns, such as skin patterns of some animals and fishes, see shell, fingerprints, magnetic domain patterns and alike, which one can frequently find in the nature. These patterns and their fragments exhibit a remarkable capability of unlimited growth. - "Self-controlled growth" of chaotic "live" formations into "communities" bounded, depending on the model, by a square, hexagon or octagon, until they reach a certain critical size, after which the growth stops. - "Eternal life in a bounded space" of "communities" after reaching a certain size and shape. - "Coherent shrinkage" of "mature", after reaching a certain size, "communities" into one of stable or oscillating patterns preserving in this process isomorphism of their bounding shapes until the very end.

  16. Structural Vibration Control Using PZT Patches and Non-Linear Phenomena

    NASA Astrophysics Data System (ADS)

    Pai, P. F.; Wen, B.; Naser, A. S.; Schulz, M. J.

    1998-08-01

    We investigate non-linear saturation control, non-linear internal resonance control, and linear position-feedback control of steady-state and transient vibrations of a cantilever beam by using PZT (lead zirconate titanate) patches as actuators and sensors. The saturation control method uses the saturation phenomenon to suppress steady-state vibrations of a dynamical system with quadratic nonlinearities and 2:1 internal resonances. The internal resonance control method uses the energy exchange phenomenon due to internal resonances and added dampings to suppress transient vibrations. To test these control techniques in an efficient and systematic way, we built a digital control system that consists of SIMULINK modelling software and a dSPACE DS1102 controller in a pentium computer. Both numerical and experimental results show that the saturation control method is robust and efficient in suppression steady-state resonant vibrations. The linear position-feedback control is more robust, efficient, and convenient than the internal resonance control in suppressing transient vibrations, but it is not as robust as the saturation control in suppressing steady-state vibrations. A hybrid controller consisting of a saturation controller and a position-feedback controller is shown to be robust and efficient in controlling both transient and steady-state vibrations.

  17. Computational models of signalling networks for non-linear control.

    PubMed

    Fuente, Luis A; Lones, Michael A; Turner, Alexander P; Stepney, Susan; Caves, Leo S; Tyrrell, Andy M

    2013-05-01

    Artificial signalling networks (ASNs) are a computational approach inspired by the signalling processes inside cells that decode outside environmental information. Using evolutionary algorithms to induce complex behaviours, we show how chaotic dynamics in a conservative dynamical system can be controlled. Such dynamics are of particular interest as they mimic the inherent complexity of non-linear physical systems in the real world. Considering the main biological interpretations of cellular signalling, in which complex behaviours and robust cellular responses emerge from the interaction of multiple pathways, we introduce two ASN representations: a stand-alone ASN and a coupled ASN. In particular we note how sophisticated cellular communication mechanisms can lead to effective controllers, where complicated problems can be divided into smaller and independent tasks.

  18. An accurate halo model for fitting non-linear cosmological power spectra and baryonic feedback models

    NASA Astrophysics Data System (ADS)

    Mead, A. J.; Peacock, J. A.; Heymans, C.; Joudaki, S.; Heavens, A. F.

    2015-12-01

    We present an optimized variant of the halo model, designed to produce accurate matter power spectra well into the non-linear regime for a wide range of cosmological models. To do this, we introduce physically motivated free parameters into the halo-model formalism and fit these to data from high-resolution N-body simulations. For a variety of Λ cold dark matter (ΛCDM) and wCDM models, the halo-model power is accurate to ≃ 5 per cent for k ≤ 10h Mpc-1 and z ≤ 2. An advantage of our new halo model is that it can be adapted to account for the effects of baryonic feedback on the power spectrum. We demonstrate this by fitting the halo model to power spectra from the OWLS (OverWhelmingly Large Simulations) hydrodynamical simulation suite via parameters that govern halo internal structure. We are able to fit all feedback models investigated at the 5 per cent level using only two free parameters, and we place limits on the range of these halo parameters for feedback models investigated by the OWLS simulations. Accurate predictions to high k are vital for weak-lensing surveys, and these halo parameters could be considered nuisance parameters to marginalize over in future analyses to mitigate uncertainty regarding the details of feedback. Finally, we investigate how lensing observables predicted by our model compare to those from simulations and from HALOFIT for a range of k-cuts and feedback models and quantify the angular scales at which these effects become important. Code to calculate power spectra from the model presented in this paper can be found at https://github.com/alexander-mead/hmcode.

  19. Adaptive iterative learning control for a class of non-linearly parameterised systems with input saturations

    NASA Astrophysics Data System (ADS)

    Zhang, Ruikun; Hou, Zhongsheng; Ji, Honghai; Yin, Chenkun

    2016-04-01

    In this paper, an adaptive iterative learning control scheme is proposed for a class of non-linearly parameterised systems with unknown time-varying parameters and input saturations. By incorporating a saturation function, a new iterative learning control mechanism is presented which includes a feedback term and a parameter updating term. Through the use of parameter separation technique, the non-linear parameters are separated from the non-linear function and then a saturated difference updating law is designed in iteration domain by combining the unknown parametric term of the local Lipschitz continuous function and the unknown time-varying gain into an unknown time-varying function. The analysis of convergence is based on a time-weighted Lyapunov-Krasovskii-like composite energy function which consists of time-weighted input, state and parameter estimation information. The proposed learning control mechanism warrants a L2[0, T] convergence of the tracking error sequence along the iteration axis. Simulation results are provided to illustrate the effectiveness of the adaptive iterative learning control scheme.

  20. Control methods to improve non-linear HVAC system operations

    NASA Astrophysics Data System (ADS)

    Phalak, Kaustubh Pradeep

    cascade control method is applied to improve the stability of cooling coil valve operation in single zone air handling unit systems, and return fan speed for building pressure control. The system dynamic response is studied using root locus analysis. It was found that the cascade control improved the stability range in two applications under consideration and made the HVAC feedback control loops more robust and adaptive.

  1. Advanced Non-Linear Control Algorithms Applied to Design Highly Maneuverable Autonomous Underwater Vehicles (AUVs)

    DTIC Science & Technology

    2007-08-01

    Advanced non- linear control algorithms applied to design highly maneuverable Autonomous Underwater Vehicles (AUVs) Vladimir Djapic, Jay A. Farrell...hierarchical such that an ”inner loop” non- linear controller (outputs the appropriate thrust values) is the same for all mission scenarios while a...library of ”outer-loop” non- linear controllers are available to implement specific maneuvering scenarios. On top of the outer-loop is the mission planner

  2. Adaptive neural network tracking control for a class of non-linear systems

    NASA Astrophysics Data System (ADS)

    Liu, Yan-Jun; Tong, Shaocheng; Li, Yongming

    2010-02-01

    This article extends the application of the adaptive neural network control to a new class of uncertain MIMO non-linear systems, which are composed of interconnected subsystems where each interconnected subsystem is in the non-affine pure-feedback form. Because both the variables which are used as virtual controllers and the actual controllers appear non-linearly in unknown functions of the MIMO systems, thus, this class of systems is difficult to control. The radial basis function neural networks are utilised to approximate the desired virtual controllers and the desired actual controllers which are obtained by using implicit function theorem. The salient property of the proposed approach is that the number of the adjustable parameters is less than the numerous alternative approaches existing in the literature. It is proven that, under appropriate assumptions, all the signals in the closed-loop system are uniformly bounded and the tracking errors converge to a small neighbourhood of the origin by appropriately choosing design parameters. The feasibility of the developed approach is verified by two simulation examples.

  3. Non-linear modelling and optimal control of a hydraulically actuated seismic isolator test rig

    NASA Astrophysics Data System (ADS)

    Pagano, Stefano; Russo, Riccardo; Strano, Salvatore; Terzo, Mario

    2013-02-01

    This paper investigates the modelling, parameter identification and control of an unidirectional hydraulically actuated seismic isolator test rig. The plant is characterized by non-linearities such as the valve dead zone and frictions. A non-linear model is derived and then employed for parameter identification. The results concerning the model validation are illustrated and they fully confirm the effectiveness of the proposed model. The testing procedure of the isolation systems is based on the definition of a target displacement time history of the sliding table and, consequently, the precision of the table positioning is of primary importance. In order to minimize the test rig tracking error, a suitable control system has to be adopted. The system non-linearities highly limit the performances of the classical linear control and a non-linear one is therefore adopted. The test rig mathematical model is employed for a non-linear control design that minimizes the error between the target table position and the current one. The controller synthesis is made by taking no specimen into account. The proposed approach consists of a non-linear optimal control based on the state-dependent Riccati equation (SDRE). Numerical simulations have been performed in order to evaluate the soundness of the designed control with and without the specimen under test. The results confirm that the performances of the proposed non-linear controller are not invalidated because of the presence of the specimen.

  4. Non linear predictive control of a LEGO mobile robot

    NASA Astrophysics Data System (ADS)

    Merabti, H.; Bouchemal, B.; Belarbi, K.; Boucherma, D.; Amouri, A.

    2014-10-01

    Metaheuristics are general purpose heuristics which have shown a great potential for the solution of difficult optimization problems. In this work, we apply the meta heuristic, namely particle swarm optimization, PSO, for the solution of the optimization problem arising in NLMPC. This algorithm is easy to code and may be considered as alternatives for the more classical solution procedures. The PSO- NLMPC is applied to control a mobile robot for the tracking trajectory and obstacles avoidance. Experimental results show the strength of this approach.

  5. Fault-tolerant control for a class of non-linear systems with dead-zone

    NASA Astrophysics Data System (ADS)

    Chen, Mou; Jiang, Bin; Guo, William W.

    2016-05-01

    In this paper, a fault-tolerant control scheme is proposed for a class of single-input and single-output non-linear systems with the unknown time-varying system fault and the dead-zone. The non-linear state observer is designed for the non-linear system using differential mean value theorem, and the non-linear fault estimator that estimates the unknown time-varying system fault is developed. On the basis of the designed fault estimator, the observer-based fault-tolerant tracking control is then developed using the backstepping technique for non-linear systems with the dead-zone. The stability of the whole closed-loop system is rigorously proved via Lyapunov analysis and the satisfactory tracking control performance is guaranteed in the presence of the unknown time-varying system fault and the dead-zone. Numerical simulation results are presented to illustrate the effectiveness of the proposed backstepping fault-tolerant control scheme for non-linear systems.

  6. Design and Initial In-Water Testing of Advanced Non-Linear Control Algorithms onto an Unmanned Underwater Vehicle (UUV)

    DTIC Science & Technology

    2007-10-01

    Design and initial in-water testing of advanced non- linear control algorithms onto an Unmanned Underwater Vehicle (UUV) Vladimir Djapic Unmanned...attitude or translating in a direction different from that of the surface. Non- linear controller that compensates for non-linear forces (such as drag...loop” non- linear controller (outputs the appropriate thrust values) is the same for all mission scenarios while an appropriate ”outer-loop” non

  7. A Signal Transmission Technique for Stability Analysis of Multivariable Non-Linear Control Systems

    NASA Technical Reports Server (NTRS)

    Jackson, Mark; Zimpfer, Doug; Adams, Neil; Lindsey, K. L. (Technical Monitor)

    2000-01-01

    Among the difficulties associated with multivariable, non-linear control systems is the problem of assessing closed-loop stability. Of particular interest is the class of non-linear systems controlled with on/off actuators, such as spacecraft thrusters or electrical relays. With such systems, standard describing function techniques are typically too conservative, and time-domain simulation analysis is prohibitively extensive, This paper presents an open-loop analysis technique for this class of non-linear systems. The technique is centered around an innovative use of multivariable signal transmission theory to quantify the plant response to worst case control commands. The technique has been applied to assess stability of thruster controlled flexible space structures. Examples are provided for Space Shuttle attitude control with attached flexible payloads.

  8. Stabilization and robustness of non-linear unity-feedback system - Factorization approach

    NASA Technical Reports Server (NTRS)

    Desoer, C. A.; Kabuli, M. G.

    1988-01-01

    The paper is a self-contained discussion of a right factorization approach in the stability analysis of the nonlinear continuous-time or discrete-time, time-invariant or time-varying, well-posed unity-feedback system S1(P, C). It is shown that a well-posed stable feedback system S1(P, C) implies that P and C have right factorizations. In the case where C is stable, P has a normalized right-coprime factorization. The factorization approach is used in stabilization and simultaneous stabilization results.

  9. Stabilization and robustness of non-linear unity-feedback system - Factorization approach

    NASA Technical Reports Server (NTRS)

    Desoer, C. A.; Kabuli, M. G.

    1988-01-01

    The paper is a self-contained discussion of a right factorization approach in the stability analysis of the nonlinear continuous-time or discrete-time, time-invariant or time-varying, well-posed unity-feedback system S1(P, C). It is shown that a well-posed stable feedback system S1(P, C) implies that P and C have right factorizations. In the case where C is stable, P has a normalized right-coprime factorization. The factorization approach is used in stabilization and simultaneous stabilization results.

  10. Exact Adjustment of Dynamic Forces in Presence of Non-Linear Feedback and SINGULARITY—THEORY and Algorithm

    NASA Astrophysics Data System (ADS)

    Bucher, I.

    1998-11-01

    This paper describes the theory and algorithm allowing one to tune a multi-exciter system in order to obtain specified temporal and spatial structural response properties. Considerable effort is being put upon the desire to overcome practical difficulties and limitations as found in real-world systems. The main application that was envisaged for this algorithm is the creation of travelling vibration waves in structures. Such waves may be useful in testing and diagnostic applications or in ultrasonic motors for generating motion. The proposed method adaptively modifies a set of perturbations applied to the model so that an increasing amount of information is extracted from the system. The algorithm strives to overcome the following difficulties: (a) singular model inversion, (b) poor signal to noise ratio, (c) feedback, and (d) certain types of non-linear behaviour. High response levels, exciter-structure coupling and the inherent feedback existing in electro-mechanical systems are demonstrated to cause singularity, poor signal to noise levels and, to some extent, non linear behaviour. These phenomena pose some difficulties under operating conditions commonly encountered during dynamic testing of structures. The tuning of the multi-shaker system is approached in this work, as a non-linear optimisation problem where insight into the physical behaviour is emphasised in choosing the algorithmic strategy. The system's unknown model is inverted in an implicit manner using an automatic orthogonal and adaptive search direction. This adaptation uses the measured responses and forces at each step in order to determine the direction of progression during the tuning process. The non-linear behaviour of the exciters is compensated, in this work, by identification of the high-order (Volterra-like) transfer functions. This high-order model is than inverted allowing one to create a signal that cancels the unwanted harmonics. The proposed approach is analytically shown to converge

  11. Negative feedback regulation is responsible for the non-linear modulation of photosynthetic activity in plants and cyanobacteria exposed to a dynamic light environment.

    PubMed

    Nedbal, Ladislav; Brezina, Vítezslav; Adamec, Frantisek; Stys, Dalibor; Oja, Vello; Laisk, Agu; Govindjee

    2003-10-17

    Photosynthetic organisms exposed to a dynamic light environment exhibit complex transients of photosynthetic activities that are strongly dependent on the temporal pattern of the incident irradiance. In a harmonically modulated light of intensity I approximately const.+sin(omegat), chlorophyll fluorescence response consists of a steady-state component, a component modulated with the angular frequency of the irradiance omega and several upper harmonic components (2omega, 3omega and higher). Our earlier reverse engineering analysis suggests that the non-linear response can be caused by a negative feedback regulation of photosynthesis. Here, we present experimental evidence that the negative feedback regulation of the energetic coupling between phycobilisome and Photosystem II (PSII) in the cyanobacterium Synechocystis sp. PCC6803 indeed results in the appearance of upper harmonic modes in the chlorophyll fluorescence emission. Dynamic changes in the coupling of the phycobilisome to PSII are not accompanied by corresponding antiparallel changes in the Photosystem I (PSI) excitation, suggesting a regulation limited to PSII. Strong upper harmonic modes were also found in the kinetics of the non-photochemical quenching (NPQ) of chlorophyll fluorescence, of the P700 redox state and of the CO(2) assimilation in tobacco (Nicotiana tabaccum) exposed to harmonically modulated light. They are ascribed to negative feedback regulation of the reactions of the Calvin-Benson cycle limiting the photosynthetic electron transport. We propose that the observed non-linear response of photosynthesis may also be relevant in a natural light environment that is modulated, e.g., by ocean waves, moving canopy or by varying cloud cover. Under controlled laboratory conditions, the non-linear photosynthetic response provides a new insight into dynamics of the regulatory processes.

  12. Non-linear controls influence functions in an aircraft dynamics simulator

    NASA Astrophysics Data System (ADS)

    Guerreiro, Nelson M.; Hubbard, James E., Jr.; Motter, Mark A.

    2006-03-01

    In the development and testing of novel structural and controls concepts, such as morphing aircraft wings, appropriate models are needed for proper system characterization. In most instances, available system models do not provide the required additional degrees of freedom for morphing structures but may be modified to some extent to achieve a compatible system. The objective of this study is to apply wind tunnel data collected for an Unmanned Air Vehicle (UAV), that implements trailing edge morphing, to create a non-linear dynamics simulator, using well defined rigid body equations of motion, where the aircraft stability derivatives change with control deflection. An analysis of this wind tunnel data, using data extraction algorithms, was performed to determine the reference aerodynamic force and moment coefficients for the aircraft. Further, non-linear influence functions were obtained for each of the aircraft's control surfaces, including the sixteen trailing edge flap segments. These non-linear controls influence functions are applied to the aircraft dynamics to produce deflection-dependent aircraft stability derivatives in a non-linear dynamics simulator. Time domain analysis of the aircraft motion, trajectory, and state histories can be performed using these nonlinear dynamics and may be visualized using a 3-dimensional aircraft model. Linear system models can be extracted to facilitate frequency domain analysis of the system and for control law development. The results of this study are useful in similar projects where trailing edge morphing is employed and will be instrumental in the University of Maryland's continuing study of active wing load control.

  13. Solution algorithms for non-linear singularly perturbed optimal control problems

    NASA Technical Reports Server (NTRS)

    Ardema, M. D.

    1983-01-01

    The applicability and usefulness of several classical and other methods for solving the two-point boundary-value problem which arises in non-linear singularly perturbed optimal control are assessed. Specific algorithms of the Picard, Newton and averaging types are formally developed for this class of problem. The computational requirements associated with each algorithm are analysed and compared with the computational requirement of the method of matched asymptotic expansions. Approximate solutions to a linear and a non-linear problem are obtained by each method and compared.

  14. Distributed adaptive output consensus control of second-order systems containing unknown non-linear control gains

    NASA Astrophysics Data System (ADS)

    Wang, Gang; Wang, Chaoli; Du, Qinghui; Cai, Xuan

    2016-10-01

    In this paper, we address the output consensus problem of tracking a desired trajectory for a group of second-order agents on a directed graph with a fixed topology. Each agent is modelled by a second-order non-linear system with unknown non-linear dynamics and unknown non-linear control gains. Only a subset of the agents is given access to the desired trajectory information directly. A distributed adaptive consensus protocol driving all agents to track the desired trajectory is presented using the backstepping technique and approximation technique of Fourier series (FSs). The FS structure is taken not only for tracking the non-linear dynamics but also the unknown portion in the controller design procedure, which can avoid virtual controllers containing the uncertain terms. Stability analysis and parameter convergence of the proposed algorithm are conducted based on the Lyapunov theory and the algebraic graph theory. It is also demonstrated that arbitrary small tracking errors can be achieved by appropriately choosing design parameters. Though the proposed work is applicable for second-order non-linear systems containing unknown non-linear control gains, the proposed controller design can be easily extended to higher-order non-linear systems containing unknown non-linear control gains. Simulation results show the effectiveness of the proposed schemes.

  15. Model predictive control of non-linear systems over networks with data quantization and packet loss.

    PubMed

    Yu, Jimin; Nan, Liangsheng; Tang, Xiaoming; Wang, Ping

    2015-11-01

    This paper studies the approach of model predictive control (MPC) for the non-linear systems under networked environment where both data quantization and packet loss may occur. The non-linear controlled plant in the networked control system (NCS) is represented by a Tagaki-Sugeno (T-S) model. The sensed data and control signal are quantized in both links and described as sector bound uncertainties by applying sector bound approach. Then, the quantized data are transmitted in the communication networks and may suffer from the effect of packet losses, which are modeled as Bernoulli process. A fuzzy predictive controller which guarantees the stability of the closed-loop system is obtained by solving a set of linear matrix inequalities (LMIs). A numerical example is given to illustrate the effectiveness of the proposed method.

  16. Intelligent control of non-linear dynamical system based on the adaptive neurocontroller

    NASA Astrophysics Data System (ADS)

    Engel, E.; Kovalev, I. V.; Kobezhicov, V.

    2015-10-01

    This paper presents an adaptive neuro-controller for intelligent control of non-linear dynamical system. The formed as the fuzzy selective neural net the adaptive neuro-controller on the base of system's state, creates the effective control signal under random perturbations. The validity and advantages of the proposed adaptive neuro-controller are demonstrated by numerical simulations. The simulation results show that the proposed controller scheme achieves real-time control speed and the competitive performance, as compared to PID, fuzzy logic controllers.

  17. On robustness of constrained non-linear H ∞ predictive controllers with disturbances

    NASA Astrophysics Data System (ADS)

    He, De-Feng; Ji, Hai-Bo; Zheng, Tao

    2010-02-01

    This article considers the robustness problem of H ∞ model predictive controllers for constrained non-linear discrete-time systems subject to disturbances, which are dependent on the system state and input. The notions of input-to-state stability and finite L 2-gain of non-linear systems are introduced and exploited to investigate the robustness properties of this predictive controller under the state and input constraints and the disturbance. Moreover, this robustness of the controller is extended to the case of suboptimality of the solution. With its feasibility at initial time, the feasibility of the online optimisation problem is guaranteed for all times in the presence of disturbances and constraints. Finally, an example is employed to illustrate the proposed results.

  18. Non-linear controls influence functions in an aircraft dynamics simulator

    NASA Technical Reports Server (NTRS)

    Guerreiro, Nelson M.; Hubbard, James E., Jr.; Motter, Mark A.

    2006-01-01

    In the development and testing of novel structural and controls concepts, such as morphing aircraft wings, appropriate models are needed for proper system characterization. In most instances, available system models do not provide the required additional degrees of freedom for morphing structures but may be modified to some extent to achieve a compatible system. The objective of this study is to apply wind tunnel data collected for an Unmanned Air Vehicle (UAV), that implements trailing edge morphing, to create a non-linear dynamics simulator, using well defined rigid body equations of motion, where the aircraft stability derivatives change with control deflection. An analysis of this wind tunnel data, using data extraction algorithms, was performed to determine the reference aerodynamic force and moment coefficients for the aircraft. Further, non-linear influence functions were obtained for each of the aircraft s control surfaces, including the sixteen trailing edge flap segments. These non-linear controls influence functions are applied to the aircraft dynamics to produce deflection-dependent aircraft stability derivatives in a non-linear dynamics simulator. Time domain analysis of the aircraft motion, trajectory, and state histories can be performed using these nonlinear dynamics and may be visualized using a 3-dimensional aircraft model. Linear system models can be extracted to facilitate frequency domain analysis of the system and for control law development. The results of this study are useful in similar projects where trailing edge morphing is employed and will be instrumental in the University of Maryland s continuing study of active wing load control.

  19. Iterated non-linear model predictive control based on tubes and contractive constraints.

    PubMed

    Murillo, M; Sánchez, G; Giovanini, L

    2016-05-01

    This paper presents a predictive control algorithm for non-linear systems based on successive linearizations of the non-linear dynamic around a given trajectory. A linear time varying model is obtained and the non-convex constrained optimization problem is transformed into a sequence of locally convex ones. The robustness of the proposed algorithm is addressed adding a convex contractive constraint. To account for linearization errors and to obtain more accurate results an inner iteration loop is added to the algorithm. A simple methodology to obtain an outer bounding-tube for state trajectories is also presented. The convergence of the iterative process and the stability of the closed-loop system are analyzed. The simulation results show the effectiveness of the proposed algorithm in controlling a quadcopter type unmanned aerial vehicle.

  20. GA and Lyapunov theory-based hybrid adaptive fuzzy controller for non-linear systems

    NASA Astrophysics Data System (ADS)

    Roy, Ananya; Das Sharma, Kaushik

    2015-02-01

    In this present article, a new hybrid methodology for designing stable adaptive fuzzy logic controllers (AFLCs) for a class of non-linear system is proposed. The proposed design strategy exploits the features of genetic algorithm (GA)-based stochastic evolutionary global search technique and Lyapunov theory-based local adaptation scheme. The objective is to develop a methodology for designing AFLCs with optimised free parameters and guaranteed closed-loop stability. Simultaneously, the proposed method introduces automation in the design process. The stand-alone Lyapunov theory-based design, GA-based design and proposed hybrid GA-Lyapunov design methodologies are implemented for two benchmark non-linear plants in simulation case studies with different reference signals and one experimental case study. The results demonstrate that the hybrid design methodology outperforms the other control strategies on the whole.

  1. Non-linear control of the ''clam'' wave energy device. Final report

    SciTech Connect

    Not Available

    1983-09-01

    A promising wave energy device being currently investigated is the ''clam'' device. The clam extracts energy by pumping air through a specially designed (Wells) turbine. Although operation of the Wells turbine does not require a rectified air flow, some additional control will be necessary to optimize the phase of the clam motion for good efficiencies. An examination of the equation of motion in the time domain suggests the possibility of non-linear phase control by mechanical, power take-off, or pneumatic latching. Latching can be shown to increase the efficiency of the device in the longer wavelengths of the wave spectrum, i.e. those of high incident wave power.

  2. A Non-Linear Approach to Spacecraft Trajectory Control in the Vicinity of a Libration Point

    NASA Technical Reports Server (NTRS)

    Luquette, Richard J.; Sanner, Robert M.

    2001-01-01

    An expanding interest in mission design strategies that exploit libration point regions demands the continued development of enhanced, efficient, control algorithms for station-keeping and formation maintenance. This paper discusses the development of a non-linear, station-keeping, control algorithm for trajectories in the vicinity of a libration point. The control law guarantees exponential convergence, based on a Lyaponov analysis. Controller performance is evaluated using FreeFlyer(R) and MATLAB(R) for a spacecraft stationed near the L2 libration point in the Earth-Moon system, tracking a pre-defined reference trajectory. Evaluation metrics are fuel usage and tracking accuracy. Simulation results are compared with a linear-based controller for a spacecraft tracking the same reference trajectory. Although the analysis is framed in the context of station-keeping, the control algorithm is equally applicable to a formation flying problem with an appropriate definition of the reference trajectory.

  3. Non-linear states of a positive or negative refraction index material in a cavity with feedback

    NASA Astrophysics Data System (ADS)

    Mártin, D. A.; Hoyuelos, M.

    2010-06-01

    We study a system composed by a cavity with plane mirrors containing a positive or negative refraction index material with third order effective electric and magnetic non-linearities. The aim of the work is to present a general picture of possible non-linear states in terms of the relevant parameters of the system. The parameters are the ones that appear in a reduced description that has the form of the Lugiato-Lefever equation. This equation is obtained from two coupled non-linear Schrödinger equations for the electric and magnetic field amplitudes.

  4. Non-linear modelling and control of semi-active suspensions with variable damping

    NASA Astrophysics Data System (ADS)

    Chen, Huang; Long, Chen; Yuan, Chao-Chun; Jiang, Hao-Bin

    2013-10-01

    Electro-hydraulic dampers can provide variable damping force that is modulated by varying the command current; furthermore, they offer advantages such as lower power, rapid response, lower cost, and simple hardware. However, accurate characterisation of non-linear f-v properties in pre-yield and force saturation in post-yield is still required. Meanwhile, traditional linear or quarter vehicle models contain various non-linearities. The development of a multi-body dynamics model is very complex, and therefore, SIMPACK was used with suitable improvements for model development and numerical simulations. A semi-active suspension was built based on a belief-desire-intention (BDI)-agent model framework. Vehicle handling dynamics were analysed, and a co-simulation analysis was conducted in SIMPACK and MATLAB to evaluate the BDI-agent controller. The design effectively improved ride comfort, handling stability, and driving safety. A rapid control prototype was built based on dSPACE to conduct a real vehicle test. The test and simulation results were consistent, which verified the simulation.

  5. Cerebral autoregulation of preterm neonates--a non-linear control system?

    PubMed

    Zernikow, B; Michel, E; Kohlmann, G; Steck, J; Schmitt, R M; Jorch, G

    1994-05-01

    The low frequency cerebral blood flow velocity (CBFV) oscillations in neonates are commonly attributed to an under-dampened immature linear type cerebral autoregulation, and the 'instability' is regarded as causative for peri-intraventricular haemorrhage/periventricular leukomalacia. In contrast, oscillations susceptible to frequency entrainment are a fundamental part of the stable function of non-linear control systems. To classify the autoregulation an observational study was done on the relationship between CBFV oscillations, heart rate variability, and artificial ventilation. In 10 preterm neonates (gestational age 26 to 35 weeks) we serially Doppler traced arterial CBFV continuously for 12 minutes between days 1 and 49 of life. The individual time series of CBFV and heart rate were subjected to spectral analysis. Forty six of 47 tracings showed significant low frequency CBFV oscillations. Low frequency heart rate oscillations were not a prerequisite thereof. All patients with < 30% of total power in the low frequency band of CBFV oscillations were on the ventilator. Three of them demonstrated a shift of spectral power from low frequency to a frequency equal or harmonic to the ventilator rate indicating entrainment. The findings of CBFV oscillations combined with entrainment classify the autoregulation as a non-linear system. It is suggested that entrainment by periodic high amplitude stimuli might challenge the regulatory capacity to its limits thus increasing the risk for cerebral damage.

  6. Computational Modelling and Optimal Control of Ebola Virus Disease with non-Linear Incidence Rate

    NASA Astrophysics Data System (ADS)

    Takaidza, I.; Makinde, O. D.; Okosun, O. K.

    2017-03-01

    The 2014 Ebola outbreak in West Africa has exposed the need to connect modellers and those with relevant data as pivotal to better understanding of how the disease spreads and quantifying the effects of possible interventions. In this paper, we model and analyse the Ebola virus disease with non-linear incidence rate. The epidemic model created is used to describe how the Ebola virus could potentially evolve in a population. We perform an uncertainty analysis of the basic reproductive number R 0 to quantify its sensitivity to other disease-related parameters. We also analyse the sensitivity of the final epidemic size to the time control interventions (education, vaccination, quarantine and safe handling) and provide the cost effective combination of the interventions.

  7. Vibration and chaos control of non-linear torsional vibrating systems

    NASA Astrophysics Data System (ADS)

    El-Bassiouny, A. F.

    2006-07-01

    Vibration of a mechanical system is often an undesirable phenomenon, as it may cause damage, disturbance, discomfort and, sometimes, destruction of systems and structures. To reduce vibration, many methods can be used. The most famous method is using dynamic absorbers or dampers. In the present work, a non-linear elastomeric damper or absorber is used to control the torsional vibrations of the crankshaft in internal combustion engines, when subjected to both external and parametric excitation torques. The multiple time scale perturbation method is applied to determine the equations governing the modulation of both amplitudes and phases of the crankshaft and the absorber. These equations are used to determine the steady-state amplitudes and system stability. Numerical integration of the basic equations is applied to investigate the effects of the different parameters on system behavior. A comparison is made with the available published work. Some recommendations are given at the end of the work.

  8. Very large space structures: Non-linear control and robustness to structural uncertainties

    NASA Astrophysics Data System (ADS)

    Gasbarri, Paolo; Monti, Riccardo; Sabatini, Marco

    2014-01-01

    Very Large Space Structures (VLSS) are challenging systems to be controlled, due to their high flexibility. In particular, rapid attitude maneuvers can determine great oscillations on the flexible elements of a spacecraft (solar wings, antennas, booms). On account of this, in the last decades many researchers have developed different strategies to effectively damp the elastic vibrations by means of active vibration devices (such as piezo-electric patches) or by means of robust control algorithms. The approach suggested in this paper is different, since neither additional devices nor complex control laws are introduced. In fact, the complete model of the system (including rigid, elastic and orbital dynamics, coupled with control actions) is controlled by the non-linear attitude controller named state dependent Riccati equation, which will be based on a simplified version of the spacecraft model. The task to reduce the mutual interaction between rigid attitude and flexible dynamics is entirely transferred to a modification of the desired trajectory that must be tracked. This command shaping technique is based on the knowledge of the parameters (inertial and elastics) of the VLSS. Unfortunately these parameters are not always exactly known and, however, they may change over the time. On account of this a Monte Carlo analysis has been also performed, showing the robustness of the proposed control strategy to the structural uncertainties. The numerical simulations prove that this strategy, based on the joint application of two well-known yet simple techniques, produces accurate and robust results.

  9. Non-linear stochastic optimal control of acceleration parametrically excited systems

    NASA Astrophysics Data System (ADS)

    Wang, Yong; Jin, Xiaoling; Huang, Zhilong

    2016-02-01

    Acceleration parametrical excitations have not been taken into account due to the lack of physical significance in macroscopic structures. The explosive development of microtechnology and nanotechnology, however, motivates the investigation of the acceleration parametrically excited systems. The adsorption and desorption effects dramatically change the mass of nano-sized structures, which significantly reduces the precision of nanoscale sensors or can be reasonably utilised to detect molecular mass. This manuscript proposes a non-linear stochastic optimal control strategy for stochastic systems with acceleration parametric excitation based on stochastic averaging of energy envelope and stochastic dynamic programming principle. System acceleration is approximately expressed as a function of system displacement in a short time range under the conditions of light damping and weak excitations, and the acceleration parametrically excited system is shown to be equivalent to a constructed system with an additional displacement parametric excitation term. Then, the controlled system is converted into a partially averaged Itô equation with respect to the total system energy through stochastic averaging of energy envelope, and the optimal control strategy for the averaged system is derived from solving the associated dynamic programming equation. Numerical results for a controlled Duffing oscillator indicate the efficacy of the proposed control strategy.

  10. A non-linear model predictive controller with obstacle avoidance for a space robot

    NASA Astrophysics Data System (ADS)

    Wang, Mingming; Luo, Jianjun; Walter, Ulrich

    2016-04-01

    This study investigates the use of the non-linear model predictive control (NMPC) strategy for a kinematically redundant space robot to approach an un-cooperative target in complex space environment. Collision avoidance, traditionally treated as a high level planning problem, can be effectively translated into control constraints as part of the NMPC. The objective of this paper is to evaluate the performance of the predictive controller in a constrained workspace and to investigate the feasibility of imposing additional constraints into the NMPC. In this paper, we reformulated the issue of the space robot motion control by using NMPC with predefined objectives under input, output and obstacle constraints over a receding horizon. An on-line quadratic programming (QP) procedure is employed to obtain the constrained optimal control decisions in real-time. This study has been implemented for a 7 degree-of-freedom (DOF) kinematically redundant manipulator mounted on a 6 DOF free-floating spacecraft via simulation studies. Real-time trajectory tracking and collision avoidance particularly demonstrate the effectiveness and potential of the proposed NMPC strategy for the space robot.

  11. Optimal control of a satellite-robot system using direct collocation with non-linear programming

    NASA Astrophysics Data System (ADS)

    Coverstone-Carroll, V. L.; Wilkey, N. M.

    1995-08-01

    The non-holonomic behavior of a satellite-robot system is used to develop the system's equations of motion. The resulting non-linear differential equations are transformed into a non-linear programming problem using direct collocation. The link rates of the robot are minimized along optimal reorientations. Optimal solutions to several maneuvers are obtained and the results are interpreted to gain an understanding of the satellite-robot dynamics.

  12. Quantum Process Tomography of an Optically-Controlled Kerr Non-linearity

    PubMed Central

    Kupchak, Connor; Rind, Samuel; Jordaan, Bertus; Figueroa, Eden

    2015-01-01

    Any optical quantum information processing machine would be comprised of fully-characterized constituent devices for both single state manipulations and tasks involving the interaction between multiple quantum optical states. Ideally for the latter, would be an apparatus capable of deterministic optical phase shifts that operate on input quantum states with the action mediated solely by auxiliary signal fields. Here we present the complete experimental characterization of a system designed for optically controlled phase shifts acting on single-photon level probe coherent states. Our setup is based on a warm vapor of rubidium atoms under the conditions of electromagnetically induced transparency with its dispersion properties modified through the use of an optically triggered N-type Kerr non-linearity. We fully characterize the performance of our device by sending in a set of input probe states and measuring the corresponding output via time-domain homodyne tomography and subsequently performing the technique of coherent state quantum process tomography. This method provides us with the precise knowledge of how our optical phase shift will modify any arbitrary input quantum state engineered in the mode of the reconstruction. PMID:26585904

  13. Stable myoelectric control of a hand prosthesis using non-linear incremental learning.

    PubMed

    Gijsberts, Arjan; Bohra, Rashida; Sierra González, David; Werner, Alexander; Nowak, Markus; Caputo, Barbara; Roa, Maximo A; Castellini, Claudio

    2014-01-01

    Stable myoelectric control of hand prostheses remains an open problem. The only successful human-machine interface is surface electromyography, typically allowing control of a few degrees of freedom. Machine learning techniques may have the potential to remove these limitations, but their performance is thus far inadequate: myoelectric signals change over time under the influence of various factors, deteriorating control performance. It is therefore necessary, in the standard approach, to regularly retrain a new model from scratch. We hereby propose a non-linear incremental learning method in which occasional updates with a modest amount of novel training data allow continual adaptation to the changes in the signals. In particular, Incremental Ridge Regression and an approximation of the Gaussian Kernel known as Random Fourier Features are combined to predict finger forces from myoelectric signals, both finger-by-finger and grouped in grasping patterns. We show that the approach is effective and practically applicable to this problem by first analyzing its performance while predicting single-finger forces. Surface electromyography and finger forces were collected from 10 intact subjects during four sessions spread over two different days; the results of the analysis show that small incremental updates are indeed effective to maintain a stable level of performance. Subsequently, we employed the same method on-line to teleoperate a humanoid robotic arm equipped with a state-of-the-art commercial prosthetic hand. The subject could reliably grasp, carry and release everyday-life objects, enforcing stable grasping irrespective of the signal changes, hand/arm movements and wrist pronation and supination.

  14. Stable myoelectric control of a hand prosthesis using non-linear incremental learning

    PubMed Central

    Gijsberts, Arjan; Bohra, Rashida; Sierra González, David; Werner, Alexander; Nowak, Markus; Caputo, Barbara; Roa, Maximo A.; Castellini, Claudio

    2014-01-01

    Stable myoelectric control of hand prostheses remains an open problem. The only successful human–machine interface is surface electromyography, typically allowing control of a few degrees of freedom. Machine learning techniques may have the potential to remove these limitations, but their performance is thus far inadequate: myoelectric signals change over time under the influence of various factors, deteriorating control performance. It is therefore necessary, in the standard approach, to regularly retrain a new model from scratch. We hereby propose a non-linear incremental learning method in which occasional updates with a modest amount of novel training data allow continual adaptation to the changes in the signals. In particular, Incremental Ridge Regression and an approximation of the Gaussian Kernel known as Random Fourier Features are combined to predict finger forces from myoelectric signals, both finger-by-finger and grouped in grasping patterns. We show that the approach is effective and practically applicable to this problem by first analyzing its performance while predicting single-finger forces. Surface electromyography and finger forces were collected from 10 intact subjects during four sessions spread over two different days; the results of the analysis show that small incremental updates are indeed effective to maintain a stable level of performance. Subsequently, we employed the same method on-line to teleoperate a humanoid robotic arm equipped with a state-of-the-art commercial prosthetic hand. The subject could reliably grasp, carry and release everyday-life objects, enforcing stable grasping irrespective of the signal changes, hand/arm movements and wrist pronation and supination. PMID:24616697

  15. Mine Avoidance and Localization for Underwater Vehicles Using Continuous Curvature Path Generation and Non-Linear Tracking Control

    DTIC Science & Technology

    1993-09-01

    NAVAL POSTGRADUATE SCHOOL Monterey, California X A DTICSt FLCTT THESIS MINE AVOIDANCE AND LOCALIZATION FOR UNDERWATER VEHICLES USING CONTINUOUS...Claitficaion) MINE AVOIDANCE AND LOCALIZATION FOR UNDERWATER VEHICLES USING CONTINUOUS CURVATURE PATH GENERATION AND NON-LINEAR TRACKING CONTROL 12 PERSONAL...SUB-GROUP Mine avoidance and localization; Autonomous underwater vehicles (ALV); Autopilot and guidance of AUV II; Sliding mode control 19 ABSTRACT

  16. Soil Organic Matter Content: A Non-linear Control on Microbial Respiration in Soils

    NASA Astrophysics Data System (ADS)

    Schnecker, J.; Grandy, S.

    2015-12-01

    Decomposition of soil organic matter (SOM) and the amount of CO2 respired from soil largely depends on the amount of substrate available to microbes. Soils with high SOM concentrations will have higher respiration rates than soils with low SOM concentrations given similar environmental conditions. It is widely assumed that microbial activity and respiration rates respond linearly to substrate concentrations. This assumption remains however largely untested. In a lab incubation experiment, we amended a mixture of agricultural soil and sand with increasing amounts of one of three plant residues differing in their C/N ratio (clover 14; rye 23 and wheat straw 110). We used 9 levels of organic carbon (OC) content ranging from 0.25% to 5.7%. The mixtures were then incubated at constant temperature and water contents for 63 days. Our results show that across substrates CO2 production increased with increasing OC content following a quadratic function instead of the expected linear one up to 2.2% OC. Above that point CO2 production leveled off and increased linearly. We hypothesize that the probability that a microbe meets a substrate also increases with increasing amounts of plant residues. At all substrate concentrations, samples amended with clover had the highest carbon losses, followed by rye and straw. Differences between the three kinds of plant residue might have been caused by their C/N ratios and thus the amount of available N. High amounts of N might have led to an increase in microbial biomass, which could occupy more space and is thus more likely to meet new substrate. Additional analysis of microbial biomass, enzyme activities and N pools will help to understand the mechanism leading to the observed CO2 patterns. A non-linear relation of CO2 production and OC content indicates that spatial separation as an inherent property of SOM content is an important control on decomposition at low OC contents. Knowledge of this controlling effect could be used to enhance

  17. Non-linear control logics for vibrations suppression: a comparison between model-based and non-model-based techniques

    NASA Astrophysics Data System (ADS)

    Ripamonti, Francesco; Orsini, Lorenzo; Resta, Ferruccio

    2015-04-01

    Non-linear behavior is present in many mechanical system operating conditions. In these cases, a common engineering practice is to linearize the equation of motion around a particular operating point, and to design a linear controller. The main disadvantage is that the stability properties and validity of the controller are local. In order to improve the controller performance, non-linear control techniques represent a very attractive solution for many smart structures. The aim of this paper is to compare non-linear model-based and non-model-based control techniques. In particular the model-based sliding-mode-control (SMC) technique is considered because of its easy implementation and the strong robustness of the controller even under heavy model uncertainties. Among the non-model-based control techniques, the fuzzy control (FC), allowing designing the controller according to if-then rules, has been considered. It defines the controller without a system reference model, offering many advantages such as an intrinsic robustness. These techniques have been tested on the pendulum nonlinear system.

  18. Non-linear quenching of current fluctuations in a self-exciting homopolar dynamo, proved by feedback system theory

    NASA Astrophysics Data System (ADS)

    de Paor, A. M.

    Hide (Nonlinear Processes in Geophysics, 1998) has produced a new mathematical model of a self-exciting homopolar dynamo driving a series- wound motor, as a continuing contribution to the theory of the geomagnetic field. By a process of exact perturbation analysis, followed by combination and partial solution of differential equations, the complete nonlinear quenching of current fluctuations reported by Hide in the case that a parameter ɛ has the value 1 is proved via the Popov theorem from feedback system stability theory.

  19. Controlling the non-linear intracavity dynamics of large He-Ne laser gyroscopes

    NASA Astrophysics Data System (ADS)

    Cuccato, D.; Beghi, A.; Belfi, J.; Beverini, N.; Ortolan, A.; Di Virgilio, A.

    2014-02-01

    A model based on Lamb's theory of gas lasers is applied to a He-Ne ring laser (RL) gyroscope to estimate and remove the laser dynamics contribution from the rotation measurements. The intensities of the counter-propagating laser beams exiting one cavity mirror are continuously observed together with a monitor of the laser population inversion. These observables, once properly calibrated with a dedicated procedure, allow us to estimate cold cavity and active medium parameters driving the main part of the non-linearities of the system. The quantitative estimation of intrinsic non-reciprocal effects due to cavity and active medium non-linear coupling plays a key role in testing fundamental symmetries of space-time with RLs. The parameter identification and noise subtraction procedure has been verified by means of a Monte Carlo study of the system, and experimentally tested on the G-PISA RL oriented with the normal to the ring plane almost parallel to the Earth's rotation axis. In this configuration the Earth's rotation rate provides the maximum Sagnac effect while the contribution of the orientation error is reduced to a minimum. After the subtraction of laser dynamics by a Kalman filter, the relative systematic errors of G-PISA reduce from 50 to 5 parts in 103 and can be attributed to the residual uncertainties on geometrical scale factor and orientation of the ring.

  20. PIV wave propagation investigation of non-linear losses through 90 degree bends in a thermoacoustic engine's feedback loop

    NASA Astrophysics Data System (ADS)

    Wee, S. T.; Hann, D. B.; Abakr, Yousif Abdalla; Riley, P.

    2012-06-01

    Thermoacoustic engine technology has recently been applied to renewable energy to convert heat energy into acoustic energy for the purpose of electricity generation. One of the vital components of the engine is its feedback loop which is sensitive to geometrical changes that can cause system losses. We previously postulated that a critical Acoustic Dean Number exist above which the Acoustic Power Transmission Loss increases drastically for a wave propagating though a bend. This paper investigates the wave propagation through the bend using Particle Image Velocimetry(PIV). This technique has not been used in this field of investigation and allows the flow visualization as well as the planar velocity field measurement of the system. The PIV results confirmed earlier pressure measurements that a critical Dean number does exist, and describes visualizations of the flows causing the losses.

  1. Non-linear dynamic characteristics and optimal control of giant magnetostrictive film subjected to in-plane stochastic excitation

    NASA Astrophysics Data System (ADS)

    Zhu, Z. W.; Zhang, W. D.; Xu, J.

    2014-03-01

    The non-linear dynamic characteristics and optimal control of a giant magnetostrictive film (GMF) subjected to in-plane stochastic excitation were studied. Non-linear differential items were introduced to interpret the hysteretic phenomena of the GMF, and the non-linear dynamic model of the GMF subjected to in-plane stochastic excitation was developed. The stochastic stability was analysed, and the probability density function was obtained. The condition of stochastic Hopf bifurcation and noise-induced chaotic response were determined, and the fractal boundary of the system's safe basin was provided. The reliability function was solved from the backward Kolmogorov equation, and an optimal control strategy was proposed in the stochastic dynamic programming method. Numerical simulation shows that the system stability varies with the parameters, and stochastic Hopf bifurcation and chaos appear in the process; the area of the safe basin decreases when the noise intensifies, and the boundary of the safe basin becomes fractal; the system reliability improved through stochastic optimal control. Finally, the theoretical and numerical results were proved by experiments. The results are helpful in the engineering applications of GMF.

  2. Non-linear dynamic characteristics and optimal control of giant magnetostrictive film subjected to in-plane stochastic excitation

    SciTech Connect

    Zhu, Z. W.; Zhang, W. D. Xu, J.

    2014-03-15

    The non-linear dynamic characteristics and optimal control of a giant magnetostrictive film (GMF) subjected to in-plane stochastic excitation were studied. Non-linear differential items were introduced to interpret the hysteretic phenomena of the GMF, and the non-linear dynamic model of the GMF subjected to in-plane stochastic excitation was developed. The stochastic stability was analysed, and the probability density function was obtained. The condition of stochastic Hopf bifurcation and noise-induced chaotic response were determined, and the fractal boundary of the system's safe basin was provided. The reliability function was solved from the backward Kolmogorov equation, and an optimal control strategy was proposed in the stochastic dynamic programming method. Numerical simulation shows that the system stability varies with the parameters, and stochastic Hopf bifurcation and chaos appear in the process; the area of the safe basin decreases when the noise intensifies, and the boundary of the safe basin becomes fractal; the system reliability improved through stochastic optimal control. Finally, the theoretical and numerical results were proved by experiments. The results are helpful in the engineering applications of GMF.

  3. Non-linear backstepping control of five-phase IM drive at low speed conditions-experimental implementation.

    PubMed

    Echeikh, Hamdi; Trabelsi, Ramzi; Iqbal, Atif; Bianchi, Nicola; Mimouni, Mohamed Fouizi

    2016-11-01

    In this paper non-linear backstepping control (BSC) is employed for high performance five-phase induction motor drive for low speed operation. The traditional control approaches such as direct torque control and indirect rotor field oriented control introduces stability problem at low speed. The proposed BSC is shown to offer stable operation in the sense of Lyapunov and high dynamics at low speed. Experimental results are provided to present the proprieties of the proposed approach at low speed in terms of stability, torque ripple, desired control performance, achievable dynamics and complexity of implementation etc. Copyright © 2016. Published by Elsevier Ltd.

  4. Non-linear Conjugate Gradient Time-Domain Controlled Inversion Source

    SciTech Connect

    Newman, Gregory A.; Commer, Michael

    2006-11-16

    Software that simulates and inverts time-domain electromagnetic field data for subsurface electrical properties (electrical conductivity) of geological media. The software treats data produced by a step-wise source signal from either galvanic (grounded wires) or inductive (magnetic loops) sources. The inversion process is carried inductive (magnetic loops) sources. The inversion process is carried out using a non-linear conjugate gradient optimization scheme, which minimizes the misfit between field data and model data using a least squares criteria. The software is an upgrade from the code TEM3D ver. 2.0. The upgrade includes the following components: (1) Improved (faster)memory access during gradient computation. (2) Data parellelization scheme: Multiple transmitters (sources) can be distributed accross several banks of processors (daa-planes). Similarly, the receivers of each source are also distributed accross the corresponding data-plane. (3) Improved data-IO.

  5. Error-based adaptive non-linear control and regions of feasibility

    NASA Technical Reports Server (NTRS)

    Teel, Andrew R.

    1992-01-01

    The nonlinear adaptive algorithm of Kanellakopoulos et al. (1991) was modified to produce an error-based algorithm. This permits global stabilizability for a large subset of pure-feedback nonlinear systems. The algorithm was demonstrated on the single-input stabilization problem, but extends easily to the multiple input tracking problems.

  6. Designing Genetic Feedback Controllers.

    PubMed

    Harris, Andreas W K; Dolan, James A; Kelly, Ciarán L; Anderson, James; Papachristodoulou, Antonis

    2015-08-01

    By incorporating feedback around systems we wish to manipulate, it is possible to improve their performance and robustness properties to meet pre-specified design objectives. For decades control engineers have been successfully implementing feedback controllers for complex mechanical and electrical systems such as aircraft and sports cars. Natural biological systems use feedback extensively for regulation and adaptation but apart from the most basic designs, there is no systematic framework for designing feedback controllers in Synthetic Biology. In this paper we describe how classical approaches from linear control theory can be used to close the loop. This includes the design of genetic circuits using feedback control and the presentation of a biological phase lag controller.

  7. Non-linear system control using a recurrent fuzzy neural network based on improved particle swarm optimisation

    NASA Astrophysics Data System (ADS)

    Lin, Cheng-Jian; Lee, Chi-Yung

    2010-04-01

    This article introduces a recurrent fuzzy neural network based on improved particle swarm optimisation (IPSO) for non-linear system control. An IPSO method which consists of the modified evolutionary direction operator (MEDO) and the Particle Swarm Optimisation (PSO) is proposed in this article. A MEDO combining the evolutionary direction operator and the migration operation is also proposed. The MEDO will improve the global search solution. Experimental results have shown that the proposed IPSO method controls the magnetic levitation system and the planetary train type inverted pendulum system better than the traditional PSO and the genetic algorithm methods.

  8. On the multiscale nature of soil moisture-temperature couplings: the role of seasonality, causation and non-linear feedbacks in land-atmosphere interactions (Invited)

    NASA Astrophysics Data System (ADS)

    Molini, A.; Casagrande, E.; Mueller, B.

    2013-12-01

    Land-Atmosphere (L-A) interactions, their strength and directionality, are one of the main sources of uncertainty in current climate modeling, with strong implications on the accurate assessment of future climate variability and climate change impacts. Beside from the scarcity of direct observations, major uncertainties derive from the inherent complexity and nonlinearity of these interactions, and from their multi-scale character. Statistical analysis of L-A couplings is traditionally based on linear correlation methods and metrics. However, these approaches are not designed to detect causal connections or non-linear couplings and they poorly perform in presence of non-stationarities. Additionally these methods assess L-A couplings essentially in the time domain, despite the fact that L-A dynamical drivers can act simultaneously over a wide range of different space and time scales. This talk explores the multi-scale nature of L-A interactions, through the example of soil moisture-temperature couplings and soil-moisture memory effects. In several regions of the world, soil moisture can have a dampening effect on temperature due to evaporative cooling. By using spectral decomposition techniques and both newly developed satellite based products and re-analysis, we analyze the contribution of different time scales to the build-up of global soil moisture-temperature coupling hot spots, addressing at the same time the role of seasonality, causation and non-linear feedbacks in land-atmosphere interactions. Finally we focus on the role of fine (sub-monthly) time scales and their interplay with the seasonal scales.

  9. A Non-Linear Approach to Spacecraft Formation Control in the Vicinity of a Collinear Libration Point

    NASA Technical Reports Server (NTRS)

    Luquette, Richard J.; Sanner, Robert M.; Bauer, Frank H. (Technical Monitor)

    2001-01-01

    An expanding interest in mission design strategies that exploit libration point regions, demands the continued development of enhanced, efficient, control algorithms for station-keeping and formation maintenance. Linear control strategies have been developed for station-keeping. However, their region of stability is bounded by the assumptions required for linearizing the governing equations of motion. For example, reference [I] discusses the development of a linear control design for maintaining a halo orbit about the Earth-Moon L2 libration point. Trial runs indicated the trajectory was unstable for starting points exceeding 45,000 km from the L2 point. Also, there was significant growth in the control effort required to maintain the orbit as the nominal radius increased. This result is a consequence of the increased influence of the system non-linearities, as the trajectory deviated from the linearization point, L2. As an alternative, this paper presents the development of a non-linear control strategy, based on a Hamiltonian formulation of the equations of motion. The control strategy is applied to the problem of formation maintenance, rather than simple station

  10. A Non-Linear Approach to Spacecraft Formation Control in the Vicinity of a Collinear Libration Point

    NASA Technical Reports Server (NTRS)

    Luquette, Richard J.; Sanner, Robert M.; Bauer, Frank H. (Technical Monitor)

    2001-01-01

    An expanding interest in mission design strategies that exploit libration point regions demands the continued development of enhanced, efficient, control algorithms for station-keeping and formation maintenance. This paper discusses the development of a non-linear, formation maintenance, control algorithm for trajectories in the vicinity of a libration point. However, the formulation holds for any trajectory governed by the equations of motion for the restricted three body problem. The control law guarantees exponential convergence, based on a Lyaponov analysis. FreeFlyer and MATLAB provide the simulation environment for controller performance evaluation. The simulation, modeled after the MAXIM Pathfinder mission, maintains the relative position of a "follower" spacecraft with respect to a "leader" spacecraft, stationed near the L2 libration point in the Sun-Earth system. Evaluation metrics are fuel usage and tracking accuracy.

  11. Coordinated orbit-tracking control of second-order non-linear agents with directed communication topologies

    NASA Astrophysics Data System (ADS)

    Chen, Y.-Y.; Zhang, Y.; Liu, C.-L.; Wei, P.

    2016-12-01

    This paper deals with two-dimensional and three-dimensional cooperative control of multiple agents formation tracking a set of given closed orbits, where each agent has intrinsic second-order non-linear dynamics and the communication topology among agents is directed. By using our previous curve extension method, the cooperative control system can be regarded as a cascade system composed of the orbit-tracking subsystem and the formation subsystem with the orbit-tracking error as input. A novel solution is established by separatively designing the orbit-tracking control law and the formation control protocol ignoring the perturbation at first and then applying input-to-state stability theory to analyse the asymptotic stability of the cascade system. It is shown that the closed-loop system is asymptotic stability if the directed communication topology contains a directed spanning tree. The effectiveness of the analytical results is verified by numerical simulations.

  12. Regulation of hypnosis in Propofol anesthesia administration based on non-linear control strategy.

    PubMed

    Ilyas, Muhammad; Khaqan, Ali; Iqbal, Jamshed; Riaz, Raja Ali

    Continuous adjustment of Propofol in manual delivery of anesthesia for conducting a surgical procedure overburdens the workload of an anesthetist who is working in a multi-tasking scenario. Going beyond manual administration and Target Controlled Infusion, closed-loop control of Propofol infusion has the potential to offer several benefits in terms of handling perturbations and reducing the effect of inter-patient variability. This paper proposes a closed-loop automated drug administration approach to control Depth Of Hypnosis in anesthesia. In contrast with most of the existing research on anesthesia control which makes use of linear control strategies or their improved variants, the novelty of the present research lies in applying robust control strategy i.e. Sliding Mode Control to accurately control drug infusion. Based on the derived patient's model, the designed controller uses measurements from EEG to regulate DOH on Bispectral Index by controlling infusion rate of Propofol. The performance of the controller is investigated and characterized with real dataset of 8 patients undergoing surgery. Results of this in silico study indicate that for all the patients, with 0% overshoot observed, the steady state error lies in between ±5. Clinically, this implies that in all the cases, without any overdose, the controller maintains the desired DOH level for smooth conduction of surgical procedures. Copyright © 2016 Sociedade Brasileira de Anestesiologia. Published by Elsevier Editora Ltda. All rights reserved.

  13. [Regulation of hypnosis in Propofol anesthesia administration based on non-linear control strategy].

    PubMed

    Ilyas, Muhammad; Khaqan, Ali; Iqbal, Jamshed; Riaz, Raja Ali

    Continuous adjustment of Propofol in manual delivery of anesthesia for conducting a surgical procedure overburdens the workload of an anesthetist who is working in a multi-tasking scenario. Going beyond manual administration and Target Controlled Infusion, closed-loop control of Propofol infusion has the potential to offer several benefits in terms of handling perturbations and reducing the effect of inter-patient variability. This paper proposes a closed-loop automated drug administration approach to control Depth Of Hypnosis in anesthesia. In contrast with most of the existing research on anesthesia control which makes use of linear control strategies or their improved variants, the novelty of the present research lies in applying robust control strategy i.e. Sliding Mode Control to accurately control drug infusion. Based on the derived patient's model, the designed controller uses measurements from EEG to regulate DOH on Bispectral Index by controlling infusion rate of Propofol. The performance of the controller is investigated and characterized with real dataset of 8 patients undergoing surgery. Results of this in silico study indicate that for all the patients, with 0% overshoot observed, the steady state error lies in between ±5. Clinically, this implies that in all the cases, without any overdose, the controller maintains the desired DOH level for smooth conduction of surgical procedures. Copyright © 2016 Sociedade Brasileira de Anestesiologia. Publicado por Elsevier Editora Ltda. All rights reserved.

  14. Non-linear advanced control of the LHC inner triplet heat exchanger test unit

    NASA Astrophysics Data System (ADS)

    Viñuela, E. Blanco; Cubillos, J. Casas; de Prada Moraga, C.; Cristea, S.

    2002-05-01

    The future Large Hadron Collider (LHC) at CERN will include eight interaction region final focus magnet systems, the so-called "Inner Triplet," one on each side of the four beam collision points. The Inner Triplets will be cooled in a static bath of pressurized He II nominally at 1.9 K. This temperature is a control parameter and has very severe constraints in order to avoid the transition from the superconducting to normal resistive state. The main difference in these special zones with respect to a regular LHC cell is higher dynamic heat load unevenly distributed which modifies largely the process characteristics and hence the controller performance. Several control strategies have already been tested at CERN in a pilot plant (LHC String Test) which reproduced a LHC half-cell. In order to validate a common control structure along the whole LHC ring, a Nonlinear Model Predictive Control (NMPC) has been developed and implemented in the Inner Triplet Heat Exchanger Unit (IT-HXTU) at CERN. Automation of the Inner Triplet setup and the advanced control techniques deployed based on the Model Based Predictive Control (MBPC) principle are presented.

  15. Multi input single output model predictive control of non-linear bio-polymerization process

    SciTech Connect

    Arumugasamy, Senthil Kumar; Ahmad, Z.

    2015-05-15

    This paper focuses on Multi Input Single Output (MISO) Model Predictive Control of bio-polymerization process in which mechanistic model is developed and linked with the feedforward neural network model to obtain a hybrid model (Mechanistic-FANN) of lipase-catalyzed ring-opening polymerization of ε-caprolactone (ε-CL) for Poly (ε-caprolactone) production. In this research, state space model was used, in which the input to the model were the reactor temperatures and reactor impeller speeds and the output were the molecular weight of polymer (M{sub n}) and polymer polydispersity index. State space model for MISO created using System identification tool box of Matlab™. This state space model is used in MISO MPC. Model predictive control (MPC) has been applied to predict the molecular weight of the biopolymer and consequently control the molecular weight of biopolymer. The result shows that MPC is able to track reference trajectory and give optimum movement of manipulated variable.

  16. Multi input single output model predictive control of non-linear bio-polymerization process

    NASA Astrophysics Data System (ADS)

    Arumugasamy, Senthil Kumar; Ahmad, Z.

    2015-05-01

    This paper focuses on Multi Input Single Output (MISO) Model Predictive Control of bio-polymerization process in which mechanistic model is developed and linked with the feedforward neural network model to obtain a hybrid model (Mechanistic-FANN) of lipase-catalyzed ring-opening polymerization of ɛ-caprolactone (ɛ-CL) for Poly (ɛ-caprolactone) production. In this research, state space model was used, in which the input to the model were the reactor temperatures and reactor impeller speeds and the output were the molecular weight of polymer (Mn) and polymer polydispersity index. State space model for MISO created using System identification tool box of Matlab™. This state space model is used in MISO MPC. Model predictive control (MPC) has been applied to predict the molecular weight of the biopolymer and consequently control the molecular weight of biopolymer. The result shows that MPC is able to track reference trajectory and give optimum movement of manipulated variable.

  17. Identification and Control of Non-Linear Time-Varying Dynamical Systems Using Artificial Neural Networks

    DTIC Science & Technology

    1992-09-01

    linear and adaptive control were used to select a proper network structure for the task, as was done by Narendra and Parthasarathy for emulation of...related topics is presented, as well as motivations for extensions in this work. Narendra and Parthasarathy have presented extensive work, [NP90] and...SYSTEMS Four classes of unknown nonlinear discrete dynamical systems were suggested by Narendra and Parthasarathy [NP90]. The models are extended here for

  18. Non-linear optics of coupled quantum dots and atomic systems with coherent control fields

    NASA Astrophysics Data System (ADS)

    Mumba, Mambwe

    Presented herein is an investigation of quantum systems with coherent optical control fields. Three such systems are examined. The first consists of two dipole-dipole coupled quantum dots or dimers which behave as an effective three or four-level system whose susceptibility and hence transmissivity for an optical beam at some frequency may be switched on or off in response to a coherent control field. The second quantum system consists of a model cluster of three coupled dots that is shown to display light intermittency or blinking when irradiated by a coherent field. Results indicate that the observed variation in rate, intensity and duration of blinking times occasioned by the rare but observable rapid blinking at higher rate and intensity (superradiance) can be traced back to the groupings of states in different manifolds that the coupled system is capable of being found in at any given time. It is shown, however, that the experimentally observed blinking can not be entirely accounted for by dipole-dipole coupling alone. The third system investigated consists of Rubidium atoms in a cell placed in a ring cavity. A coherent control field drives the system. A mathematical model of the system is developed which consists of propagating a gaussian beam around the system and examining the output spectrum when a steady state value of the electromagnetic field is attained in the Rubidium cell. Some interesting features occurring in the output spectrum of the field at some cavity detuning are reproduced and match those experimentally observed.

  19. Application of PI Current Controller in Single Phase Inverter System Connected to Non Linear Load

    NASA Astrophysics Data System (ADS)

    Chai Anak Ajot, Tracy; Salimin, Suriana; Aziz, Roziah

    2017-08-01

    This study is concerned with the problem of network power quality when inverter systems are connected to a nonlinear load. Nonlinear loads are well known as one of the biggest source of harmonics in the power system. Besides that, inverter systems also have their nonlinearity characteristic because of the electronic components. As the inverter system is connected to nonlinear load, it resulting in harmonic distortion-related problem and draw non-sinusoidal currents in the system, thus reducing the power quality in the system. The application of Proportional Integral controller in this system is the main interest of this study. This current controller capable of reducing total harmonic distortion and improve the state of current waveform. This paper focuses on application of simple manual trial and error tuning technique to produce the optimum value for the gains. The result of study verifies the trial and error manual tuning of PI current controller in compensating harmonic distortions. Simulation and modelling of the system are successfully developed using Matlab/Simulink.

  20. Application of non-linear control theory to a model of deep brain stimulation.

    PubMed

    Davidson, Clare M; Lowery, Madeleine M; de Paor, Annraoi M

    2011-01-01

    Deep brain stimulation (DBS) effectively alleviates the pathological neural activity associated with Parkinson's disease. Its exact mode of action is not entirely understood. This paper explores theoretically the optimum stimulation parameters necessary to quench oscillations in a neural-mass type model with second order dynamics. This model applies well established nonlinear control system theory to DBS. The analysis here determines the minimum criteria in terms of amplitude and pulse duration of stimulation, necessary to quench the unwanted oscillations in a closed loop system, and outlines the relationship between this model and the actual physiological system.

  1. Tracking control of a class of non-linear systems with applications to cruise control of air-breathing hypersonic vehicles

    NASA Astrophysics Data System (ADS)

    Sun, Hongfei; Yang, Zhiling; Meng, Bin

    2015-05-01

    A new tracking-control method for general non-linear systems is proposed. A virtual controller and some command references are introduced to asymptotically stabilise the system of the tracking error dynamics. Then, the actual controller and command references are derived by solving a system of linear algebraic equations. Compared with other tracking-control methods in the literature, the tracking-controller design in this paper is simple because it needs only to solve a system of linear algebraic equations. The boundedness of the tracking controller and command references is guaranteed by the solvability of the terminal value problem (TVP) of an ordinary differential equation. For non-linear systems with minimum-phase properties, the TVP is automatically solvable. A numerical example shows that the tracking-control method is still available for some systems with non-minimum-phase properties. To enhance the robustness of the tracking controller, a non-linear disturbance observer (NDO) is introduced to estimate the disturbance. The combination of the tracking controller and the NDO is applied to the tracking control of an air-breathing hypersonic vehicle.

  2. Feedback sensor noise rejection control strategy for quadrotor UAV system

    NASA Astrophysics Data System (ADS)

    Tanveer, M. Hassan; Hazry, D.; Ahmed, S. Faiz; Joyo, M. Kamran; Warsi, Faizan A.; Kamarudin, H.; Wan, Khairunizam; Razlan, Zuradzman M.; Shahriman A., B.; Hussain, A. T.

    2015-05-01

    This paper describes a methodology for estimating the true value of all parameters from feedback sensor of quadrotor systems. A simple gyroscope and accelerometer sensors are taken into account for calculating the accurate value of system. Secondly, for filtering and controlling the feedback data of system, a Non-linear Model Predictive Control (NMPC) is proposed. For testing the accuracy of proposed technique a complete model of quadrotor with feedback system is implemented on Matlab and simulation results shows the effectiveness of proposed technique and controller design.

  3. Non-Linear Formation of EtG and FAEEs after Controlled Administration of Low to Moderate Doses of Ethanol.

    PubMed

    Pérez-Mañá, Clara; Farré, Magí; Pastor, Antoni; Fonseca, Francina; Torrens, Marta; Menoyo, Esther; Pujadas, Mitona; Frias, Silvia; Langohr, Klaus; de la Torre, Rafael

    2017-09-01

    Ethyl glucuronide (EtG) and fatty acid ethyl esters (FAEEs) are non-oxidative metabolites of alcohol that can be detected in conventional and non-conventional biological matrices for longer periods than alcohol. The aim was to describe the time courses of both biomarkers after ingestion of acute low-moderate doses of ethanol. The study design was double-blind, randomized, crossover and controlled with placebo. Participants were distributed in three different cohorts: (a) Cohort-1: two doses of 18 and 30 g of ethanol and placebo were administered to 12 subjects; (b) Cohort-2: two doses of 6 and 12 g of ethanol and placebo were administered to six subjects and (c) Cohort-3: two doses of 24 and 42 g of ethanol and placebo were administered to six subjects. Each participant received two doses of ethanol and placebo. Plasma concentrations (0-6 h) of ethanol and specific FAEEs (palmitic, stearic, linoleic and oleic acid ethyl esters) and urinary concentrations of EtG (0-24 h) were measured. A dose-dependent increase in blood ethanol concentrations was observed. EtG excretion and FAEEs plasmatic concentrations showed a disproportionate increase with the ethanol dose suggesting non-linearity. Area under the curve (AUC0-6h) of ethanol concentrations showed a linear trend with non-oxidative metabolites' concentrations. The formation rate of ethanol non-oxidative biomarkers does not follow a linear trend, explained mainly by a disproportionate increase in AUC0-6h of ethanol concentrations in relation to dose. This observation should be taken into account when interpreting results in biological matrices in clinical and forensic settings. A double-blind, randomized, crossover and controlled study was conducted administering ethanol (6-42 g). Ethyl glucuronide (EtG) excretion and fatty acid ethyl esters (FAEEs) plasmatic concentrations showed a disproportionate increase with the ethanol dose suggesting non-linearity. This observation should be taken into account when

  4. Analyzing Feedback Control Systems

    NASA Technical Reports Server (NTRS)

    Bauer, Frank H.; Downing, John P.

    1987-01-01

    Interactive controls analysis (INCA) program developed to provide user-friendly environment for design and analysis of linear control systems, primarily feedback control. Designed for use with both small- and large-order systems. Using interactive-graphics capability, INCA user quickly plots root locus, frequency response, or time response of either continuous-time system or sampled-data system. Configuration and parameters easily changed, allowing user to design compensation networks and perform sensitivity analyses in very convenient manner. Written in Pascal and FORTRAN.

  5. Analyzing Feedback Control Systems

    NASA Technical Reports Server (NTRS)

    Bauer, Frank H.; Downing, John P.

    1987-01-01

    Interactive controls analysis (INCA) program developed to provide user-friendly environment for design and analysis of linear control systems, primarily feedback control. Designed for use with both small- and large-order systems. Using interactive-graphics capability, INCA user quickly plots root locus, frequency response, or time response of either continuous-time system or sampled-data system. Configuration and parameters easily changed, allowing user to design compensation networks and perform sensitivity analyses in very convenient manner. Written in Pascal and FORTRAN.

  6. Predictive feedback control.

    PubMed

    Giovanini, Leonardo L

    2003-04-01

    In this work a new method for designing predictive controllers for linear single-input/single-output systems is presented. It uses only one prediction of the process output J time intervals ahead to compute the correspondent future error. Then, the predictive feedback controller is defined by introducing a filter which weights the last w predicted errors. In this way, the resulting control action is computed by observing the system future behavior and also by weighting present and past errors. This last feature improves the closed-loop performance to disturbance rejection as shown through simulations of two linear systems and a nonlinear continuous stirred tank reactor.

  7. 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.

  8. Feedback control of waiting times

    NASA Astrophysics Data System (ADS)

    Brandes, Tobias; Emary, Clive

    2016-04-01

    Feedback loops are known as a versatile tool for controlling transport in small systems, which usually have large intrinsic fluctuations. Here we investigate the control of a temporal correlation function, the waiting-time distribution, under active and passive feedback conditions. We develop a general formalism and then specify to the simple unidirectional transport model, where we compare costs of open-loop and feedback control and use methods from optimal control theory to optimize waiting-time distributions.

  9. Active fault tolerant control based on interval type-2 fuzzy sliding mode controller and non linear adaptive observer for 3-DOF laboratory helicopter.

    PubMed

    Zeghlache, Samir; Benslimane, Tarak; Bouguerra, Abderrahmen

    2017-09-14

    In this paper, a robust controller for a three degree of freedom (3 DOF) helicopter control is proposed in presence of actuator and sensor faults. For this purpose, Interval type-2 fuzzy logic control approach (IT2FLC) and sliding mode control (SMC) technique are used to design a controller, named active fault tolerant interval type-2 Fuzzy Sliding mode controller (AFTIT2FSMC) based on non-linear adaptive observer to estimate and detect the system faults for each subsystem of the 3-DOF helicopter. The proposed control scheme allows avoiding difficult modeling, attenuating the chattering effect of the SMC, reducing the rules number of the fuzzy controller. Exponential stability of the closed loop is guaranteed by using the Lyapunov method. The simulation results show that the AFTIT2FSMC can greatly alleviate the chattering effect, providing good tracking performance, even in presence of actuator and sensor faults. Copyright © 2017 ISA. Published by Elsevier Ltd. All rights reserved.

  10. Non-linear control of a hydraulic piezo-valve using a generalised Prandtl-Ishlinskii hysteresis model

    NASA Astrophysics Data System (ADS)

    Stefanski, Frederik; Minorowicz, Bartosz; Persson, Johan; Plummer, Andrew; Bowen, Chris

    2017-01-01

    The potential to actuate proportional flow control valves using piezoelectric ceramics or other smart materials has been investigated for a number of years. Although performance advantages compared to electromagnetic actuation have been demonstrated, a major obstacle has proven to be ferroelectric hysteresis, which is typically 20% for a piezoelectric actuator. In this paper, a detailed study of valve control methods incorporating hysteresis compensation is made for the first time. Experimental results are obtained from a novel spool valve actuated by a multi-layer piezoelectric ring bender. A generalised Prandtl-Ishlinskii model, fitted to experimental training data from the prototype valve, is used to model hysteresis empirically. This form of model is analytically invertible and is used to compensate for hysteresis in the prototype valve both open loop, and in several configurations of closed loop real time control system. The closed loop control configurations use PID (Proportional Integral Derivative) control with either the inverse hysteresis model in the forward path or in a command feedforward path. Performance is compared to both open and closed loop control without hysteresis compensation via step and frequency response results. Results show a significant improvement in accuracy and dynamic performance using hysteresis compensation in open loop, but where valve position feedback is available for closed loop control the improvements are smaller, and so conventional PID control may well be sufficient. It is concluded that the ability to combine state-of-the-art multi-layer piezoelectric bending actuators with either sophisticated hysteresis compensation or closed loop control provides a route for the creation of a new generation of high performance piezoelectric valves.

  11. Non-linear osmosis

    PubMed Central

    Diamond, Jared M.

    1966-01-01

    1. The relation between osmotic gradient and rate of osmotic water flow has been measured in rabbit gall-bladder by a gravimetric procedure and by a rapid method based on streaming potentials. Streaming potentials were directly proportional to gravimetrically measured water fluxes. 2. As in many other tissues, water flow was found to vary with gradient in a markedly non-linear fashion. There was no consistent relation between the water permeability and either the direction or the rate of water flow. 3. Water flow in response to a given gradient decreased at higher osmolarities. The resistance to water flow increased linearly with osmolarity over the range 186-825 m-osM. 4. The resistance to water flow was the same when the gall-bladder separated any two bathing solutions with the same average osmolarity, regardless of the magnitude of the gradient. In other words, the rate of water flow is given by the expression (Om — Os)/[Ro′ + ½k′ (Om + Os)], where Ro′ and k′ are constants and Om and Os are the bathing solution osmolarities. 5. Of the theories advanced to explain non-linear osmosis in other tissues, flow-induced membrane deformations, unstirred layers, asymmetrical series-membrane effects, and non-osmotic effects of solutes could not explain the results. However, experimental measurements of water permeability as a function of osmolarity permitted quantitative reconstruction of the observed water flow—osmotic gradient curves. Hence non-linear osmosis in rabbit gall-bladder is due to a decrease in water permeability with increasing osmolarity. 6. The results suggest that aqueous channels in the cell membrane behave as osmometers, shrinking in concentrated solutions of impermeant molecules and thereby increasing membrane resistance to water flow. A mathematical formulation of such a membrane structure is offered. PMID:5945254

  12. Feedback Control for Aerodynamics (Preprint)

    DTIC Science & Technology

    2006-09-01

    AFRL-VA-WP-TP-2006-348 FEEDBACK CONTROL FOR AERODYNAMICS (PREPRINT) R. Chris Camphouse, Seddik M. Djouadi, and James H. Myatt...CONSTRUCTION FOR THE DESIGN OF BOUNDARY FEEDBACK CONTROLS FROM REDUCED ORDER MODELS (PREPRINT) 5c. PROGRAM ELEMENT NUMBER 0601102F 5d. PROJECT NUMBER...

  13. L/superscript-p/ stability /p ranging from 1 to infinity/ of multivariable non-linear time-varying feedback systems that are open-loop unstable

    NASA Technical Reports Server (NTRS)

    Callier, F. M.; Desoer, C. A.

    1974-01-01

    The loop transformation technique (Sandberg, 1965; Zames, 1966, Willems, 1971), and the fixed point theorem (Schwartz, 1970) are used to derive the L(superscript-p) stability for a class of multivariable nonlinear time-varying feedback systems which are open-loop unstable. The application of the fixed point theorem in L(superscript-p) shows that the nonlinear feedback system has one and only one solution for any pair of inputs in L(superscript-p), that the solutions are continuously dependent on the inputs, and that the closed loop system is L(superscript-p)-stable for any p ranging from 1 to infinity.

  14. Research on output feedback control

    NASA Technical Reports Server (NTRS)

    Calise, Anthony J.

    1988-01-01

    A summary is presented of the main results obtained during the course of research on output feedback control. The term output feedback is used to denote a controller design approach which does not rely on an observer to estimate the states of the system. Thus, the order of the controller is fixed, and can even be zero order, which amounts to constant gain ouput feedback. The emphasis has been on optimal output feedback. That is, a fixed order controller is designed based on minimizing a suitably chosen quadratic performance index. A number of problem areas that arise in this context have been addressed. These include developing suitable methods for selecting an index of performance, both time domain and frequency domain methods for achieving robustness of the closed loop system, developing canonical forms to achieve a minimal parameterization for the controller, two time scale design formulations for ill-conditioned systems, and the development of convergent numerical algorithms for solving the output feedback problem.

  15. Storage Dynamics and Non-Linear Connectivity between Landscape Units Control Runoff Generation and Stream Water Age Distributions

    NASA Astrophysics Data System (ADS)

    Soulsby, C.; Birkel, C.; Geris, J.; Tetzlaff, D.

    2015-12-01

    We assess the influence of storage dynamics and non-linearities in hydrological connectivity on runoff generation and stream water ages, using a long-term record of daily isotopes in precipitation and stream flow. These were used to test a parsimonious tracer-aided runoff model for a Scottish catchment. The model tracks tracers and the ages of water fluxes through and between conceptual stores representing steeper hillslopes, dynamically saturated riparian peatlands and deeper groundwater (i.e. the main landscape units involved in runoff generation). Storage is largest in groundwater and on the steep hillslopes, though most dynamic mixing occurs in smaller stores in the riparian peat. The model also couples the ecohydrological effects of different vegetation communities in contrasting landscape units, by estimating evaporation, resulting moisture deficits and the ages of evaporated waters, which also affect the generation and age of runoff. Both stream flow and isotope variations are well-captured by the model, and the simulated storage and tracer dynamics in the main landscape units are consistent with independent measurements. The model predicts the mean age of runoff as ~1.8 years. On a daily basis, this varies from ~1 month in storm events, when younger waters draining the riparian peatland dominate, to around 4 years in dry periods, when groundwater sustains flow. Hydrological connectivity between the units varies non-linearly with storage which depends upon antecedent conditions and event characteristics. This, in turn, determines the spatial distribution of flow paths and the integration of their contrasting non-stationary ages. Improving the representation of storage dynamics and quantifying the ages of water fluxes in such models gives a more complete conceptualisation of the importance of the soil water fluxes in critical zone processes and a framework for tracking diffuse pollutants in water quality assessment.

  16. Infrared reduction, an efficient method to control the non-linear optical property of graphene oxide in femtosecond regime

    NASA Astrophysics Data System (ADS)

    Bhattacharya, S.; Maiti, R.; Saha, S.; Das, A. C.; Mondal, S.; Ray, S. K.; Bhaktha, S. B. N.; Datta, P. K.

    2016-04-01

    Graphene Oxide (GO) has been prepared by modified Hummers method and it has been reduced using an IR bulb (800-2000 nm). Both as grown GO and reduced graphene oxide (RGO) have been characterized using Raman spectroscopy and X-ray photoelectron spectroscopy (XPS). Raman spectra shows well documented Dband and G-band for both the samples while blue shift of G-band confirms chemical functionalization of graphene with different oxygen functional group. The XPS result shows that the as-prepared GO contains 52% of sp2 hybridized carbon due to the C=C bonds and 33% of carbon atoms due to the C-O bonds. As for RGO, increment of the atomic % of the sp2 hybridized carbon atom to 83% and rapid decrease in atomic % of C=O bonds confirm an efficient reduction with infrared radiation. UV-Visible absorption spectrum also confirms increment of conjugation with increased reduction. Non-linear optical properties of both GO and RGO are measured using single beam open aperture Z-Scan technique in femtosecond regime. Intensity dependent nonlinear phenomena are observed. Depending upon the intensity, both saturable absorption and two photon absorption contribute to the non-linearity of both the samples. Saturation dominates at low intensity (~ 127 GW/cm2) while two photon absorption become prominent at higher intensities (from 217 GW/cm2 to 302 GW/cm2). We have calculated the two-photon absorption co-efficient and saturation intensity for both the samples. The value of two photon absorption co-efficient (for GO~ 0.0022-0.0037 cm/GW and for RGO~ 0.0128-0.0143 cm/GW) and the saturation intensity (for GO~57 GW/cm2 and for RGO~ 194GW/cm2) is increased with reduction. Increase in two photon absorption coefficient with increasing intensity can also suggest that there may be multi-photon absorption is taking place.

  17. Non Linear Conjugate Gradient

    SciTech Connect

    Newman, Gregory A.; Commer, Michael

    2006-11-17

    Software that simulates and inverts electromagnetic field data for subsurface electrical properties (electrical conductivity) of geological media. The software treats data produced by a time harmonic source field excitation arising from the following antenna geometery: loops and grounded bipoles, as well as point electric and magnetic dioples. The inversion process is carried out using a non-linear conjugate gradient optimization scheme, which minimizes the misfit between field data and model data using a least squares criteria. The software is an upgrade from the code NLCGCS_MP ver 1.0. The upgrade includes the following components: Incorporation of new 1 D field sourcing routines to more accurately simulate the 3D electromagnetic field for arbitrary geologic& media, treatment for generalized finite length transmitting antenna geometry (antennas with vertical and horizontal component directions). In addition, the software has been upgraded to treat transverse anisotropy in electrical conductivity.

  18. Balanced bridge feedback control system

    NASA Technical Reports Server (NTRS)

    Lurie, Boris J. (Inventor)

    1990-01-01

    In a system having a driver, a motor, and a mechanical plant, a multiloop feedback control apparatus for controlling the movement and/or positioning of a mechanical plant, the control apparatus has a first local bridge feedback loop for feeding back a signal representative of a selected ratio of voltage and current at the output driver, and a second bridge feedback loop for feeding back a signal representative of a selected ratio of force and velocity at the output of the motor. The control apparatus may further include an outer loop for feeding back a signal representing the angular velocity and/or position of the mechanical plant.

  19. Thermodynamics of feedback controlled systems

    NASA Astrophysics Data System (ADS)

    Cao, F. J.; Feito, M.

    2009-04-01

    We compute the entropy reduction in feedback controlled systems due to the repeated operation of the controller. This was the lacking ingredient to establish the thermodynamics of these systems, and in particular of Maxwell’s demons. We illustrate some of the consequences of our general results by deriving the maximum work that can be extracted from isothermal feedback controlled systems. As a case example, we finally study a simple system that performs an isothermal information-fueled particle pumping.

  20. Robust Control Feedback and Learning

    DTIC Science & Technology

    2002-11-30

    98-1-0026 5b. GRANT NUMBER Robust Control, Feedback and Learning F49620-98-1-0026 5c. PROGRAM ELEMENT NUMBER 6. AUTHOR(S) 5d. PROJECT NUMBER Michael G...Standard Form 298 (Rev. 8-98) Prescribed by ANSI Std. Z39.18 Final Report: ROBUST CONTROL FEEDBACK AND LEARNING AFOSR Grant F49620-98-1-0026 October 1...Philadelphia, PA, 2000. [16] M. G. Safonov. Recent advances in robust control, feedback and learning . In S. 0. R. Moheimani, editor, Perspectives in Robust

  1. ASDTIC - A feedback control innovation.

    NASA Technical Reports Server (NTRS)

    Lalli, V. R.; Schoenfeld, A. D.

    1972-01-01

    The ASDTIC (analog signal to discrete time interval converter) control subsystem provides precise output control of high performance aerospace power supplies. The key to ASDTIC operation is that it stably controls output by sensing output energy change as well as output magnitude. The ASDTIC control subsystem and control module were developed to improve power supply performance during static and dynamic input voltage and output load variations, to reduce output voltage or current regulation due to component variations or aging, to maintain a stable feedback control with variations in the loop gain or loop time constants, and to standardize the feedback control subsystem for power conditioning equipment.

  2. Feedback Control of Rotor Overspeed

    NASA Technical Reports Server (NTRS)

    Churchill, G. B.

    1984-01-01

    Feedback system for automatically governing helicopter rotor speed promises to lessen pilot's workload, enhance maneuverability, and protect airframe. With suitable modifications, concept applied to control speed of electrical generators, automotive engines and other machinery.

  3. Feedback Control of Rotor Overspeed

    NASA Technical Reports Server (NTRS)

    Churchill, G. B.

    1984-01-01

    Feedback system for automatically governing helicopter rotor speed promises to lessen pilot's workload, enhance maneuverability, and protect airframe. With suitable modifications, concept applied to control speed of electrical generators, automotive engines and other machinery.

  4. On non-linear dynamics and control designs applied to the ideal and non-ideal variants of the Fitzhugh Nagumo (FN) mathematical model

    NASA Astrophysics Data System (ADS)

    Chavarette, Fábio Roberto; Balthazar, José Manoel; Peruzzi, Nelson José; Rafikov, Marat

    2009-03-01

    The Fitzhugh-Nagumo (FH) mathematical model is considered a simplification of the Hodgkin-Huxley (HH) model. This paper analyzes the non-linear dynamics of the Fitzhugh-Nagumo (FN) mathematical model, and still presents some modifications in the governing equations of the system in order to transform it into a non-ideal one (taking into account that an energy source has limited power supply). We also developed an optimal linear control design and used Sinhas's theory for the membrane's action potential in order to stabilize the variation of this potential.

  5. Insula Demonstrates a Non-Linear Response to Varying Demand for Cognitive Control and Weaker Resting Connectivity With the Executive Control Network in Smokers.

    PubMed

    Fedota, John R; Matous, Allison L; Salmeron, Betty Jo; Gu, Hong; Ross, Thomas J; Stein, Elliot A

    2016-09-01

    Deficits in cognitive control processes are a primary characteristic of nicotine addiction. However, while network-based connectivity measures of dysfunction have frequently been observed, empirical evidence of task-based dysfunction in these processes has been inconsistent. Here, in a sample of smokers (n=35) and non-smokers (n=21), a previously validated parametric flanker task is employed to characterize addiction-related alterations in responses to varying (ie, high, intermediate, and low) demands for cognitive control. This approach yields a demand-response curve that aims to characterize potential non-linear responses to increased demand for control, including insensitivities or lags in fully activating the cognitive control network. We further used task-based differences in activation between groups as seeds for resting-state analysis of network dysfunction in an effort to more closely link prior inconsistencies in task-related activation with evidence of impaired network connectivity in smokers. For both smokers and non-smokers, neuroimaging results showed similar increases in activation in brain areas associated with cognitive control. However, reduced activation in right insula was seen only in smokers and only when processing intermediate demand for cognitive control. Further, in smokers, this task-modulated right insula showed weaker functional connectivity with the superior frontal gyrus, a component of the task-positive executive control network. These results demonstrate that the neural instantiation of salience attribution in smokers is both more effortful to fully activate and has more difficulty communicating with the exogenous, task-positive, executive control network. Together, these findings further articulate the cognitive control dysfunction associated with smoking and illustrate a specific brain circuit potentially responsible.

  6. Development of a scientific torsional system experiment containing controlled single or dual-clearance non-linearities: Examination of step-responses

    NASA Astrophysics Data System (ADS)

    Krak, Michael D.; Singh, Rajendra

    2017-02-01

    The chief goal of this paper is to propose a new laboratory experiment that exhibits the step-response of a torsional system containing one or two controlled clearances. This work is motivated by the disadvantages of prior large-scale experiments which utilize production vehicle drivelines and their components with significant real-life complexities. The conceptual and physical design features, which include sizing, modal properties, excitation, and instrumentation, are discussed with the goal of creating a controlled experiment. Like prior literature, a step-down torque excitation is selected and all analyses are performed on the acceleration signals to observe vibro-impact in the time domain. Typical measurements (for both the single and dual-clearance configurations) exhibit rich non-linear behavior, including the double-sided impact regime and a time-varying oscillatory period. Additionally, new measurements are compared to predictions from simple reduced order non-linear models to verify the feasibility of the proposed experiment. Finally, the utility of this experiment is demonstrated by comparing its measurements to a prior large-scale experiment that accommodates a production vehicle clutch damper with multiple stages. The hardening and softening effects in both experiments are discussed in the context of double and single-sided impacts as well as the oscillatory periods that vary with time.

  7. Non-linear control of variable-speed wind turbines with permanent magnet synchronous generators: a robust backstepping approach

    NASA Astrophysics Data System (ADS)

    Şeker, Murat; Zergeroğlu, Erkan; Tatlicioğlu, Enver

    2016-01-01

    In this study, a robust backstepping approach for the control problem of the variable-speed wind turbine with a permanent magnet synchronous generator is presented. Specifically, to overcome the negative effects of parametric uncertainties in both mechanical and electrical subsystems, a robust controller with a differentiable compensation term is proposed. The proposed methodology ensures the generator velocity tracking error to uniformly approach a small bound where practical tracking is achieved. Stability of the overall system is ensured by Lyapunov-based arguments. Comparative simulation studies with a standard proportional-integral-type controller are performed to illustrate the effectiveness, feasibility and efficiency of the proposed controller.

  8. A direct application of the non-linear inverse transformation flight control system design on a STOVL aircraft

    NASA Technical Reports Server (NTRS)

    Chung, W. W.; Mcneill, W. E.; Stortz, M. W.

    1993-01-01

    The nonlinear inverse transformation flight control system design method is applied to the Lockheed Ft. Worth Company's E-7D short takeoff and vertical land (STOVL) supersonic fighter/attack aircraft design with a modified General Electric F110 engine which has augmented propulsive lift capability. The system is fully augmented to provide flight path control and velocity control, and rate command attitude hold for angular axes during the transition and hover operations. In cruise mode, the flight control system is configured to provide direct thrust command, rate command attitude hold for pitch and roll axes, and sideslip command with turn coordination. A control selector based on the nonlinear inverse transformation method is designed specifically to be compatible with the propulsion system's physical configuration which has a two dimensional convergent-divergent aft nozzle, a vectorable ventral nozzle, and a thrust augmented ejector. The nonlinear inverse transformation is used to determine the propulsive forces and nozzle deflections, which in combination with the aerodynamic forces and moments (including propulsive induced contributions), and gravitational force, are required to achieve the longitudinal and vertical acceleration commands. The longitudinal control axes are fully decoupled within the propulsion system's performance envelope. A piloted motion-base flight simulation was conducted on the Vertical Motion Simulator (VMS) at NASA Ames Research Center to examine the handling qualities of this design. Based on results of the simulation, refinements to the control system have been made and will also be covered in the report.

  9. Delayed feedback control of chaos.

    PubMed

    Pyragas, Kestutis

    2006-09-15

    Time-delayed feedback control is well known as a practical method for stabilizing unstable periodic orbits embedded in chaotic attractors. The method is based on applying feedback perturbation proportional to the deviation of the current state of the system from its state one period in the past, so that the control signal vanishes when the stabilization of the target orbit is attained. A brief review on experimental implementations, applications for theoretical models and most important modifications of the method is presented. Recent advancements in the theory, as well as an idea of using an unstable degree of freedom in a feedback loop to avoid a well-known topological limitation of the method, are described in detail.

  10. Design and Initial In-Water Testing of Advanced Non-Linear Control Algorithms onto an Unmanned Underwater Vehicle (UUV)

    DTIC Science & Technology

    2007-10-01

    controllable speeds, the ability to maintain a set distance and attitude ( pitch and roll ) relative to some surface for optimal sensor (both sonar and...bottom by adjusting its pitch and roll based on the information coming from the sonar sensor. Another task for the vehicle was to track a line along...are the roll , pitch , and yaw backstepping terms, Θbs. For attitude control, based on eqn. (2), we define the signal ωoc = Ω −1 ( −KΘΘ̃ + Θ̇c −Θbs

  11. Research on output feedback control

    NASA Technical Reports Server (NTRS)

    Calise, A. J.; Kramer, F. S.

    1985-01-01

    In designing fixed order compensators, an output feedback formulation has been adopted by suitably augmenting the system description to include the compensator states. However, the minimization of the performance index over the range of possible compensator descriptions was impeded due to the nonuniqueness of the compensator transfer function. A controller canonical form of the compensator was chosen to reduce the number of free parameters to its minimal number in the optimization. In the MIMO case, the controller form requires a prespecified set of ascending controllability indices. This constraint on the compensator structure is rather innocuous in relation to the increase in convergence rate of the optimization. Moreover, the controller form is easily relatable to a unique controller transfer function description. This structure of the compensator does not require penalizing the compensator states for a nonzero or coupled solution, a problem that occurs when following a standard output feedback synthesis formulation.

  12. Non-linear oscillations

    NASA Astrophysics Data System (ADS)

    Hagedorn, P.

    The mathematical pendulum is used to provide a survey of free and forced oscillations in damped and undamped systems. This simple model is employed to present illustrations for and comparisons between the various approximation schemes. A summary of the Liapunov stability theory is provided. The first and the second method of Liapunov are explained for autonomous as well as for nonautonomous systems. Here, a basic familiarity with the theory of linear oscillations is assumed. La Salle's theorem about the stability of invariant domains is explained in terms of illustrative examples. Self-excited oscillations are examined, taking into account such oscillations in mechanical and electrical systems, analytical approximation methods for the computation of self-excited oscillations, analytical criteria for the existence of limit cycles, forced oscillations in self-excited systems, and self-excited oscillations in systems with several degrees of freedom. Attention is given to Hamiltonian systems and an introduction to the theory of optimal control is provided.

  13. Quantum feedback control and classical control theory

    SciTech Connect

    Doherty, Andrew C.; Habib, Salman; Jacobs, Kurt; Mabuchi, Hideo; Tan, Sze M.

    2000-07-01

    We introduce and discuss the problem of quantum feedback control in the context of established formulations of classical control theory, examining conceptual analogies and essential differences. We describe the application of state-observer-based control laws, familiar in classical control theory, to quantum systems and apply our methods to the particular case of switching the state of a particle in a double-well potential. (c) 2000 The American Physical Society.

  14. Variable-Speed Wind Turbine Controller Systematic Design Methodology: A Comparison of Non-Linear and Linear Model-Based Designs

    SciTech Connect

    Hand, M. M.

    1999-07-30

    Variable-speed, horizontal axis wind turbines use blade-pitch control to meet specified objectives for three regions of operation. This paper focuses on controller design for the constant power production regime. A simple, rigid, non-linear turbine model was used to systematically perform trade-off studies between two performance metrics. Minimization of both the deviation of the rotor speed from the desired speed and the motion of the actuator is desired. The robust nature of the proportional-integral-derivative (PID) controller is illustrated, and optimal operating conditions are determined. Because numerous simulation runs may be completed in a short time, the relationship of the two opposing metrics is easily visualized. Traditional controller design generally consists of linearizing a model about an operating point. This step was taken for two different operating points, and the systematic design approach was used. A comparison of the optimal regions selected using the n on-linear model and the two linear models shows similarities. The linearization point selection does, however, affect the turbine performance slightly. Exploitation of the simplicity of the model allows surfaces consisting of operation under a wide range of gain values to be created. This methodology provides a means of visually observing turbine performance based upon the two metrics chosen for this study. Design of a PID controller is simplified, and it is possible to ascertain the best possible combination of controller parameters. The wide, flat surfaces indicate that a PID controller is very robust in this variable-speed wind turbine application.

  15. Experimental Feedback Control of Flow Induced Cavity Tones

    NASA Technical Reports Server (NTRS)

    Cabell, Randolph H.; Kegerise, Michael A.; Cox, David E.; Gibbs, Gary P.

    2002-01-01

    An experimental study of the application of discrete-time, linear quadratic control design methods to the cavity tone problem is described. State space models of the dynamics from a synthetic jet actuator at the leading edge of the cavity to two pressure sensors in the cavity were computed from experimental data. Variations in model order, control order, control bandwidth, and properties of a Kalman state estimator were studied. Feedback control reduced the levels of multiple cavity tones at Mach 0.275, 0.35, and 0.45. Closed loop performance was often limited by excitation of sidebands of cavity tones, and creation of new tones in the spectrum. State space models were useful for explaining some of these limitations, but were not able to account for non-linear dynamics, such as interactions between tones at different frequencies.

  16. Adaptive-feedback control algorithm.

    PubMed

    Huang, Debin

    2006-06-01

    This paper is motivated by giving the detailed proofs and some interesting remarks on the results the author obtained in a series of papers [Phys. Rev. Lett. 93, 214101 (2004); Phys. Rev. E 71, 037203 (2005); 69, 067201 (2004)], where an adaptive-feedback algorithm was proposed to effectively stabilize and synchronize chaotic systems. This note proves in detail the strictness of this algorithm from the viewpoint of mathematics, and gives some interesting remarks for its potential applications to chaos control & synchronization. In addition, a significant comment on synchronization-based parameter estimation is given, which shows some techniques proposed in literature less strict and ineffective in some cases.

  17. Feedback control and output feedback control for the stabilisation of switched Boolean networks

    NASA Astrophysics Data System (ADS)

    Li, Fangfei; Yu, Zhaoxu

    2016-02-01

    This paper presents the feedback control and output feedback control for the stabilisation of switched Boolean network. A necessary condition for the existence of a state feedback controller for the stabilisation of switched Boolean networks under arbitrary switching signal is derived first, and constructive procedures for feedback control and output feedback control design are provided. An example is introduced to show the effectiveness of this paper.

  18. Realizing actual feedback control of complex network

    NASA Astrophysics Data System (ADS)

    Tu, Chengyi; Cheng, Yuhua

    2014-06-01

    In this paper, we present the concept of feedbackability and how to identify the Minimum Feedbackability Set of an arbitrary complex directed network. Furthermore, we design an estimator and a feedback controller accessing one MFS to realize actual feedback control, i.e. control the system to our desired state according to the estimated system internal state from the output of estimator. Last but not least, we perform numerical simulations of a small linear time-invariant dynamics network and a real simple food network to verify the theoretical results. The framework presented here could make an arbitrary complex directed network realize actual feedback control and deepen our understanding of complex systems.

  19. Realizing actual feedback control of complex network

    NASA Astrophysics Data System (ADS)

    Tu, Chengyi; Cheng, Yuhua

    2014-06-01

    In this paper, we present the concept of feedbackability and how to identify the Minimum Feedbackability Set of an arbitrary complex directed network. Furthermore, we design an estimator and a feedback controller accessing one MFS to realize actual feedback control, i.e. control the system to our desired state according to the estimated system internal state from the output of estimator. Last but not least, we perform numerical simulations of a small linear time-invariant dynamics network and a real simple food network to verify the theoretical results. The framework presented here could make an arbitrary complex directed network realize actual feedback control and deepen our understanding of complex systems.

  20. Studies Of Positive-Position-Feedback Control

    NASA Technical Reports Server (NTRS)

    Fanson, James L.; Caughey, Thomas K.

    1992-01-01

    Report discusses theoretical and experimental studies of positive-position-feedback control for suppressing vibrations in large flexible structures. Positive-position-feedback control involves placement of actuators and sensors on structure; control voltages applied to actuators in response to outputs of sensors processed via compensator algorithm. Experiments demonstrate feasibility of suppressing vibrations by positive position feedback, and spillover of vibrational energy into uncontrolled modes has stabilizing effect if control gain sufficiently small.

  1. Studies Of Positive-Position-Feedback Control

    NASA Technical Reports Server (NTRS)

    Fanson, James L.; Caughey, Thomas K.

    1992-01-01

    Report discusses theoretical and experimental studies of positive-position-feedback control for suppressing vibrations in large flexible structures. Positive-position-feedback control involves placement of actuators and sensors on structure; control voltages applied to actuators in response to outputs of sensors processed via compensator algorithm. Experiments demonstrate feasibility of suppressing vibrations by positive position feedback, and spillover of vibrational energy into uncontrolled modes has stabilizing effect if control gain sufficiently small.

  2. Feedback Control Analysis Using Parameter Plane Techniques.

    DTIC Science & Technology

    1986-06-01

    compensation of linear control systems. General equations have been derived for the cases of feedback, cascade, and combination feedback-cascade...Bode and root-locus analyses, the program provides the capability to investigate ř% the entire gamut of linear control system architecture. A basis

  3. Solute transport under non-linear sorption and decay.

    PubMed

    Serrano, S E

    2001-04-01

    Contaminant transport in aquifers is usually represented by a solution to the advective-dispersive differential equation. When the contaminant is subject to non-linear degradation or decay, or it is characterized by a chemical constituent that follows a non-linear sorption isotherm, the resulting differential equation is non-linear. Using the method of decomposition, series solutions were obtained for the non-linear equation. The series were used to derive and test "simulant" solutions that aries using the concept of double decomposition. Simulant solutions are closed-form analytic expressions that approximate part of the series These expression are simple, stable, and flexible. They permit an accurate forecasting of contaminant propagation .under non-linearity in laboratory or field investigations at early or prolonged times after the spill. In this article, the practical scenario of an instantaneous spill, and that of a constant concentration boundary condition, is studied for situations of non-linear decay, non-linear Freundlich isotherm, and non-linear Langmuir isotherm. The solutions are verified with limited well-known analytical solutions of the linear reactive and non-reactive equations with excellent agreement, and with limited finite difference solutions. Plumes undergoing non-linear decay experience a profile re-scaling with respect to that of linear decay, the degree of which is controlled by magnitude of the non-linear parameter b. The direction of the scaling (scaling up or scaling down with respect to the linear decay plume) is controlled by the magnitude of C (whether greater or less than 1) in relation to the magnitude of b (whether greater or less than 1). When C>1, values of b<1 produce plumes that experience less decay (i.e., are scaled up) than that of the linear decay, whereas values of b> 1 produce non-linear plumes that experience more decay (i.e., are scaled down) than that of the linear decay. The opposite effect is observed when

  4. Feedback control of coupled-bunch instabilities

    SciTech Connect

    Fox, J.D.; Eisen, N.; Hindi, H.; Linscott, I.; Oxoby, G.; Sapozhnikov, L.; Serio, M.

    1993-05-01

    The next generation of synchrotron light sources and particle accelerators will require active feedback systems to control multi-bunch instabilities. Stabilizing hundreds or thousands of potentially unstable modes in these accelerator designs presents many technical challenges. Feedback systems to stabilize coupled-bunch instabilities may be understood in the frequency domain (mode-based feedback) or in the time domain (bunch-by-bunch feedback). In both approaches an external amplifier system is used to create damping fields that prevent coupled-bunch oscillations from growing without bound. The system requirements for transverse (betatron) and longitudinal (synchrotron) feedback are presented, and possible implementation options developed. Feedback system designs based on digital signal-processing techniques are described. Experimental results are shown from a synchrotron oscillation damper in the SSRL/SLAC storage ring SPEAR that uses digital signal-processing techniques.

  5. Control and diagnostic uses of feedback

    SciTech Connect

    Sen, A. K.

    2000-05-01

    Recent results on multimode feedback control of magnetohydrodynamic (MHD) modes and a variety of diagnostic uses of feedback are summarized. First, is the report on reduction and scaling of transport under feedback. By controlling the fluctuation amplitudes and consequently the transport via feedback, it is found that the scaling of the diffusion coefficient is linear with root-mean-square rms fluctuation level. The scaling appears not to agree with any generic theory. A variety of other diagnostic uses of feedback have been developed. The primary goal is an experimental methodology for the determination of dynamic models of plasma turbulence, both for better transport understanding and more credible feedback controller designs. A specific motivation is to search for a low-order dynamic model, suitable for the convenient study of both transport and feedback. First, the time series analysis method is used for the determination of chaotic attractor dimension of plasma fluctuations. For ExB rotational flute modes it is found to be close to three, indicating that a low-order dynamic model may be adequate for transport prediction and feedback controller design. Second, a new method for direct experimental determination of nonlinear dynamical models of plasma turbulence using feedback has been developed. Specifically, the process begins with a standard three-wave coupling model and introduces a variable feedback gain. The power spectrum, delayed power spectrum, and bispectrum of fluctuations are then experimentally obtained. By varying the feedback gain continuously, an arbitrary number of numerical equations for a fixed number of unknowns can be generated. Their numerical solution yields the linear dispersion, as well as nonlinear coupling coefficients. This method has been successfully applied for ExB rotationally driven flute modes. (c) 2000 American Institute of Physics.

  6. Three loop balanced bridge feedback pointing control

    NASA Technical Reports Server (NTRS)

    Lurie, Boris J.

    1988-01-01

    The balanced bridge feedback (BBF) technique developed in communication engineering is applied to the multiloop pointing control problem. Using colocated sensors, BBF decouples the motor loop from the mechanical plant and increases the feedback bandwidth in the motor and plant loops.

  7. Three loop balanced bridge feedback pointing control

    NASA Technical Reports Server (NTRS)

    Lurie, Boris J.

    1988-01-01

    The balanced bridge feedback (BBF) technique developed in communication engineering is applied to the multiloop pointing control problem. Using colocated sensors, BBF decouples the motor loop from the mechanical plant and increases the feedback bandwidth in the motor and plant loops.

  8. Artificial proprioceptive feedback for myoelectric control.

    PubMed

    Pistohl, Tobias; Joshi, Deepak; Ganesh, Gowrishankar; Jackson, Andrew; Nazarpour, Kianoush

    2015-05-01

    The typical control of myoelectric interfaces, whether in laboratory settings or real-life prosthetic applications, largely relies on visual feedback because proprioceptive signals from the controlling muscles are either not available or very noisy. We conducted a set of experiments to test whether artificial proprioceptive feedback, delivered noninvasively to another limb, can improve control of a two-dimensional myoelectrically-controlled computer interface. In these experiments, participants were required to reach a target with a visual cursor that was controlled by electromyogram signals recorded from muscles of the left hand, while they were provided with an additional proprioceptive feedback on their right arm by moving it with a robotic manipulandum. Provision of additional artificial proprioceptive feedback improved the angular accuracy of their movements when compared to using visual feedback alone but did not increase the overall accuracy quantified with the average distance between the cursor and the target. The advantages conferred by proprioception were present only when the proprioceptive feedback had similar orientation to the visual feedback in the task space and not when it was mirrored, demonstrating the importance of congruency in feedback modalities for multi-sensory integration. Our results reveal the ability of the human motor system to learn new inter-limb sensory-motor associations; the motor system can utilize task-related sensory feedback, even when it is available on a limb distinct from the one being actuated. In addition, the proposed task structure provides a flexible test paradigm by which the effectiveness of various sensory feedback and multi-sensory integration for myoelectric prosthesis control can be evaluated.

  9. NICMOS non-linearity tests

    NASA Astrophysics Data System (ADS)

    de Jong, Roelof

    2005-07-01

    This program incorporates a number of tests to analyse the count rate dependent non-linearity seen in NICMOS spectro-photometric observations. In visit 1 we will observe a few fields with stars of a range in luminosity in NGC1850 with NICMOS in NIC1 in F090M, F110W and F160W and NIC2 F110W, F160W, and F180W. We will repeat the observations with flatfield lamp on, creating artificially high count-rates, allowing tests of NICMOS linearity as function of count rate. To access the effect of charge trapping and persistence, we first take darks {so there is not too much charge already trapped}, than take exposures with the lamp off, exposures with the lamp on, and repeat at the end with lamp off. Finally, we continue with taking darks during occultation. In visit 2 we will observe spectro-photometric standard P041C using the G096 and G141 grisms in NIC3, and repeat the lamp off/on/off test to artificially create a high background. In visits 3&4 we repeat photometry measurements of faint standard stars SNAP-2 and WD1657+343, on which the NICMOS non-linearity was originally discovered using grism observations. These measurements are repeated, because previous photometry was obtained with too short exposure times, hence substantially affected by charge trapping non-linearity. Measurements will be made with NIC1: Visit 5 forms the persistence test of the program. The bright star GL-390 {used in a previous persistence test} will iluminate the 3 NICMOS detectors in turn for a fixed time, saturating the center many times, after which a series of darks will be taken to measure the persistence {i.e. trapped electrons and the decay time of the traps}. To determine the wavelength dependence of the trap chance, exposures of the bright star in different filters will be taken, as well as one in the G096 grism with NIC3. Most exposures will be 128s long, but two exposures in the 3rd orbit will be 3x longer, to seperate the effects of count rate versus total counts of the trap

  10. Feedback control and synchronization of Mandelbrot sets

    NASA Astrophysics Data System (ADS)

    Zhang, Yong-Ping

    2013-01-01

    The movement of a particle could be depicted by the Mandelbrot set from the fractal viewpoint. According to the requirement, the movement of the particle needs to show different behaviors. In this paper, the feedback control method is taken on the classical Mandelbrot set. By amending the feedback item in the controller, the control method is applied to the generalized Mandelbrot set and by taking the reference item to be the trajectory of another system, the synchronization of Mandelbrot sets is achieved.

  11. Non-linear Flood Risk Assessment

    NASA Astrophysics Data System (ADS)

    Mazzarella, A.

    The genesis of floodings is very complex depending on hydrologic, meteorological and evapo-transpirative factors that are linked among themselves in a non linear way with numerous feedback processes. The Cantor dust and the rank-ordering statistics supply a proper framework for identifying a kind of a non linear order in the time succession of the floodings and so provide a basis for their prediction. When a catalogue is analysed, it is necessary to test its completeness with respect to the size of the recorded events and results obtained from analysis of catalogues that do not take into account such a test are suspect and possibly wrong, or, at least, unreliable. Floodings have no instrumentally determined magnitude scale, like that conventionally used for earthquakes, and this is why they are generally described in qualitative terms. For this reason, a semi-quantitative index, called ASI (Alluvial Strength Index) has been here developed that combines attributes of alluvial triggering mechanisms and effects on the territorial and hydraulic system.The historical succession of alluvial events occurred at high valley of Po river (Northern Italy), mean valley of Calore river (Southern Italy) and at Sarno, near Naples, have been accurately reconstructed on the basis of old documents and classified according to their ASI. The catalogues have been verified to be complete only for events classified at least as moderate and this probably because many of the lowest energetic events, especially in the past, escaped the detection. The identification of scale-invariances in the time clustering of alluvial events, both on short and long time scales, even if indicative of the complexity of their genesis, might be very helpful for the assessment and reduction of the hazard of future disasters. For example, on the basis of the results of the rank-ordering statistics, the most probable occurrence of an alluvial event at Sarno, classified at least as strong, is predicted to occur

  12. Non-linear interactions between {CO}_2 radiative and physiological effects on Amazonian evapotranspiration in an Earth system model

    NASA Astrophysics Data System (ADS)

    Halladay, Kate; Good, Peter

    2016-11-01

    We present a detailed analysis of mechanisms underlying the evapotranspiration response to increased {CO}_2 in HadGEM2-ES, focussed on western Amazonia. We use three simulations from CMIP5 in which atmospheric {CO}_2 increases at 1% per year reaching approximately four times pre-industrial levels after 140 years. Using 3-hourly data, we found that evapotranspiration (ET) change was dominated by decreased stomatal conductance (g_s ), and to a lesser extent by decreased canopy water and increased moisture gradient (specific humidity difference between surface and near-surface). There were large, non-linear decreases in ET in the simulation in which radiative and physiological forcings could interact. This non-linearity arises from non-linearity in the conductance term (includes aerodynamic and stomatal resistance and partitioning between the two, which is determined by canopy water availability), the moisture gradient, and negative correlation between these two terms. The conductance term is non-linear because GPP responds non-linearly to temperature and GPP is the dominant control on g_s in HadGEM2-ES. In addition, canopy water declines, mainly due to increases in potential evaporation, which further decrease the conductance term. The moisture gradient responds non-linearly owing to the non-linear response of temperature to {CO}_2 increases, which increases the Bowen ratio. Moisture gradient increases resulting from ET decline increase ET and thus constitute a negative feedback. This analysis highlights the importance of the g_s parametrisation in determining the ET response and the potential differences between offline and online simulations owing to feedbacks on ET via the atmosphere, some of which would not occur in an offline simulation.

  13. Non-linear dynamics in parkinsonism.

    PubMed

    Darbin, Olivier; Adams, Elizabeth; Martino, Anthony; Naritoku, Leslie; Dees, Daniel; Naritoku, Dean

    2013-12-25

    Over the last 30 years, the functions (and dysfunctions) of the sensory-motor circuitry have been mostly conceptualized using linear modelizations which have resulted in two main models: the "rate hypothesis" and the "oscillatory hypothesis." In these two models, the basal ganglia data stream is envisaged as a random temporal combination of independent simple patterns issued from its probability distribution of interval interspikes or its spectrum of frequencies respectively. More recently, non-linear analyses have been introduced in the modelization of motor circuitry activities, and they have provided evidences that complex temporal organizations exist in basal ganglia neuronal activities. Regarding movement disorders, these complex temporal organizations in the basal ganglia data stream differ between conditions (i.e., parkinsonism, dyskinesia, healthy control) and are responsive to treatments (i.e., l-DOPA, deep brain stimulation). A body of evidence has reported that basal ganglia neuronal entropy (a marker for complexity/irregularity in time series) is higher in hypokinetic state. In line with these findings, an entropy-based model has been recently formulated to introduce basal ganglia entropy as a marker for the alteration of motor processing and a factor of motor inhibition. Importantly, non-linear features have also been identified as a marker of condition and/or treatment effects in brain global signals (EEG), muscular activities (EMG), or kinetic of motor symptoms (tremor, gait) of patients with movement disorders. It is therefore warranted that the non-linear dynamics of motor circuitry will contribute to a better understanding of the neuronal dysfunctions underlying the spectrum of parkinsonian motor symptoms including tremor, rigidity, and hypokinesia.

  14. Nonlinear feedback control of multiple robot arms

    NASA Technical Reports Server (NTRS)

    Tarn, T. J.; Yun, X.; Bejczy, A. K.

    1987-01-01

    Multiple coordinated robot arms are modeled by considering the arms: (1) as closed kinematic chains, and (2) as a force constrained mechanical system working on the same object simultaneously. In both formulations a new dynamic control method is discussed. It is based on a feedback linearization and simultaneous output decoupling technique. Applying a nonlinear feedback and a nonlinear coordinate transformation, the complicated model of the multiple robot arms in either formulation is converted into a linear and output decoupled system. The linear system control theory and optimal control theory are used to design robust controllers in the task space. The first formulation has the advantage of automatically handling the coordination and load distribution among the robot arms. In the second formulation, by choosing a general output equation, researchers can superimpose the position and velocity error feedback with the force-torque error feedback in the task space simultaneously.

  15. Experimental Feedback Control of Flow Induced Cavity Tones

    NASA Technical Reports Server (NTRS)

    Cabell, Randolph H.; Kegerise, Michael A.; Cox, David E.; Gibbs, Gary P.

    2005-01-01

    Discrete-time, linear quadratic methods were used to design feedback controllers for reducing tones generated by flow over a cavity. The dynamics of a synthetic jet actuator mounted at the leading edge of the cavity as observed by two microphones in the cavity were modeled over a broad frequency range using state space models computed from experimental data. Variations in closed loop performance as a function of model order, control order, control bandwidth, and state estimator design were studied using a cavity in the Probe Calibration Tunnel at NASA Langley. The controller successfully reduced the levels of multiple cavity tones at the tested flow speeds of Mach 0.275, 0.35, and 0.45. In some cases, the closed loop results were limited by excitation of sidebands of the cavity tones, or the creation of new tones at frequencies away from the cavity tones. Nonetheless, the results validate the combination of optimal control and experimentally-generated state space models, and suggest this approach may be useful for other flow control problems. The models were not able to account for non-linear dynamics, such as interactions between tones at different frequencies.

  16. Non-linear, connectivity and threshold-dominated runoff-generation controls DOC and heavy metal export in a small peat catchment

    NASA Astrophysics Data System (ADS)

    Birkel, Christian; Broder, Tanja; Biester, Harald

    2017-04-01

    Peat soils act as important carbon sinks, but they also release large amounts of dissolved organic carbon (DOC) to the aquatic system. The DOC export is strongly tied to the export of soluble heavy metals. The accumulation of potentially toxic substances due to anthropogenic activities, and their natural export from peat soils to the aquatic system is an important health and environmental issue. However, limited knowledge exists as to how much of these substances are mobilized, how they are mobilized in terms of flow pathways and under which hydrometeorological conditions. In this study, we report from a combined experimental and modelling effort to provide greater process understanding from a small, lead (Pb) and arsenic (As) contaminated upland peat catchment in northwestern Germany. We developed a minimally parameterized, but process-based, coupled hydrology-biogeochemistry model applied to simulate detailed hydrometric and biogeochemical data. The model was based on an initial data mining analysis, in combination with regression relationships of discharge, DOC and element export. We assessed the internal model DOC-processing based on stream-DOC hysteresis patterns and 3-hourly time step groundwater level and soil DOC data (not used for calibration as an independent model test) for two consecutive summer periods in 2013 and 2014. We found that Pb and As mobilization can be efficiently predicted from DOC transport alone, but Pb showed a significant non-linear relationship with DOC, while As was linearly related to DOC. The relatively parsimonious model (nine calibrated parameters in total) showed the importance of non-linear and rapid near-surface runoff-generation mechanisms that caused around 60% of simulated DOC load. The total load was high even though these pathways were only activated during storm events on average 30% of the monitoring time - as also shown by the experimental data. Overall, the drier period 2013 resulted in increased nonlinearity, but

  17. Feedback linearization application for LLRF control system

    SciTech Connect

    Kwon, S.; Regan, A.; Wang, Y.M.; Rohlev, T.

    1998-12-31

    The Low Energy Demonstration Accelerator (LEDA) being constructed at Los Alamos National Laboratory will serve as the prototype for the low energy section of Acceleration Production of Tritium (APT) accelerator. This paper addresses the problem of the LLRF control system for LEDA. The authors propose a control law which is based on exact feedback linearization coupled with gain scheduling which reduces the effect of the deterministic klystron cathode voltage ripple that is due to harmonics of the high voltage power supply and achieves tracking of desired set points. Also, they propose an estimator of the ripple and its time derivative and the estimates based feedback linearization controller.

  18. The fast correction coil feedback control system

    SciTech Connect

    Coffield, F.; Caporaso, G.; Zentler, J.M.

    1989-01-01

    A model-based feedback control system has been developed to correct beam displacement errors in the Advanced Test Accelerator (ATA) electron beam accelerator. The feedback control system drives an X/Y dipole steering system that has a 40-MHz bandwidth and can produce {+-}300-Gauss-cm dipole fields. A simulator was used to develop the control algorithm and to quantify the expected performance in the presence of beam position measurement noise and accelerator timing jitter. The major problem to date has been protecting the amplifiers from the voltage that is inductively coupled to the steering bars by the beam. 3 refs., 8 figs.

  19. Self-controlled feedback: does it enhance learning because performers get feedback when they need it?

    PubMed

    Chiviacowsky, Suzete; Wulf, Gabriele

    2002-12-01

    This paper examines whether self-controlled feedback schedules enhance learning, because they are more tailored to the performers' needs than externally controlled feedback schedules. Participants practiced a sequential timing task. One group of learners (self-control) was provided with feedback whenever they requested it, whereas another group (yoked) had no influence on the feedback schedule. The self-control group showed learning benefits on a delayed transfer test. Questionnaire results revealed that self-control learners asked for feedback primarily after good trials and yoked learners preferred to receive feedback after good trials. Analyses demonstrated that errors were lower on feedback than no-feedback trials for the self-control group but not for the yoked group. Thus, self-control participants appeared to use a strategy for requesting feedback. This might explain learning advantages of self-controlled practice.

  20. Exponential stability and robust H∞ control of a class of discrete-time switched non-linear systems with time-varying delays via T-S fuzzy model

    NASA Astrophysics Data System (ADS)

    Mao, Yanbing; Zhang, Hongbin

    2014-05-01

    This paper deals with stability and robust H∞ control of discrete-time switched non-linear systems with time-varying delays. The T-S fuzzy models are utilised to represent each sub-non-linear system. Thus, with two level functions, namely, crisp switching functions and local fuzzy weighting functions, we introduce a discrete-time switched fuzzy systems, which inherently contain the features of the switched hybrid systems and T-S fuzzy systems. Piecewise fuzzy weighting-dependent Lyapunov-Krasovskii functionals (PFLKFs) and average dwell-time approach are utilised in this paper for the exponentially stability analysis and controller design, and with free fuzzy weighting matrix scheme, switching control laws are obtained such that H∞ performance is satisfied. The conditions of stability and the control laws are given in the form of linear matrix inequalities (LMIs) that are numerically feasible. The state decay estimate is explicitly given. A numerical example and the control of delayed single link robot arm with uncertain part are given to demonstrate the efficiency of the proposed method.

  1. Design of an Internal Model Control strategy for single-phase grid-connected PWM inverters and its performance analysis with a non-linear local load and weak grid.

    PubMed

    Chaves, Eric N; Coelho, Ernane A A; Carvalho, Henrique T M; Freitas, Luiz C G; Júnior, João B V; Freitas, Luiz C

    2016-09-01

    This paper presents the design of a controller based on Internal Model Control (IMC) applied to a grid-connected single-phase PWM inverter. The mathematical modeling of the inverter and the LCL output filter, used to project the 1-DOF IMC controller, is presented and the decoupling of grid voltage by a Feedforward strategy is analyzed. A Proportional - Resonant Controller (P+Res) was used for the control of the same plant in the running of experimental results, thus moving towards the discussion of differences regarding IMC and P+Res performances, which arrived at the evaluation of the proposed control strategy. The results are presented for typical conditions, for weak-grid and for non-linear local load, in order to verify the behavior of the controller against such situations.

  2. Balanced-Bridge Feedback Control Of Motor

    NASA Technical Reports Server (NTRS)

    Lurie, Boris J.

    1990-01-01

    Sensitivity to variations in electrical and mechanical characteristics reduced. Proposed control system for motor-driven rotary actuator includes three nested feedback loops which, when properly designed, decoupled from each other. Intended to increase accuracy of control by mitigating such degrading effects as vibrations and variations in electrical and mechanical characteristics of structure rotated. Lends itself to optimization of performance via independent optimization of each of three loops. Includes outer, actuator, and driver feedback loops, configured so that actuator is subsystem, and driver is subsystem of actuator.

  3. Balanced-Bridge Feedback Control Of Motor

    NASA Technical Reports Server (NTRS)

    Lurie, Boris J.

    1990-01-01

    Sensitivity to variations in electrical and mechanical characteristics reduced. Proposed control system for motor-driven rotary actuator includes three nested feedback loops which, when properly designed, decoupled from each other. Intended to increase accuracy of control by mitigating such degrading effects as vibrations and variations in electrical and mechanical characteristics of structure rotated. Lends itself to optimization of performance via independent optimization of each of three loops. Includes outer, actuator, and driver feedback loops, configured so that actuator is subsystem, and driver is subsystem of actuator.

  4. Feedback control laws for highly maneuverable aircraft

    NASA Technical Reports Server (NTRS)

    Garrard, William L.; Balas, Gary J.

    1992-01-01

    The results of a study of the application of H infinity and mu synthesis techniques to the design of feedback control laws for the longitudinal dynamics of the High Angle of Attack Research Vehicle (HARV) are presented. The objective of this study is to develop methods for the design of feedback control laws which cause the closed loop longitudinal dynamics of the HARV to meet handling quality specifications over the entire flight envelope. Control law designs are based on models of the HARV linearized at various flight conditions. The control laws are evaluated by both linear and nonlinear simulations of typical maneuvers. The fixed gain control laws resulting from both the H infinity and mu synthesis techniques result in excellent performance even when the aircraft performs maneuvers in which the system states vary significantly from their equilibrium design values. Both the H infinity and mu synthesis control laws result in performance which compares favorably with an existing baseline longitudinal control law.

  5. Entanglement-assisted quantum feedback control

    NASA Astrophysics Data System (ADS)

    Yamamoto, Naoki; Mikami, Tomoaki

    2017-07-01

    The main advantage of quantum metrology relies on the effective use of entanglement, which indeed allows us to achieve strictly better estimation performance over the standard quantum limit. In this paper, we propose an analogous method utilizing entanglement for the purpose of feedback control. The system considered is a general linear dynamical quantum system, where the control goal can be systematically formulated as a linear quadratic Gaussian control problem based on the quantum Kalman filtering method; in this setting, an entangled input probe field is effectively used to reduce the estimation error and accordingly the control cost function. In particular, we show that, in the problem of cooling an opto-mechanical oscillator, the entanglement-assisted feedback control can lower the stationary occupation number of the oscillator below the limit attainable by the controller with a coherent probe field and furthermore beats the controller with an optimized squeezed probe field.

  6. Applying vision feedback to crane controller design

    NASA Astrophysics Data System (ADS)

    Lee, Lun-Hui; Huang, Pei-Hsiang; Pan, Shing-Tai; Wijaya Lie, Handra; Chiang, Tung-Chien; Chang, Cheng-Yuan

    2015-01-01

    Encoders are generally used to track the motion of industrial mechanisms. However, the information obtained by encoders may have errors due to encoder aging or mechanism-design problem. Therefore, information by visual feedback is a better way to track the movement of industrial mechanisms. However, image information costs lots of computing effort so it is not easy to be used in real-time control applications. This manuscript derives a simple but effective visual feedback method to follow the target and the image information is obtained only by a general handy camcorder. Besides, the proposed method can track multi-locations in a meantime. Fast image pattern recognition and localisation of the colour histogram by using a moving tracking block is applied to increase the calculation speed. Finally, the obtained locations information by the proposed visual feedback method is applied in an industrial crane control system to verify the effectiveness.

  7. Non-linear sequencing and cognizant failure

    NASA Astrophysics Data System (ADS)

    Gat, Erann

    1999-01-01

    Spacecraft are traditionally commanded using linear sequences of time-based commands. Linear sequences work fairly well, but they are difficult and expensive to generate, and are usually not capable of responding to contingencies. Any anomalous behavior while executing a linear sequence generally results in the spacecraft entering a safe mode. Critical sequences like orbit insertions which must be able to respond to faults without going into safe mode are particularly difficult to design and verify. The effort needed to generate command sequences can be reduced by extending the vocabulary of sequences to include more sophisticated control constructs. The simplest extensions are conditionals and loops. Adding these constructs would make a sequencing language look more or less like a traditional programming language or scripting language, and would come with all the difficulties associated with such a language. In particular, verifying the correctness of a sequence would be tantamount to verifying the correctness of a program, which is undecidable in general. We describe an extended vocabulary for non-linear sequencing based on the architectural notion of cognizant failure. A cognizant failure architecture is divided into components whose contract is to either achieve (or maintain) a certain condition, or report that they have failed to do so. Cognizant failure is an easier condition to verify than correctness, but it can provide high confidence in the safety of the spacecraft. Because cognizant failure inherently implies some kind of representation of the intent of an action, the system can respond to contingencies in more robust and general ways. We will describe an implemented non-linear sequencing system that is being flown on the NASA New Millennium Deep Space 1 Mission as part of the Remote Agent Experiment.

  8. Rapid control and feedback rates enhance neuroprosthetic control

    NASA Astrophysics Data System (ADS)

    Shanechi, Maryam M.; Orsborn, Amy L.; Moorman, Helene G.; Gowda, Suraj; Dangi, Siddharth; Carmena, Jose M.

    2017-01-01

    Brain-machine interfaces (BMI) create novel sensorimotor pathways for action. Much as the sensorimotor apparatus shapes natural motor control, the BMI pathway characteristics may also influence neuroprosthetic control. Here, we explore the influence of control and feedback rates, where control rate indicates how often motor commands are sent from the brain to the prosthetic, and feedback rate indicates how often visual feedback of the prosthetic is provided to the subject. We developed a new BMI that allows arbitrarily fast control and feedback rates, and used it to dissociate the effects of each rate in two monkeys. Increasing the control rate significantly improved control even when feedback rate was unchanged. Increasing the feedback rate further facilitated control. We also show that our high-rate BMI significantly outperformed state-of-the-art methods due to higher control and feedback rates, combined with a different point process mathematical encoding model. Our BMI paradigm can dissect the contribution of different elements in the sensorimotor pathway, providing a unique tool for studying neuroprosthetic control mechanisms.

  9. Rapid control and feedback rates enhance neuroprosthetic control

    PubMed Central

    Shanechi, Maryam M.; Orsborn, Amy L.; Moorman, Helene G.; Gowda, Suraj; Dangi, Siddharth; Carmena, Jose M.

    2017-01-01

    Brain-machine interfaces (BMI) create novel sensorimotor pathways for action. Much as the sensorimotor apparatus shapes natural motor control, the BMI pathway characteristics may also influence neuroprosthetic control. Here, we explore the influence of control and feedback rates, where control rate indicates how often motor commands are sent from the brain to the prosthetic, and feedback rate indicates how often visual feedback of the prosthetic is provided to the subject. We developed a new BMI that allows arbitrarily fast control and feedback rates, and used it to dissociate the effects of each rate in two monkeys. Increasing the control rate significantly improved control even when feedback rate was unchanged. Increasing the feedback rate further facilitated control. We also show that our high-rate BMI significantly outperformed state-of-the-art methods due to higher control and feedback rates, combined with a different point process mathematical encoding model. Our BMI paradigm can dissect the contribution of different elements in the sensorimotor pathway, providing a unique tool for studying neuroprosthetic control mechanisms. PMID:28059065

  10. Non-linearity in clinical practice.

    PubMed

    Petros, Peter

    2003-05-01

    The whole spectrum of medicine consists of complex non-linear systems that are balanced and interact with each other. How non-linearity confers stability on a system and explains variation and uncertainty in clinical medicine is discussed. A major theme is that a small alteration in initial conditions may have a major effect on the end result. In the context of non-linearity, it is argued that 'evidence-based medicine' (EBM) as it exists today can only ever be relevant to a small fraction of the domain of medicine, that the 'art of medicine' consists of an intuitive 'tuning in' to these complex systems and as such is not so much an art as an expression of non-linear science. The main cause of iatrogenic disease is interpreted as a failure to understand the complexity of the systems being treated. Case study examples are given and analysed in non-linear terms. It is concluded that good medicine concerns individualized treatment of an individual patient whose body functions are governed by non-linear processes. EBM as it exists today paints with a broad and limited brush, but it does promise a fresh new direction. In this context, we need to expand the spectrum of scientific medicine to include non-linearity, and to look upon the 'art of medicine' as a historical (but unstated) legacy in this domain.

  11. Chaos control using notch filter feedback.

    PubMed

    Ahlborn, Alexander; Parlitz, Ulrich

    2006-01-27

    A method for stabilizing periodic orbits and steady states of chaotic systems is presented using specifically filtered feedback signals. The efficiency of this control technique is illustrated with simulations (Rössler system, laser model) and a successful experimental application for stabilizing intensity fluctuations of an intracavity frequency-doubled Nd:YAG laser.

  12. Time-Delayed Quantum Feedback Control.

    PubMed

    Grimsmo, Arne L

    2015-08-07

    A theory of time-delayed coherent quantum feedback is developed. More specifically, we consider a quantum system coupled to a bosonic reservoir creating a unidirectional feedback loop. It is shown that the dynamics can be mapped onto a fictitious series of cascaded quantum systems, where the system is driven by past versions of itself. The derivation of this model relies on a tensor network representation of the system-reservoir time propagator. For concreteness, this general theory is applied to a driven two-level atom scattering into a coherent feedback loop. We demonstrate how delay effects can qualitatively change the dynamics of the atom and how quantum control can be implemented in the presence of time delays.

  13. Channel Capacity of Non-Linear Transmission Systems

    NASA Astrophysics Data System (ADS)

    Ellis, Andrew D.; Zhao, Jian

    Since their introduction in the late 1970s, the capacity of optical communication links has grown exponentially, fuelled by a series of key innovations including movement between the three telecommunication windows of 850 nm, 1,310 nm and 1,550 nm, distributed feedback laser, erbium-doped fibre amplifiers (EDFAs), dispersion-shifted and dispersion-managed fibre links, external modulation, wavelength division multiplexing, optical switching, forward error correction (FEC), Raman amplification, and most recently, coherent detection, electronic signal processing and optical orthogonal frequency division multiplexing (OFDM). Throughout this evolution, one constant factor has been the use of single-mode optical fibre, whose fundamental principles dated back to the 1800s, when Irish scientist, John Tyndall demonstrated in a lecture to the Royal Society in London that light could be guided through a curved stream of water [1]. Following many developments, including the proposal for waveguides by J.J. Thompson [2], the presentation of detailed calculations for dielectric waveguides by Snitzer [3], the proposal [4] and fabrication [5] of ultra low loss fibres, single-mode fibres were first adopted for non-experimental use in Dorset, UK in 1975, and are still in use today, despite the evolving designs to control chromatic dispersion and non-linearity.

  14. Studies on Feedback Control of Cardiac Alternans

    PubMed Central

    Dubljevic, Stevan; Lin, Shien-Fong; Christofides, Panagiotis

    2011-01-01

    A beat-to-beat variation in the electric wave propagation morphology in myocardium is referred to as cardiac alternans and it has been linked to the onset of life threatening arrhythmias and sudden cardiac death. Experimental studies have demonstrated that alternans can be annihilated by the feedback modulation of the basic pacing interval in a small piece of cardiac tissue. In this work, we study the capability of feedback control to suppress alternans both spatially and temporally in an extracted rabbit heart and in a cable of cardiac cells. This work demonstrates real-time control of cardiac alternans in an extracted rabbit heart and provides an analysis of the control methodology applied in the case of a one-dimensional (1D) cable of cardiac cells. The real-time system control is realized through feedback by proportional perturbation of the basic pacing cycle length (PCL). The measurements of the electric wave propagation are obtained by optical mapping of fluorescent dye from the surface of the heart and are fed into a custom-designed software that provides the control action signal that perturbs the basic pacing cycle length. In addition, a novel pacing protocol that avoids conduction block is applied. A numerical analysis, complementary to the experimental study is also carried out, by the ionic model of a 1D cable of cardiac cells under a self-referencing feedback protocol, which is identical to the one applied in the experimental study. Further, the amplitude of alternans linear parabolic PDE that is associated with the 1D ionic cardiac cell cable model under full state feedback control is analyzed. We provide an analysis of the amplitude of alternans parabolic PDE which admits a standard evolutionary form in a well defined functional space. Standard modal decomposition techniques are used in the analysis and the controller synthesis is carried out through pole-placement. State and output feedback controller realizations are developed and the important

  15. Limits of Feedback Control in Bacterial Chemotaxis

    PubMed Central

    Hernandez-Nunez, Luis; Emonet, Thierry

    2014-01-01

    Inputs to signaling pathways can have complex statistics that depend on the environment and on the behavioral response to previous stimuli. Such behavioral feedback is particularly important in navigation. Successful navigation relies on proper coupling between sensors, which gather information during motion, and actuators, which control behavior. Because reorientation conditions future inputs, behavioral feedback can place sensors and actuators in an operational regime different from the resting state. How then can organisms maintain proper information transfer through the pathway while navigating diverse environments? In bacterial chemotaxis, robust performance is often attributed to the zero integral feedback control of the sensor, which guarantees that activity returns to resting state when the input remains constant. While this property provides sensitivity over a wide range of signal intensities, it remains unclear how other parameters such as adaptation rate and adapted activity affect chemotactic performance, especially when considering that the swimming behavior of the cell determines the input signal. We examine this issue using analytical models and simulations that incorporate recent experimental evidences about behavioral feedback and flagellar motor adaptation. By focusing on how sensory information carried by the response regulator is best utilized by the motor, we identify an operational regime that maximizes drift velocity along chemical concentration gradients for a wide range of environments and sensor adaptation rates. This optimal regime is outside the dynamic range of the motor response, but maximizes the contrast between run duration up and down gradients. In steep gradients, the feedback from chemotactic drift can push the system through a bifurcation. This creates a non-chemotactic state that traps cells unless the motor is allowed to adapt. Although motor adaptation helps, we find that as the strength of the feedback increases individual

  16. Delayed feedback control in quantum transport.

    PubMed

    Emary, Clive

    2013-09-28

    Feedback control in quantum transport has been predicted to give rise to several interesting effects, among them quantum state stabilization and the realization of a mesoscopic Maxwell's daemon. These results were derived under the assumption that control operations on the system are affected instantaneously after the measurement of electronic jumps through it. In this contribution, I describe how to include a delay between detection and control operation in the master equation theory of feedback-controlled quantum transport. I investigate the consequences of delay for the state stabilization and Maxwell's daemon schemes. Furthermore, I describe how delay can be used as a tool to probe coherent oscillations of electrons within a transport system and how this formalism can be used to model finite detector bandwidth.

  17. Feedback control of bimodal wake dynamics

    NASA Astrophysics Data System (ADS)

    Li, Ruiying; Barros, Diogo; Borée, Jacques; Cadot, Olivier; Noack, Bernd R.; Cordier, Laurent

    2016-10-01

    Feedback control is applied to symmetrize the bimodal dynamics of a turbulent blunt body wake. The flow is actuated with two lateral slit jets and monitored with pressure sensors at the rear surface. The physics-based controller is inferred from preliminary open-loop tests and is capable of symmetrizing the wake. A slight pressure recovery is achieved due to the net balance between the favourable effect of wake symmetrization and adverse effect of shear-layer mixing and vortex shedding amplification.

  18. Optimal Feedback Control of Thermal Networks

    NASA Technical Reports Server (NTRS)

    Papalexandris, Miltiadis

    2003-01-01

    An improved approach to the mathematical modeling of feedback control of thermal networks has been devised. Heretofore software for feedback control of thermal networks has been developed by time-consuming trial-and-error methods that depend on engineers expertise. In contrast, the present approach is a systematic means of developing algorithms for feedback control that is optimal in the sense that it combines performance with low cost of implementation. An additional advantage of the present approach is that a thermal engineer need not be expert in control theory. Thermal networks are lumped-parameter approximations used to represent complex thermal systems. Thermal networks are closely related to electrical networks commonly represented by lumped-parameter circuit diagrams. Like such electrical circuits, thermal networks are mathematically modeled by systems of differential-algebraic equations (DAEs) that is, ordinary differential equations subject to a set of algebraic constraints. In the present approach, emphasis is placed on applications in which thermal networks are subject to constant disturbances and, therefore, integral control action is necessary to obtain steady-state responses. The mathematical development of the present approach begins with the derivation of optimal integral-control laws via minimization of an appropriate cost functional that involves augmented state vectors. Subsequently, classical variational arguments provide optimality conditions in the form of the Hamiltonian equations for the standard linear-quadratic-regulator (LQR) problem. These equations are reduced to an algebraic Riccati equation (ARE) with respect to the augmented state vector. The solution of the ARE leads to the direct computation of the optimal proportional- and integral-feedback control gains. In cases of very complex networks, large numbers of state variables make it difficult to implement optimal controllers in the manner described in the preceding paragraph.

  19. Local feedback control of light honeycomb panels.

    PubMed

    Hong, Chinsuk; Elliott, Stephen J

    2007-01-01

    This paper summarizes theoretical and experimental work on the feedback control of sound radiation from honeycomb panels using piezoceramic actuators. It is motivated by the problem of sound transmission in aircraft, specifically the active control of trim panels. Trim panels are generally honeycomb structures designed to meet the design requirement of low weight and high stiffness. They are resiliently mounted to the fuselage for the passive reduction of noise transmission. Local coupling of the closely spaced sensor and actuator was observed experimentally and modeled using a single degree of freedom system. The effect of the local coupling was to roll off the response between the actuator and sensor at high frequencies, so that a feedback control system can have high gain margins. Unfortunately, only relatively poor global performance is then achieved because of localization of reduction around the actuator. This localization prompts the investigation of a multichannel active control system. Globalized reduction was predicted using a model of 12-channel direct velocity feedback control. The multichannel system, however, does not appear to yield a significant improvement in the performance because of decreased gain margin.

  20. A cascade feedback control approach for hypnosis.

    PubMed

    Puebla, Hector; Alvarez-Ramírez, José

    2005-10-01

    This article studies the problem of controlling the drug administration during an anesthesia process, where muscle relaxation, analgesia, and hypnosis are regulated by means of monitored administration of specific drugs. On the basis of a seventh-order nonlinear pharmacokinetic-pharmacodynamic representation of the hypnosis process dynamics, a cascade (master/slave) feedback control structure for controlling the bispectral index (BIS) is proposed. The master controller compares the measured BIS with its reference value to provide the expired isoflurane concentration reference to the slave controller. In turn, the slave controller manipulates the anesthetic isoflurane concentration entering the anesthetic system to achieve the reference from the master controller. The advantage of the proposed cascade control structure with respect to its noncascade counterpart is that the former provides operation protection against BIS measurement failures. In fact, under a BIS measurement fault, the master control feedback is broken and the slave controller operates under a safe reference value. Extensive numerical simulations are used to illustrate the functioning of the proposed cascade control structure.

  1. Non-Linear Electrohydrodynamics in Microfluidic Devices

    PubMed Central

    Zeng, Jun

    2011-01-01

    Since the inception of microfluidics, the electric force has been exploited as one of the leading mechanisms for driving and controlling the movement of the operating fluid and the charged suspensions. Electric force has an intrinsic advantage in miniaturized devices. Because the electrodes are placed over a small distance, from sub-millimeter to a few microns, a very high electric field is easy to obtain. The electric force can be highly localized as its strength rapidly decays away from the peak. This makes the electric force an ideal candidate for precise spatial control. The geometry and placement of the electrodes can be used to design electric fields of varying distributions, which can be readily realized by Micro-Electro-Mechanical Systems (MEMS) fabrication methods. In this paper, we examine several electrically driven liquid handling operations. The emphasis is given to non-linear electrohydrodynamic effects. We discuss the theoretical treatment and related numerical methods. Modeling and simulations are used to unveil the associated electrohydrodynamic phenomena. The modeling based investigation is interwoven with examples of microfluidic devices to illustrate the applications. PMID:21673912

  2. Feedback control of subcritical oscillatory instabilities.

    PubMed

    Golovin, A A; Nepomnyashchy, A A

    2006-04-01

    Feedback control of a subcritical oscillatory instability is investigated in the framework of a globally-controlled complex Ginzburg-Landau equation that describes the nonlinear dynamics near the instability threshold. The control is based on a feedback loop between the system linear growth rate and the maximum of the amplitude of the emerging pattern. It is shown that such control can suppress the blow up and result in the formation of spatially localized pulses similar to oscillons. In the one-dimensional case, depending on the values of the linear and nonlinear dispersion coefficients, several types of the pulse dynamics are possible in which the computational domain contains: (i) a single stationary pulse; (ii) several coexisting stationary pulses; (iii) competing pulses that appear one after another at random locations so that at each moment of time there is only one pulse in the domain; (iv) spatiotemporally chaotic system of short pulses; (v) spatially-synchronized pulses. Similar dynamic behavior is found also in the two-dimensional case. The effect of the feedback delay is also studied. It is shown that the increase of the delay leads to an oscillatory instability of the pulses and the formation of pulses with oscillating amplitude.

  3. Proceedings of the Non-Linear Aero Prediction Requirements Workshop

    NASA Technical Reports Server (NTRS)

    Logan, Michael J. (Editor)

    1994-01-01

    The purpose of the Non-Linear Aero Prediction Requirements Workshop, held at NASA Langley Research Center on 8-9 Dec. 1993, was to identify and articulate requirements for non-linear aero prediction capabilities during conceptual/preliminary design. The attendees included engineers from industry, government, and academia in a variety of aerospace disciplines, such as advanced design, aerodynamic performance analysis, aero methods development, flight controls, and experimental and theoretical aerodynamics. Presentations by industry and government organizations were followed by panel discussions. This report contains copies of the presentations and the results of the panel discussions.

  4. Autonomic control of heart rate during non-linear incremental upper-limb resistance exercise with elastic bands in young healthy female subjects.

    PubMed

    Ramos Batalha, Priscila; Borghi-Silva, Audrey; Campos Freire, Renato; Zanela DA Silva Arêas, Fernando; Peixoto Tinoco Arêas, Guilherme

    2016-11-01

    Elastic bands are therapeutic tools widely used in rehabilitation. However, knowledge regarding autonomic cardiovascular overload during this type of resistance exercise is limited. This study assessed the autonomic control of heart rate during an incremental exercise protocol with elastic bands in sedentary healthy young individuals. Ten young women were subjected to an exercise protocol involving bilateral shoulder flexion to 90° with various thicknesses of elastic bands; the exercise was performed for 36 uninterrupted repetitions with a 15-minute rest interval between sets. During the exercise, the RR intervals (R-Ri) were collected and determined, the heart rate variability was analyzed. All subjects completed the exercise protocol. Heart rate increased, and RR intervals decreased from the yellow elastic band onward. However, the square root of the sum of the square of the difference of RR intervals divided by the number of RR interval, standard deviation of the arithmetic mean of all normal RR intervals, and standard deviation of the RR interval instantaneous intervals of type I decreased significantly when performed with the green band onward (P<0.05). Exercise with progressive elastic load increases heart rate. However, the green elastic band induces less total and parasympathetic modulation heart rate variability.

  5. Structural identifiability for a class of non-linear compartmental systems using linear/non-linear splitting and symbolic computation.

    PubMed

    Chapman, Michael J; Godfrey, Keith R; Chappell, Michael J; Evans, Neil D

    2003-05-01

    Under certain controllability and observability restrictions, two different parameterisations for a non-linear compartmental model can only have the same input-output behaviour if they differ by a locally diffeomorphic change of basis for the state space. With further restrictions, it is possible to gain valuable information with respect to identifiability via a linear analysis. Examples are presented where non-linear identifiability analyses are substantially simplified by means of an initial linear analysis. For complex models, with four or more compartments, this linear analysis can prove lengthy to perform by hand and so symbolic computation has been employed to aid this procedure.

  6. Neural network modelling of non-linear hydrological relationships

    NASA Astrophysics Data System (ADS)

    Abrahart, R. J.; See, L. M.

    2007-09-01

    Two recent studies have suggested that neural network modelling offers no worthwhile improvements in comparison to the application of weighted linear transfer functions for capturing the non-linear nature of hydrological relationships. The potential of an artificial neural network to perform simple non-linear hydrological transformations under controlled conditions is examined in this paper. Eight neural network models were developed: four full or partial emulations of a recognised non-linear hydrological rainfall-runoff model; four solutions developed on an identical set of inputs and a calculated runoff coefficient output. The use of different input combinations enabled the competencies of solutions developed on a reduced number of parameters to be assessed. The selected hydrological model had a limited number of inputs and contained no temporal component. The modelling process was based on a set of random inputs that had a uniform distribution and spanned a modest range of possibilities. The initial cloning operations permitted a direct comparison to be performed with the equation-based relationship. It also provided more general information about the power of a neural network to replicate mathematical equations and model modest non-linear relationships. The second group of experiments explored a different relationship that is of hydrological interest; the target surface contained a stronger set of non-linear properties and was more challenging. Linear modelling comparisons were performed against traditional least squares multiple linear regression solutions developed on identical datasets. The reported results demonstrate that neural networks are capable of modelling non-linear hydrological processes and are therefore appropriate tools for hydrological modelling.

  7. Active Nonlinear Feedback Control for Aerospace Systems. Processor

    DTIC Science & Technology

    1990-12-01

    relating to the role of nonlinearities in feedback control. These area include Lyapunov function theory, chaotic controllers, statistical energy analysis , phase robustness, and optimal nonlinear control theory.

  8. Wide power range microwave feedback controller

    NASA Technical Reports Server (NTRS)

    Titus, L. E. (Inventor)

    1978-01-01

    A substantially constant power level is derived over a predetermined frequency band, in each of a plurality of relatively widely spaced power ranges, from a microwave load having a predetermined amplitude versus frequency response, such as an antenna. A microwave source of substantially constant amplitude drives a forward path connected between the source and the load. A feedback path responsive to the microwave power level in the forward path derives a control voltage for the PIN attenuator. The equalizer attenuator drives a linear, crystal amplitude detector. Attenuating means included in the forward and feedback paths are selectively connected in circuit to maintain the power level of the microwave input to the amplitude detector substantially constant, even though different power ranges are supplied to the load by the forward path.

  9. Stability of non-linear integrable accelerator

    SciTech Connect

    Batalov, I.; Valishev, A.; /Fermilab

    2011-09-01

    The stability of non-linear Integrable Optics Test Accelerator (IOTA) model developed in [1] was tested. The area of the stable region in transverse coordinates and the maximum attainable tune spread were found as a function of non-linear lens strength. Particle loss as a function of turn number was analyzed to determine whether a dynamic aperture limitation present in the system. The system was also tested with sextupoles included in the machine for chromaticity compensation. A method of evaluation of the beam size in the linear part of the accelerator was proposed.

  10. Non-linear Post Processing Image Enhancement

    NASA Technical Reports Server (NTRS)

    Hunt, Shawn; Lopez, Alex; Torres, Angel

    1997-01-01

    A non-linear filter for image post processing based on the feedforward Neural Network topology is presented. This study was undertaken to investigate the usefulness of "smart" filters in image post processing. The filter has shown to be useful in recovering high frequencies, such as those lost during the JPEG compression-decompression process. The filtered images have a higher signal to noise ratio, and a higher perceived image quality. Simulation studies comparing the proposed filter with the optimum mean square non-linear filter, showing examples of the high frequency recovery, and the statistical properties of the filter are given,

  11. Direct discrete-time design approach to robust ? sampled-data observer-based output-feedback fuzzy control

    NASA Astrophysics Data System (ADS)

    Kim, Do Wan; Lee, Ho Jae

    2016-01-01

    This paper addresses a direct discrete-time design methodology for a robust ? sampled-data observer-based output-feedback stabilisation problem for a class of non-linear systems suffering from parametric uncertainties and disturbances that is identically modelled as a Takagi-Sugeno (T-S) fuzzy model at least locally. The primary features in the current development are that (1) we are based on an exact (rather than approximate) discrete-time model in an integral (rather than closed) form while (2) the ? control performance is characterised with respect to an ? (rather than l2) norm. It is shown that the uncertain sampled-data non-linear control system is robustly asymptotically stable if the employed discrete-time model is so. Design conditions are investigated in the discrete-time Lyapunov sense and concretised in the format of linear matrix inequalities.

  12. Smart building temperature control using occupant feedback

    NASA Astrophysics Data System (ADS)

    Gupta, Santosh K.

    This work was motivated by the problem of computing optimal commonly-agreeable thermal settings in spaces with multiple occupants. In this work we propose algorithms that take into account each occupant's preferences along with the thermal correlations between different zones in a building, to arrive at optimal thermal settings for all zones of the building in a coordinated manner. In the first part of this work we incorporate active occupant feedback to minimize aggregate user discomfort and total energy cost. User feedback is used to estimate the users comfort range, taking into account possible inaccuracies in the feedback. The control algorithm takes the energy cost into account, trading it off optimally with the aggregate user discomfort. A lumped heat transfer model based on thermal resistance and capacitance is used to model a multi-zone building. We provide a stability analysis and establish convergence of the proposed solution to a desired temperature that minimizes the sum of energy cost and aggregate user discomfort. However, for convergence to the optimal, sufficient separation between the user feedback frequency and the dynamics of the system is necessary; otherwise, the user feedback provided do not correctly reflect the effect of current control input value on user discomfort. The algorithm is further extended using singular perturbation theory to determine the minimum time between successive user feedback solicitations. Under sufficient time scale separation, we establish convergence of the proposed solution. Simulation study and experimental runs on the Watervliet based test facility demonstrates performance of the algorithm. In the second part we develop a consensus algorithm for attaining a common temperature set-point that is agreeable to all occupants of a zone in a typical multi-occupant space. The information on the comfort range functions is indeed held privately by each occupant. Using occupant differentiated dynamically adjusted prices as

  13. Feedback control in an active antenna structure

    NASA Astrophysics Data System (ADS)

    Garcia, E.; Dosch, J.; Inman, D. J.

    A laboratory structure, representative of a flexible antenna, has been constructed to emulate dynamic qualities of a large flexible space antenna. This ribbed antenna is modeled after the Control Structure Interaction (CSI) Program's Evolutionary Model. This structure has many closely spaced and repeated low frequency vibration modes which are lightly damped and appear in clumps, or modal clusters. These characteristics make the control of vibrations challenging and difficult to implement. Because of the fragile nature of the ribs piezoceramic sensors and actuators form a natural control system for vibration suppression. This experimental smart antenna structure test bed has been used as a test bed for the verification of various control schemes. Some preliminary results of a positive position feedback control scheme for this system are presented. Additionally, we will introduce the concept of a self-sensing piezoelectric actuator. A self-sensing actuator permits one piezoelectric element to serve both as an actuator and a sensor.

  14. Optogenetic feedback control of neural activity

    PubMed Central

    Newman, Jonathan P; Fong, Ming-fai; Millard, Daniel C; Whitmire, Clarissa J; Stanley, Garrett B; Potter, Steve M

    2015-01-01

    Optogenetic techniques enable precise excitation and inhibition of firing in specified neuronal populations and artifact-free recording of firing activity. Several studies have suggested that optical stimulation provides the precision and dynamic range requisite for closed-loop neuronal control, but no approach yet permits feedback control of neuronal firing. Here we present the ‘optoclamp’, a feedback control technology that provides continuous, real-time adjustments of bidirectional optical stimulation in order to lock spiking activity at specified targets over timescales ranging from seconds to days. We demonstrate how this system can be used to decouple neuronal firing levels from ongoing changes in network excitability due to multi-hour periods of glutamatergic or GABAergic neurotransmission blockade in vitro as well as impinging vibrissal sensory drive in vivo. This technology enables continuous, precise optical control of firing in neuronal populations in order to disentangle causally related variables of circuit activation in a physiologically and ethologically relevant manner. DOI: http://dx.doi.org/10.7554/eLife.07192.001 PMID:26140329

  15. Optimal feedback control of turbulent channel flow

    NASA Technical Reports Server (NTRS)

    Bewley, Thomas; Choi, Haecheon; Temam, Roger; Moin, Parviz

    1993-01-01

    Feedback control equations were developed and tested for computing wall normal control velocities to control turbulent flow in a channel with the objective of reducing drag. The technique used is the minimization of a 'cost functional' which is constructed to represent some balance of the drag integrated over the wall and the net control effort. A distribution of wall velocities is found which minimizes this cost functional some time shortly in the future based on current observations of the flow near the wall. Preliminary direct numerical simulations of the scheme applied to turbulent channel flow indicates it provides approximately 17 percent drag reduction. The mechanism apparent when the scheme is applied to a simplified flow situation is also discussed.

  16. Non-linear cord-rubber composites

    NASA Technical Reports Server (NTRS)

    Clark, S. K.; Dodge, R. N.

    1989-01-01

    A method is presented for calculating the stress-strain relations in a multi-layer composite made up of materials whose individual stress-strain characteristics are non-linear and possibly different. The method is applied to the case of asymmetric tubes in tension, and comparisons with experimentally measured data are given.

  17. Possibilities Of Optically Non Linear Thin Films

    NASA Astrophysics Data System (ADS)

    De Micheli, Marc; Zyss, Joseph; Azema, Alain

    1983-11-01

    Efficient integrated frequency doubling devices transparent in the visible and near I.R. are demanded by a number of applications. The optimization of both wave interaction configurations and material intrinsic nonlinear susceptibility are successively discussed within this scope. Basic features such as power confinement, interaction length dependence, phase matching techniques, underlying the second harmonic generation conversion rate in bulk and waveguided structures are compared. Undoped Ga As film epitaxied over n+ doped Ga As substrate and TIPE Lithium Lobate waveguides exemplify the possibilities of non linear thin films. The higher non linear susceptibility of certain organic molecular single crys-tals should help raise the efficiency of doubling devices. We report the definition and bulk performances of two non linear organic crystals, namely POM (3-methyl-4 nitropyridine-1-oxyde) and MAP (methyl-(2,4-dinitropheny1)-aminopropanoate) with a figure of merit up to one order of magnitude above that of Li Nb 03. The combination of organic materials and waveguided configuration should lead to a new generation of non linear devices.

  18. Feedback control in planarian stem cell systems.

    PubMed

    Mangel, Marc; Bonsall, Michael B; Aboobaker, Aziz

    2016-02-13

    In planarian flatworms, the mechanisms underlying the activity of collectively pluripotent adult stem cells (neoblasts) and their descendants can now be studied from the level of the individual gene to the entire animal. Flatworms maintain startling developmental plasticity and regenerative capacity in response to variable nutrient conditions or injury. We develop a model for cell dynamics in such animals, assuming that fully differentiated cells exert feedback control on neoblast activity. Our model predicts a number of whole organism level and general cell biological and behaviours, some of which have been empirically observed or inferred in planarians and others that have not. As previously observed empirically we find: 1) a curvilinear relationship between external food and planarian steady state size; 2) the fraction of neoblasts in the steady state is constant regardless of planarian size; 3) a burst of controlled apoptosis during regeneration after amputation as the number of differentiated cells are adjusted towards their homeostatic/steady state level. In addition our model describes the following properties that can inform and be tested by future experiments: 4) the strength of feedback control from differentiated cells to neoblasts (i.e. the activity of the signalling system) and from neoblasts on themselves in relation to absolute number depends upon the level of food in the environment; 5) planarians adjust size when food level reduces initially through increased apoptosis and then through a reduction in neoblast self-renewal activity; 6) following wounding or excision of differentiated cells, different time scales characterize both recovery of size and the two feedback functions; 7) the temporal pattern of feedback controls differs noticeably during recovery from a removal or neoblasts or a removal of differentiated cells; 8) the signaling strength for apoptosis of differentiated cells depends upon both the absolute and relative deviations of the

  19. Achieving modulated oscillations by feedback control.

    PubMed

    Ge, Tian; Tian, Xiaoying; Kurths, Jürgen; Feng, Jianfeng; Lin, Wei

    2014-08-01

    In this paper, we develop an approach to achieve either frequency or amplitude modulation of an oscillator merely through feedback control. We present and implement a unified theory of our approach for any finite-dimensional continuous dynamical system that exhibits oscillatory behavior. The approach is illustrated not only for the normal forms of dynamical systems but also for representative biological models, such as the isolated and coupled FitzHugh-Nagumo model. We demonstrate the potential usefulness of our approach to uncover the mechanisms of frequency and amplitude modulations experimentally observed in a wide range of real systems.

  20. Achieving modulated oscillations by feedback control

    NASA Astrophysics Data System (ADS)

    Ge, Tian; Tian, Xiaoying; Kurths, Jürgen; Feng, Jianfeng; Lin, Wei

    2014-08-01

    In this paper, we develop an approach to achieve either frequency or amplitude modulation of an oscillator merely through feedback control. We present and implement a unified theory of our approach for any finite-dimensional continuous dynamical system that exhibits oscillatory behavior. The approach is illustrated not only for the normal forms of dynamical systems but also for representative biological models, such as the isolated and coupled FitzHugh-Nagumo model. We demonstrate the potential usefulness of our approach to uncover the mechanisms of frequency and amplitude modulations experimentally observed in a wide range of real systems.

  1. On the stability of delayed feedback controllers

    NASA Astrophysics Data System (ADS)

    Morgül, Ömer

    2003-08-01

    We consider the stability of delayed feedback control (DFC) scheme for one-dimensional discrete time systems. We first construct a map whose fixed points correspond to the periodic orbits of the uncontrolled system. Then the stability of the DFC is analyzed as the stability of the corresponding equilibrium point of the constructed map. For each periodic orbit, we construct a characteristic polynomial whose Schur stability corresponds to the stability of DFC. By using Schur-Cohn criterion, we can find bounds on the gain of DFC to ensure stability.

  2. Non-linear aeroelastic prediction for aircraft applications

    NASA Astrophysics Data System (ADS)

    de C. Henshaw, M. J.; Badcock, K. J.; Vio, G. A.; Allen, C. B.; Chamberlain, J.; Kaynes, I.; Dimitriadis, G.; Cooper, J. E.; Woodgate, M. A.; Rampurawala, A. M.; Jones, D.; Fenwick, C.; Gaitonde, A. L.; Taylor, N. V.; Amor, D. S.; Eccles, T. A.; Denley, C. J.

    2007-05-01

    in this domain. This is set within the context of a generic industrial process and the requirements of UK and US aeroelastic qualification. A range of test cases, from simple small DOF cases to full aircraft, have been used to evaluate and validate the non-linear methods developed and to make comparison with the linear methods in everyday use. These have focused mainly on aerodynamic non-linearity, although some results for structural non-linearity are also presented. The challenges associated with time domain (coupled computational fluid dynamics-computational structural model (CFD-CSM)) methods have been addressed through the development of grid movement, fluid-structure coupling, and control surface movement technologies. Conclusions regarding the accuracy and computational cost of these are presented. The computational cost of time-domain methods, despite substantial improvements in efficiency, remains high. However, significant advances have been made in reduced order methods, that allow non-linear behaviour to be modelled, but at a cost comparable with that of the regular linear methods. Of particular note is a method based on Hopf bifurcation that has reached an appropriate maturity for deployment on real aircraft configurations, though only limited results are presented herein. Results are also presented for dynamically linearised CFD approaches that hold out the possibility of non-linear results at a fraction of the cost of time coupled CFD-CSM methods. Local linearisation approaches (higher order harmonic balance and continuation method) are also presented; these have the advantage that no prior assumption of the nature of the aeroelastic instability is required, but currently these methods are limited to low DOF problems and it is thought that these will not reach a level of maturity appropriate to real aircraft problems for some years to come. Nevertheless, guidance on the most likely approaches has been derived and this forms the basis for ongoing

  3. Reflectance feedback control of photocoagulation in vivo

    NASA Astrophysics Data System (ADS)

    Jerath, Maya R.; Chundru, Ravi K.; Barrett, Steven F.; Rylander, Henry G., III; Welch, Ashley J.

    1993-06-01

    Laser induced retinal lesions are used to treat a variety of eye diseases such as diabetic retinopathy and retinal detachment. In this treatment, an argon laser beam is directed into the eye through the pupil onto the fundus where the heat resulting from the absorbed laser light coagulates the retinal tissue. This thermally damaged region is highly scattering and appears as a white disk. The size of the retinal lesions is critical for effective treatment and minimal complications. A real time feedback control system is implemented that monitors lesion growth using two-dimensional reflectance images acquired by a CCD camera. The camera views the lesion formation on axis with the coagulating laser beam. The reflectance images are acquired and processed as the lesion forms. When parameters of the reflectance images that are correlated to lesion dimensions meet certain preset thresholds, the laser is shuttered. Results of feedback controlled lesions formed in vivo in pigmented rabbits are presented. An ability to produce uniform lesions despite variation in the tissue absorption or changes in laser power is demonstrated. This lesion control system forms part of a larger automated system for retinal photocoagulation.

  4. Feedback controlled hybrid fast ferrite tuners

    SciTech Connect

    Remsen, D.B.; Phelps, D.A.; deGrassie, J.S.; Cary, W.P.; Pinsker, R.I.; Moeller, C.P.; Arnold, W.; Martin, S.; Pivit, E.

    1993-09-01

    A low power ANT-Bosch fast ferrite tuner (FFT) was successfully tested into (1) the lumped circuit equivalent of an antenna strap with dynamic plasma loading, and (2) a plasma loaded antenna strap in DIII-D. When the FFT accessible mismatch range was phase-shifted to encompass the plasma-induced variation in reflection coefficient, the 50 {Omega} source was matched (to within the desired 1.4 : 1 voltage standing wave ratio). The time required to achieve this match (i.e., the response time) was typically a few hundred milliseconds, mostly due to a relatively slow network analyzer-computer system. The response time for the active components of the FFT was 10 to 20 msec, or much faster than the present state-of-the-art for dynamic stub tuners. Future FFT tests are planned, that will utilize the DIII-D computer (capable of submillisecond feedback control), as well as several upgrades to the active control circuit, to produce a FFT feedback control system with a response time approaching 1 msec.

  5. Speech production as state feedback control.

    PubMed

    Houde, John F; Nagarajan, Srikantan S

    2011-01-01

    Spoken language exists because of a remarkable neural process. Inside a speaker's brain, an intended message gives rise to neural signals activating the muscles of the vocal tract. The process is remarkable because these muscles are activated in just the right way that the vocal tract produces sounds a listener understands as the intended message. What is the best approach to understanding the neural substrate of this crucial motor control process? One of the key recent modeling developments in neuroscience has been the use of state feedback control (SFC) theory to explain the role of the CNS in motor control. SFC postulates that the CNS controls motor output by (1) estimating the current dynamic state of the thing (e.g., arm) being controlled, and (2) generating controls based on this estimated state. SFC has successfully predicted a great range of non-speech motor phenomena, but as yet has not received attention in the speech motor control community. Here, we review some of the key characteristics of speech motor control and what they say about the role of the CNS in the process. We then discuss prior efforts to model the role of CNS in speech motor control, and argue that these models have inherent limitations - limitations that are overcome by an SFC model of speech motor control which we describe. We conclude by discussing a plausible neural substrate of our model.

  6. Feedback Controller Design for the Synchronization of Boolean Control Networks.

    PubMed

    Liu, Yang; Sun, Liangjie; Lu, Jianquan; Liang, Jinling

    2016-09-01

    This brief investigates the partial and complete synchronization of two Boolean control networks (BCNs). Necessary and sufficient conditions for partial and complete synchronization are established by the algebraic representations of logical dynamics. An algorithm is obtained to construct the feedback controller that guarantees the synchronization of master and slave BCNs. Two biological examples are provided to illustrate the effectiveness of the obtained results.

  7. Characterising dynamic non-linearity in floating wind turbines

    NASA Astrophysics Data System (ADS)

    Lupton, R. C.

    2014-12-01

    Fully coupled aero-hydro-control-elastic codes are being developed to cope with the new modelling challenges presented by floating wind turbines, but there is also a place for more efficient methods of analysis. One option is linearisation and analysis in the frequency domain. For this to be an effective method, the non-linearities in the system must be well understood. The present study focusses on understanding the dynamic response of the rotor to the overall platform motion, as would arise from wave loading, by using a simple model of a floating wind turbine with a rigid tower and flexible rotor (represented by hinged rigid blades). First, an equation of motion of the blade is derived and an approximate solution for the blade response is found using the perturbation method. Secondly, the full non-linear solution is found by time- domain simulation. The response is found to be linear at lower platform pitching frequencies, becoming non-linear at higher frequencies, with the approximate solution giving good results for weakly non-linear behaviour. Higher rotor speeds have a stabilising effect on the response. In the context of typical floating turbine parameters, it is concluded that the blade flapwise response is likely to be linear.

  8. Inferring Network Connectivity by Delayed Feedback Control

    PubMed Central

    Yu, Dongchuan; Parlitz, Ulrich

    2011-01-01

    We suggest a control based approach to topology estimation of networks with elements. This method first drives the network to steady states by a delayed feedback control; then performs structural perturbations for shifting the steady states times; and finally infers the connection topology from the steady states' shifts by matrix inverse algorithm () or -norm convex optimization strategy applicable to estimate the topology of sparse networks from perturbations. We discuss as well some aspects important for applications, such as the topology reconstruction quality and error sources, advantages and disadvantages of the suggested method, and the influence of (control) perturbations, inhomegenity, sparsity, coupling functions, and measurement noise. Some examples of networks with Chua's oscillators are presented to illustrate the reliability of the suggested technique. PMID:21969856

  9. Feedback control of polysilicon etching: Controller design issues

    SciTech Connect

    Rauf, S.; Kushner, M.J.

    1998-12-31

    Feedback control can considerably improve the performance of rf plasma processing reactors. It has been recently demonstrated that plasma simulations can be useful in developing feedback control strategies and controllers. In this paper, the authors extend that work to address issues related to the improvement of controller design, experimental validation, and advanced control strategies for polysilicon etching in inductively coupled plasmas (ICP). The computational tool used in this study, the Virtual Plasma Equipment Model (VPEM), is based on a detailed 2-dimensional hybrid plasma equipment simulation. To validate the control aspects of the VPEM, they simulated a magnetic bucket ICP reactor currently being used for real time feedback control experiments at the University of Wisconsin. Results for the use of capacitively coupled power to control etch rate in real time will be discussed for both PID and PID-feed forward controllers. It has been demonstrated that controllers designed using response surface based techniques can control actuator drifts, compensate for external disturbances and nullify the effect of long term drifts in reactor characteristics. For these controllers to be generally useful, they must be able to handle variances such as sensor noise and process drift. They will discuss and demonstrate design improvements which make the controllers more robust, insensitive to noise and adaptive.

  10. Computational motor control: feedback and accuracy.

    PubMed

    Guigon, Emmanuel; Baraduc, Pierre; Desmurget, Michel

    2008-02-01

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

  11. Optimal haptic feedback control of artificial muscles

    NASA Astrophysics Data System (ADS)

    Chen, Daniel; Besier, Thor; Anderson, Iain; McKay, Thomas

    2014-03-01

    As our population ages, and trends in obesity continue to grow, joint degenerative diseases like osteoarthritis (OA) are becoming increasingly prevalent. With no cure currently in sight, the only effective treatments for OA are orthopaedic surgery and prolonged rehabilitation, neither of which is guaranteed to succeed. Gait retraining has tremendous potential to alter the contact forces in the joints due to walking, reducing the risk of one developing hip and knee OA. Dielectric Elastomer Actuators (DEAs) are being explored as a potential way of applying intuitive haptic feedback to alter a patient's walking gait. The main challenge with the use of DEAs in this application is producing large enough forces and strains to induce sensation when coupled to a patient's skin. A novel controller has been proposed to solve this issue. The controller uses simultaneous capacitive self-sensing and actuation which will optimally apply a haptic sensation to the patient's skin independent of variability in DEAs and patient geometries.

  12. Observers and output feedback stabilising controllers for nonlinear strict-feedback systems with sampled observation

    NASA Astrophysics Data System (ADS)

    Katayama, Hitoshi

    2016-02-01

    The design of observers and output feedback stabilising controllers for continuous-time strict-feedback systems with sampled observation is considered. First two types of observers are designed. One is a discrete-time semiglobal and practical reduced-order observer for the exact model and the other is a continuous-time semiglobal and practical full-order observer for continuous-time strict feedback systems with sampled observation. Then by combining the designed continuous-time observers and continuous-time state feedback laws that are continuous, zero at the origin, and uniformly globally asymptotically stabilise continuous-time systems, output feedback semiglobally practically uniformly asymptotically stabilising controllers are constructed. Numerical examples are given to illustrate the proposed design of observers and output feedback controllers.

  13. Non-linear resonance in relativistic preheating

    SciTech Connect

    Underwood, Bret; Zhai, Yunxiao E-mail: zhaiya@plu.edu

    2014-04-01

    Inflation in the early Universe can be followed by a brief period of preheating, resulting in rapid and non-equilibrium particle production through the dynamics of parametric resonance. However, the parametric resonance effect is very sensitive to the linearity of the reheating sector. Additional self-interactions in the reheating sector, such as non-canonical kinetic terms like the DBI Lagrangian, may enhance or frustrate the parametric resonance effect of preheating. In the case of a DBI reheating sector, preheating is described by parametric resonance of a damped relativistic harmonic oscillator. In this paper, we illustrate how the non-linear terms in the relativistic oscillator shut down the parametric resonance effect. This limits the effectiveness of preheating when there are non-linear self-interactions.

  14. Pharmaceutical applications of non-linear imaging.

    PubMed

    Strachan, Clare J; Windbergs, Maike; Offerhaus, Herman L

    2011-09-30

    Non-linear optics encompasses a range of optical phenomena, including two- and three-photon fluorescence, second harmonic generation (SHG), sum frequency generation (SFG), difference frequency generation (DFG), third harmonic generation (THG), coherent anti-Stokes Raman scattering (CARS), and stimulated Raman scattering (SRS). The combined advantages of using these phenomena for imaging complex pharmaceutical systems include chemical and structural specificities, high optical spatial and temporal resolutions, no requirement for labels, and the ability to image in an aqueous environment. These features make such imaging well suited for a wide range of pharmaceutical and biopharmaceutical investigations, including material and dosage form characterisation, dosage form digestion and drug release, and drug and nanoparticle distribution in tissues and within live cells. In this review, non-linear optical phenomena used in imaging will be introduced, together with their advantages and disadvantages in the pharmaceutical context. Research on pharmaceutical and biopharmaceutical applications is discussed, and potential future applications of the technology are considered.

  15. Design of turbofan engine controls using output feedback regulator theory

    NASA Technical Reports Server (NTRS)

    Merrill, W. C.

    1977-01-01

    A multivariable control design procedure based on output feedback regulator (OFR) theory is applied to the F100 turbofan engine. Results for the OFR design are compared to a design based on linear quadratic regulator (LQR) theory. The OFR feedback control is designed in the full order state space and thus eliminates any need for model reduction techniques. Using the performance measure and control structure of the LQR design, an equivalent OFR feedback control is obtained. The flexibility of the OFR as a control design procedure is demonstrated, and differing feedback control structures are evaluated.

  16. Sample-Clock Phase-Control Feedback

    NASA Technical Reports Server (NTRS)

    Quirk, Kevin J.; Gin, Jonathan W.; Nguyen, Danh H.; Nguyen, Huy

    2012-01-01

    To demodulate a communication signal, a receiver must recover and synchronize to the symbol timing of a received waveform. In a system that utilizes digital sampling, the fidelity of synchronization is limited by the time between the symbol boundary and closest sample time location. To reduce this error, one typically uses a sample clock in excess of the symbol rate in order to provide multiple samples per symbol, thereby lowering the error limit to a fraction of a symbol time. For systems with a large modulation bandwidth, the required sample clock rate is prohibitive due to current technological barriers and processing complexity. With precise control of the phase of the sample clock, one can sample the received signal at times arbitrarily close to the symbol boundary, thus obviating the need, from a synchronization perspective, for multiple samples per symbol. Sample-clock phase-control feedback was developed for use in the demodulation of an optical communication signal, where multi-GHz modulation bandwidths would require prohibitively large sample clock frequencies for rates in excess of the symbol rate. A custom mixedsignal (RF/digital) offset phase-locked loop circuit was developed to control the phase of the 6.4-GHz clock that samples the photon-counting detector output. The offset phase-locked loop is driven by a feedback mechanism that continuously corrects for variation in the symbol time due to motion between the transmitter and receiver as well as oscillator instability. This innovation will allow significant improvements in receiver throughput; for example, the throughput of a pulse-position modulation (PPM) with 16 slots can increase from 188 Mb/s to 1.5 Gb/s.

  17. Non-linear dark energy clustering

    SciTech Connect

    Anselmi, Stefano; Ballesteros, Guillermo; Pietroni, Massimo E-mail: ballesteros@pd.infn.it

    2011-11-01

    We consider a dark energy fluid with arbitrary sound speed and equation of state and discuss the effect of its clustering on the cold dark matter distribution at the non-linear level. We write the continuity, Euler and Poisson equations for the system in the Newtonian approximation. Then, using the time renormalization group method to resum perturbative corrections at all orders, we compute the total clustering power spectrum and matter power spectrum. At the linear level, a sound speed of dark energy different from that of light modifies the power spectrum on observationally interesting scales, such as those relevant for baryonic acoustic oscillations. We show that the effect of varying the sound speed of dark energy on the non-linear corrections to the matter power spectrum is below the per cent level, and therefore these corrections can be well modelled by their counterpart in cosmological scenarios with smooth dark energy. We also show that the non-linear effects on the matter growth index can be as large as 10–15 per cent for small scales.

  18. Inline feedback control for deep drawing applications

    NASA Astrophysics Data System (ADS)

    Fischer, P.; Harsch, D.; Heingärtner, J.; Renkci, Y.; Hora, P.

    2016-11-01

    In series production of deep drawing products the quality of the parts is significantly influenced by material scatter. To guarantee a robust manufacturing the processes are designed to have a large process window. As the different material properties can lead to a drift in the process, the press settings have to be adjusted to keep the quality. In the scope of the work a feedback control system is proposed to keep the operation point inside the process window. The blank draw-in measured in predefined points is used as the primary indicator of the expected part quality. A simulation based meta model is then used to design the control algorithm with the blank holder forces as control variable. As the draw-in measurements are carried out punctually, their positioning within the tool becomes of critical importance. A simulation based study is therefore presented for the identification of sensor positions with the highest significance in relation to the process outcome. The baseline calibration of the controller is also based on the meta model. The validation of the proposed control system is illustrated based on experiments in a production line.

  19. Approximate Feedback Control for a System With Memory

    NASA Technical Reports Server (NTRS)

    Milman, Mark H.

    1987-01-01

    Report presents algorithm for calculating feedback gain for control of hereditary dynamical systems with control delay. Problem is to approximate optimal feedback gain that minimizes cost function of state and control. Theory applicable to design of controllers for mechanical systems subject to thermal deformation, electrical systems with delay, electrical systems with plasma components, and other systems that exhibit memory.

  20. Combustion diagnostic for active engine feedback control

    DOEpatents

    Green, Jr., Johney Boyd; Daw, Charles Stuart; Wagner, Robert Milton

    2007-10-02

    This invention detects the crank angle location where combustion switches from premixed to diffusion, referred to as the transition index, and uses that location to define integration limits that measure the portions of heat released during the combustion process that occur during the premixed and diffusion phases. Those integrated premixed and diffusion values are used to develop a metric referred to as the combustion index. The combustion index is defined as the integrated diffusion contribution divided by the integrated premixed contribution. As the EGR rate is increased enough to enter the low temperature combustion regime, PM emissions decrease because more of the combustion process is occurring over the premixed portion of the heat release rate profile and the diffusion portion has been significantly reduced. This information is used to detect when the engine is or is not operating in a low temperature combustion mode and provides that feedback to an engine control algorithm.

  1. [Feedback control mechanisms of plant cell expansion

    SciTech Connect

    Cosgrove, D.J.

    1992-01-01

    We have generated considerable evidence for the significance of wall stress relaxation in the control of plant growth and found that several agents (gibberellin, light, genetic loci for dwarf stature) influence growth rate via alteration of wall relaxation. We have refined our methods for measuring wall relaxation and, moreover, have found that wall relaxation properties bear only a distance relationship to wall mechanical properties. We have garnered novel insights into the nature of cell expansion mechanisms by analyzing spontaneous fluctuations of plant growth rate in seedlings. These experiments involved the application of mathematical techniques for analyzing growth rate fluctuations and the development of new instrumentation for measuring and forcing plant growth in a controlled fashion. These studies conclude that growth rate fluctuations generated by the plant as consequence of a feedback control system. This conclusion has important implications for the nature of wall loosening processes and demands a different framework for thinking about growth control. It also implies the existence of a growth rate sensor.

  2. Optimal Feedback Controlled Assembly of Perfect Crystals.

    PubMed

    Tang, Xun; Rupp, Bradley; Yang, Yuguang; Edwards, Tara D; Grover, Martha A; Bevan, Michael A

    2016-07-26

    Perfectly ordered states are targets in diverse molecular to microscale systems involving, for example, atomic clusters, protein folding, protein crystallization, nanoparticle superlattices, and colloidal crystals. However, there is no obvious approach to control the assembly of perfectly ordered global free energy minimum structures; near-equilibrium assembly is impractically slow, and faster out-of-equilibrium processes generally terminate in defective states. Here, we demonstrate the rapid and robust assembly of perfect crystals by navigating kinetic bottlenecks using closed-loop control of electric field mediated crystallization of colloidal particles. An optimal policy is computed with dynamic programming using a reaction coordinate based dynamic model. By tracking real-time stochastic particle configurations and adjusting applied fields via feedback, the evolution of unassembled particles is guided through polycrystalline states into single domain crystals. This approach to controlling the assembly of a target structure is based on general principles that make it applicable to a broad range of processes from nano- to microscales (where tuning a global thermodynamic variable yields temporal control over thermal sampling of different states via their relative free energies).

  3. Minimal-Inversion Feedforward-And-Feedback Control System

    NASA Technical Reports Server (NTRS)

    Seraji, Homayoun

    1990-01-01

    Recent developments in theory of control systems support concept of minimal-inversion feedforward-and feedback control system consisting of three independently designable control subsystems. Applicable to the control of linear, time-invariant plant.

  4. SSNN toolbox for non-linear system identification

    NASA Astrophysics Data System (ADS)

    Luzar, Marcel; Czajkowski, Andrzej

    2015-11-01

    The aim of this paper is to develop and design a State Space Neural Network toolbox for a non-linear system identification with an artificial state-space neural networks, which can be used in a model-based robust fault diagnosis and control. Such toolbox is implemented in the MATLAB environment and it uses some of its predefined functions. It is designed in the way that any non-linear multi-input multi-output system is identified and represented in the classical state-space form. The novelty of the proposed approach is that the final result of the identification process is the state, input and output matrices, not only the neural network parameters. Moreover, the toolbox is equipped with the graphical user interface, which makes it useful for the users not familiar with the neural networks theory.

  5. A non-linear programming approach to the computer-aided design of regulators using a linear-quadratic formulation

    NASA Technical Reports Server (NTRS)

    Fleming, P.

    1985-01-01

    A design technique is proposed for linear regulators in which a feedback controller of fixed structure is chosen to minimize an integral quadratic objective function subject to the satisfaction of integral quadratic constraint functions. Application of a non-linear programming algorithm to this mathematically tractable formulation results in an efficient and useful computer-aided design tool. Particular attention is paid to computational efficiency and various recommendations are made. Two design examples illustrate the flexibility of the approach and highlight the special insight afforded to the designer.

  6. A non-linear programming approach to the computer-aided design of regulators using a linear-quadratic formulation

    NASA Technical Reports Server (NTRS)

    Fleming, P.

    1985-01-01

    A design technique is proposed for linear regulators in which a feedback controller of fixed structure is chosen to minimize an integral quadratic objective function subject to the satisfaction of integral quadratic constraint functions. Application of a non-linear programming algorithm to this mathematically tractable formulation results in an efficient and useful computer-aided design tool. Particular attention is paid to computational efficiency and various recommendations are made. Two design examples illustrate the flexibility of the approach and highlight the special insight afforded to the designer.

  7. Adaptive integral feedback controller for pitch and yaw channels of an AUV with actuator saturations.

    PubMed

    Sarhadi, Pouria; Noei, Abolfazl Ranjbar; Khosravi, Alireza

    2016-11-01

    Input saturations and uncertain dynamics are among the practical challenges in control of autonomous vehicles. Adaptive control is known as a proper method to deal with the uncertain dynamics of these systems. Therefore, incorporating the ability to confront with input saturation in adaptive controllers can be valuable. In this paper, an adaptive autopilot is presented for the pitch and yaw channels of an autonomous underwater vehicle (AUV) in the presence of input saturations. This will be performed by combination of a model reference adaptive control (MRAC) with integral state feedback with a modern anti-windup (AW) compensator. MRAC with integral state feedback is commonly used in autonomous vehicles. However, some proper modifications need to be taken into account in order to cope with the saturation problem. To this end, a Riccati-based anti-windup (AW) compensator is employed. The presented technique is applied to the non-linear six degrees of freedom (DOF) model of an AUV and the obtained results are compared with that of its baseline method. Several simulation scenarios are executed in the pitch and yaw channels to evaluate the controller performance. Moreover, effectiveness of proposed adaptive controller is comprehensively investigated by implementing Monte Carlo simulations. The obtained results verify the performance of proposed method.

  8. Autonomous benthic algal cultivator under feedback control of ecosystem metabolism

    USDA-ARS?s Scientific Manuscript database

    An autonomous and internally-controlled techno-ecological hybrid was developed that controls primary production of algae in a laboratory-scale cultivator. The technoecosystem is based on an algal turf scrubber (ATS) system that combines engineered feedback control programming with internal feedback...

  9. Self-Controlled Feedback in 10-Year-Old Children: Higher Feedback Frequencies Enhance Learning

    ERIC Educational Resources Information Center

    Chiviacowsky, Suzete; Wulf, Gabriele; de Medeiros, Franklin Laroque; Kaefer, Angelica; Wally, Raquel

    2008-01-01

    The purpose of the present study was to examine whether learning in 10-year-old children--that is, the age group for which the Chiviacowsky et al. (2006) study found benefits of self-controlled knowledge of results (KR)--would differ depending on the frequency of feedback they chose. The authors surmised that a relatively high feedback frequency…

  10. Self-Controlled Feedback in 10-Year-Old Children: Higher Feedback Frequencies Enhance Learning

    ERIC Educational Resources Information Center

    Chiviacowsky, Suzete; Wulf, Gabriele; de Medeiros, Franklin Laroque; Kaefer, Angelica; Wally, Raquel

    2008-01-01

    The purpose of the present study was to examine whether learning in 10-year-old children--that is, the age group for which the Chiviacowsky et al. (2006) study found benefits of self-controlled knowledge of results (KR)--would differ depending on the frequency of feedback they chose. The authors surmised that a relatively high feedback frequency…

  11. Non-linear memristor switching model

    NASA Astrophysics Data System (ADS)

    Chernov, A. A.; Islamov, D. R.; Pik'nik, A. A.

    2016-10-01

    We introduce a thermodynamical model of filament growing when a current pulse via memristor flows. The model is the boundary value problem, which includes nonstationary heat conduction equation with non-linear Joule heat source, Poisson equation, and Shockley- Read-Hall equations taking into account strong electron-phonon interactions in trap ionization and charge transport processes. The charge current, which defines the heating in the model, depends on the rate of the oxygen vacancy generation. The latter depends on the local temperature. The solution of the introduced problem allows one to describe the kinetics of the switch process and the final filament morphology.

  12. Non-Linear Dynamics of Saturn's Rings

    NASA Astrophysics Data System (ADS)

    Esposito, L. W.

    2016-12-01

    Non-linear processes can explain why Saturn's rings are so active and dynamic. Ring systems differ from simple linear systems in two significant ways: 1. They are systems of granular material: where particle-to-particle collisions dominate; thus a kinetic, not a fluid description needed. Stresses are strikingly inhomogeneous and fluctuations are large compared to equilibrium. 2. They are strongly forced by resonances: which drive a non-linear response, that push the system across thresholds that lead to persistent states. Some of this non-linearity is captured in a simple Predator-Prey Model: Periodic forcing from the moon causes streamline crowding; This damps the relative velocity. About a quarter phase later, the aggregates stir the system to higher relative velocity and the limit cycle repeats each orbit, with relative velocity ranging from nearly zero to a multiple of the orbit average. Summary of Halo Results: A predator-prey model for ring dynamics produces transient structures like `straw' that can explain the halo morphology and spectroscopy: Cyclic velocity changes cause perturbed regions to reach higher collision speeds at some orbital phases, which preferentially removes small regolith particles; surrounding particles diffuse back too slowly to erase the effect: this gives the halo morphology; this requires energetic collisions (v ≈ 10m/sec, with throw distances about 200km, implying objects of scale R ≈ 20km).Transform to Duffing Eqn : With the coordinate transformation, z = M2/3, the Predator-Prey equations can be combined to form a single second-order differential equation with harmonic resonance forcing.Ring dynamics and history implications: Moon-triggered clumping explains both small and large particles at resonances. We calculate the stationary size distribution using a cell-to-cell mapping procedure that converts the phase-plane trajectories to a Markov chain. Approximating it as an asymmetric random walk with reflecting boundaries

  13. Non-Linear Dynamics of Saturn's Rings

    NASA Astrophysics Data System (ADS)

    Esposito, L. W.

    2015-10-01

    Non-linear processes can explain why Saturn's rings are so active and dynamic. Ring systems differ from simple linear systems in two significant ways: 1. They are systems of granular material: where particle-to-particle collisions dominate; thus a kinetic, not a fluid description needed. We find that stresses are strikingly inhomogeneous and fluctuations are large compared to equilibrium. 2. They are strongly forced by resonances: which drive a non-linear response, pushing the system across thresholds that lead to persistent states. Some of this non-linearity is captured in a simple Predator-Prey Model: Periodic forcing from the moon causes streamline crowding; This damps the relative velocity, and allows aggregates to grow. About a quarter phase later, the aggregates stir the system to higher relative velocity and the limit cycle repeats each orbit, with relative velocity ranging from nearly zero to a multiple of the orbit average: 2-10x is possible. Results of driven N-body systems by Stuart Robbins: Even unforced rings show large variations; Forcing triggers aggregation; Some limit cycles and phase lags seen, but not always as predicted by predator-prey model. Summary of Halo Results: A predatorprey model for ring dynamics produces transient structures like 'straw' that can explain the halo structure and spectroscopy: Cyclic velocity changes cause perturbed regions to reach higher collision speeds at some orbital phases, which preferentially removes small regolith particles; Surrounding particles diffuse back too slowly to erase the effect: this gives the halo morphology; This requires energetic collisions (v ≈ 10m/sec, with throw distances about 200km, implying objects of scale R ≈ 20km); We propose 'straw'. Transform to Duffing Eqn : With the coordinate transformation, z = M2/3, the Predator-Prey equations can be combined to form a single second-order differential equation with harmonic resonance forcing. Ring dynamics and history implications: Moon

  14. Non-Linear Dynamics of Saturn's Rings

    NASA Astrophysics Data System (ADS)

    Esposito, Larry W.

    2015-04-01

    Non-linear processes can explain why Saturn's rings are so active and dynamic. Ring systems differ from simple linear systems in two significant ways: 1. They are systems of granular material: where particle-to-particle collisions dominate; thus a kinetic, not a fluid description needed. We find that stresses are strikingly inhomogeneous and fluctuations are large compared to equilibrium. 2. They are strongly forced by resonances: which drive a non-linear response, pushing the system across thresholds that lead to persistent states. Some of this non-linearity is captured in a simple Predator-Prey Model: Periodic forcing from the moon causes streamline crowding; This damps the relative velocity, and allows aggregates to grow. About a quarter phase later, the aggregates stir the system to higher relative velocity and the limit cycle repeats each orbit, with relative velocity ranging from nearly zero to a multiple of the orbit average: 2-10x is possible Results of driven N-body systems by Stuart Robbins: Even unforced rings show large variations; Forcing triggers aggregation; Some limit cycles and phase lags seen, but not always as predicted by predator-prey model. Summary of Halo Results: A predator-prey model for ring dynamics produces transient structures like 'straw' that can explain the halo structure and spectroscopy: Cyclic velocity changes cause perturbed regions to reach higher collision speeds at some orbital phases, which preferentially removes small regolith particles; Surrounding particles diffuse back too slowly to erase the effect: this gives the halo morphology; This requires energetic collisions (v ≈ 10m/sec, with throw distances about 200km, implying objects of scale R ≈ 20km); We propose 'straw'. Transform to Duffing Eqn : With the coordinate transformation, z = M2/3, the Predator-Prey equations can be combined to form a single second-order differential equation with harmonic resonance forcing. Ring dynamics and history implications: Moon

  15. Thinking about Non-Linear Smoothers.

    DTIC Science & Technology

    1986-05-01

    interesting possibilities for future study . These seem at the moment to fall into 3 categories: 1) Do we need the step that works on ends of abutting swooshes...Unear’smoothers to00 31. Recent work at Stanford 100 32. Coments an ocaly-lnear ttu.ng 101 .’ .. 33. Qevelnd’s i.ow 102 34. smelting 103 APPENDIX C: A...limited degree, with "Benchmarks’. We are, in most subareas, early in our study of non-linear smoothers. As as consequence, we often have to emphasize

  16. A non-linear piezoelectric actuator calibration using N-dimensional Lissajous figure

    NASA Astrophysics Data System (ADS)

    Albertazzi, A.; Viotti, M. R.; Veiga, C. L. N.; Fantin, A. V.

    2016-08-01

    Piezoelectric translators (PZTs) are very often used as phase shifters in interferometry. However, they typically present a non-linear behavior and strong hysteresis. The use of an additional resistive or capacitive sensor make possible to linearize the response of the PZT by feedback control. This approach works well, but makes the device more complex and expensive. A less expensive approach uses a non-linear calibration. In this paper, the authors used data from at least five interferograms to form N-dimensional Lissajous figures to establish the actual relationship between the applied voltages and the resulting phase shifts [1]. N-dimensional Lissajous figures are formed when N sinusoidal signals are combined in an N-dimensional space, where one signal is assigned to each axis. It can be verified that the resulting Ndimensional ellipsis lays in a 2D plane. By fitting an ellipsis equation to the resulting 2D ellipsis it is possible to accurately compute the resulting phase value for each interferogram. In this paper, the relationship between the resulting phase shift and the applied voltage is simultaneously established for a set of 12 increments by a fourth degree polynomial. The results in speckle interferometry show that, after two or three interactions, the calibration error is usually smaller than 1°.

  17. Feedback control of ECRH polarization on LHD

    NASA Astrophysics Data System (ADS)

    Felici, F.; Shimozuma, T.; Kubo, S.; Yoshimura, Y.; Takahashi, H.; Igami, H.; Goodman, T. P.; Seki, T.; Tsuchiya, H.; Ito, S.; Mizuno, Y.; Sauter, O.; Mutoh, T.; LHD Experiment Group

    2010-10-01

    The polarization of electron cyclotron resonance heating (ECRH) waves, set by the orientation of a pair of corrugated mirror polarizers in the transmission line, determines the degree of coupling to O- and X-modes in the plasma and has an important effect on the first-pass absorption. Existing methods for determining the required polarization have been found adequate in most experiments. However, as the pulse length is increased it becomes increasingly important to maximize the first-pass absorption while the plasma or injection conditions change or when there can be significant O- to X-mode power coupling during propagation, particularly in the edge plasma region of a stellarator. This has motivated the development of a dedicated feedback control system which is able to adjust the polarizers' angles settings during the discharge in order to maintain the highest possible absorption. An extremum seeking controller is shown to successfully recover the optimum polarization setting during long-pulse ECRH experiments on the Large Helical Device (LHD). Corrections were made to this article on 02 September 2010. 'The' was removed before LHD in several places.

  18. Sensory-Feedback Exoskeletal Arm Controller

    NASA Technical Reports Server (NTRS)

    An, Bin; Massie, Thomas H.; Vayner, Vladimir

    2004-01-01

    An electromechanical exoskeletal arm apparatus has been designed for use in controlling a remote robotic manipulator arm. The apparatus, called a force-feedback exoskeleton arm master (F-EAM) is comfortable to wear and easy to don and doff. It provides control signals from the wearer s arm to a robot arm or a computer simulator (e.g., a virtual-reality system); it also provides force and torque feedback from sensors on the robot arm or from the computer simulator to the wearer s arm. The F-EAM enables the wearer to make the robot arm gently touch objects and finely manipulate them without exerting excessive forces. The F-EAM features a lightweight design in which the motors and gear heads that generate force and torque feedback are made smaller than they ordinarily would be: this is achieved by driving the motors to power levels greater than would ordinarily be used in order to obtain higher torques, and by providing active liquid cooling of the motors to prevent overheating at the high drive levels. The F-EAM (see figure) includes an assembly that resembles a backpack and is worn like a backpack, plus an exoskeletal arm mechanism. The FEAM has five degrees of freedom (DOFs) that correspond to those of the human arm: 1. The first DOF is that of the side-to-side rotation of the upper arm about the shoulder (rotation about axis 1). The reflected torque for this DOF is provided by motor 1 via drum 1 and a planar four-bar linkage. 2. The second DOF is that of the up-and-down rotation of the arm about the shoulder. The reflected torque for this DOF is provided by motor 2 via drum 2. 3. The third DOF is that of twisting of the upper arm about its longitudinal axis. This DOF is implemented in a cable remote-center mechanism (CRCM). The reflected torque for this DOF is provided by motor 3, which drives the upper-arm cuff and the mechanism below it. A bladder inflatable by gas or liquid is placed between the cuff and the wearer s upper arm to compensate for misalignment

  19. Adaptive tuning of feedback gain in time-delayed feedback control.

    PubMed

    Lehnert, J; Hövel, P; Flunkert, V; Guzenko, P Yu; Fradkov, A L; Schöll, E

    2011-12-01

    We demonstrate that time-delayed feedback control can be improved by adaptively tuning the feedback gain. This adaptive controller is applied to the stabilization of an unstable fixed point and an unstable periodic orbit embedded in a chaotic attractor. The adaptation algorithm is constructed using the speed-gradient method of control theory. Our computer simulations show that the adaptation algorithm can find an appropriate value of the feedback gain for single and multiple delays. Furthermore, we show that our method is robust to noise and different initial conditions.

  20. Delayed-feedback control in a Lattice hydrodynamic model

    NASA Astrophysics Data System (ADS)

    Redhu, Poonam; Gupta, Arvind Kumar

    2015-10-01

    The delayed-feedback control (DFC) method for lattice hydrodynamic traffic flow model is investigated on a unidirectional road. By using the Hurwitz criteria and the condition for transfer function in term of H∞ -norm, we designed the feedback gain and delay time to stabilize the traffic flow and suppress the traffic jam. The Bode-plot of transfer function have been plotted and discussed that the stability region enhances with delayed-feedback control. It is shown that the delayed-feedback control method stabilizes the traffic flow and suppresses the traffic jam efficiently. The simulation results are in good agreement with the theoretical analysis.

  1. Fundamental Principles of Coherent-Feedback Quantum Control

    DTIC Science & Technology

    2014-12-08

    AFRL-OSR-VA-TR-2015-0009 FUNDAMENTAL PRINCIPLES OF COHERENT- FEEDBACK QUANTUM CONTROL Hideo Mabuchi LELAND STANFORD JUNIOR UNIV CA Final Report 12/08...foundations and potential applications of coherent- feedback quantum control. We have focused on potential applications in quantum-enhanced metrology and...picture of how coherent feedback can provide a kind of circuit/network theory for quantum engineering, enabling rigorous analysis and numerical simulation

  2. Feedback linearization for control of air breathing engines

    NASA Technical Reports Server (NTRS)

    Phillips, Stephen; Mattern, Duane

    1991-01-01

    The method of feedback linearization for control of the nonlinear nozzle and compressor components of an air breathing engine is presented. This method overcomes the need for a large number of scheduling variables and operating points to accurately model highly nonlinear plants. Feedback linearization also results in linear closed loop system performance simplifying subsequent control design. Feedback linearization is used for the nonlinear partial engine model and performance is verified through simulation.

  3. Integral force feedback control with input shaping: Application to piezo-based scanning systems in ECDLs

    NASA Astrophysics Data System (ADS)

    Zhang, Meng; Liu, Zhigang; Zhu, Yu; Bu, Mingfan; Hong, Jun

    2017-07-01

    In this paper, a hybrid control system is developed by integrating the closed-loop force feedback and input shaping method to overcome the problem of the hysteresis and dynamic behavior in piezo-based scanning systems and increase the scanning speed of tunable external cavity diode lasers. The flexible hinge and piezoelectric actuators are analyzed, and a dynamic model of the scanning systems is established. A force sensor and an integral controller are utilized in integral force feedback (IFF) to directly augment the damping of the piezoelectric scanning systems. Hysteresis has been effectively eliminated, but the mechanical resonance is still evident. Noticeable residual vibration occurred after the inflection points and then gradually disappeared. For the further control of mechanical resonance, based on the theory of minimum-acceleration trajectory planning, the time-domain input shaping method was developed. The turning sections of a scanning trajectory are replaced by smooth curves, while the linear sections are retained. The IFF method is combined with the input shaping method to control the non-linearity and mechanical resonance in high-speed piezo-based scanning systems. Experiments are conducted, and the results demonstrate the effectiveness of the proposed control approach.

  4. Integral force feedback control with input shaping: Application to piezo-based scanning systems in ECDLs.

    PubMed

    Zhang, Meng; Liu, Zhigang; Zhu, Yu; Bu, Mingfan; Hong, Jun

    2017-07-01

    In this paper, a hybrid control system is developed by integrating the closed-loop force feedback and input shaping method to overcome the problem of the hysteresis and dynamic behavior in piezo-based scanning systems and increase the scanning speed of tunable external cavity diode lasers. The flexible hinge and piezoelectric actuators are analyzed, and a dynamic model of the scanning systems is established. A force sensor and an integral controller are utilized in integral force feedback (IFF) to directly augment the damping of the piezoelectric scanning systems. Hysteresis has been effectively eliminated, but the mechanical resonance is still evident. Noticeable residual vibration occurred after the inflection points and then gradually disappeared. For the further control of mechanical resonance, based on the theory of minimum-acceleration trajectory planning, the time-domain input shaping method was developed. The turning sections of a scanning trajectory are replaced by smooth curves, while the linear sections are retained. The IFF method is combined with the input shaping method to control the non-linearity and mechanical resonance in high-speed piezo-based scanning systems. Experiments are conducted, and the results demonstrate the effectiveness of the proposed control approach.

  5. Non-linear micromechanics of soft tissues

    PubMed Central

    Chen, Huan; Zhao, Xuefeng; Lu, Xiao; Kassab, Ghassan

    2013-01-01

    Microstructure-based constitutive models have been adopted in recent studies of non-linear mechanical properties of biological soft tissues. These models provide more accurate predictions of the overall mechanical responses of tissues than phenomenological approaches. Based on standard approximations in non-linear mechanics, we classified the microstructural models into three categories: (1) uniform-field models with solid-like matrix, (2) uniform-field models with fluid-like matrix, and (3) second-order estimate models. The first two categories assume affine deformation field where the deformation of microstructure is the same as that of the tissue, regardless of material heterogeneities; i.e., they represent the upper bounds of the exact effective strain energy and stress of soft tissues. In addition, the first type is not purely structurally motivated and hence cannot accurately predict the microscopic mechanical behaviors of soft tissues. The third category considers realistic geometrical features, material properties of microstructure and interactions among them and allows for flexible deformation in each constituent. The uniform-field model with fluid-like matrix and the second-order estimate model are microstructure-based, and can be applied to different tissues based on micro-structural features. PMID:24817769

  6. A survey on non-linear oscillations

    NASA Astrophysics Data System (ADS)

    Atherton, D. P.; Dorrah, H. T.

    1980-06-01

    This survey paper presents a comprehensive review of work in the field of non-linear oscillations. A brief discussion of second-order systems is followed by a presentation of exact criteria, approximate analytical methods and computational techniques for limit cycles in single variable systems. Multivariable systems are then covered from an analogous viewpoint which allows the reader to clearly identify both how single variable methods have been extended and the possibilities for further research. Particular emphasis is placed on describing function methods since it is believed that, where exact solutions are not possible, the approach may not only give approximate solutions but provides good insight for further computational or simulation studies. The coverage is essentially restricted to continuous lumped parameter systems and includes both free and forced oscillations. Several applications of the theories in various fields of engineering and science are discussed and indicate the broad interest in non-linear oscillatory phenomena. Finally, a detailed bibliography on the subject is provided.

  7. Self-control of feedback during motor learning: accounting for the absolute amount of feedback using a yoked group with self-control over feedback.

    PubMed

    Hansen, Steve; Pfeiffer, Jacob; Patterson, Jae Todd

    2011-01-01

    A traditional control group yoked to a group that self-controls their reception of feedback receives feedback in the same relative and absolute manner. This traditional control group typically does not learn the task as well as the self-control group. Although the groups are matched for the amount of feedback they receive, the information is provided on trials in which the individual may not request feedback if he or she were provided the opportunity. Similarly, individuals may not receive feedback on trials for which it would be a beneficial learning experience. Subsequently, the mismatch between the provision of feedback and the potential learning opportunity leads to a decrement in retention. The present study was designed to examine motor learning for a yoked group with the same absolute amount of feedback, but who could self-control when they received feedback. Increased mental processing of error detection and correction was expected for the participants in the yoked self-control group because of their choice to employ a limited resource in the form of a decreasing amount of feedback opportunities. Participants in the yoked with self-control group committed fewer errors than the self-control group in retention and the traditional yoked group in both the retention and time transfer blocks. The results suggest that the yoked with self-control group was able to produce efficient learning effects and can be a viable control group for further motor learning studies.

  8. Cosmological non-linearities as an effective fluid

    SciTech Connect

    Baumann, Daniel; Senatore, Leonardo; Zaldarriaga, Matias; Nicolis, Alberto E-mail: nicolis@phys.columbia.edu E-mail: matiasz@ias.edu

    2012-07-01

    The universe is smooth on large scales but very inhomogeneous on small scales. Why is the spacetime on large scales modeled to a good approximation by the Friedmann equations? Are we sure that small-scale non-linearities do not induce a large backreaction? Related to this, what is the effective theory that describes the universe on large scales? In this paper we make progress in addressing these questions. We show that the effective theory for the long-wavelength universe behaves as a viscous fluid coupled to gravity: integrating out short-wavelength perturbations renormalizes the homogeneous background and introduces dissipative dynamics into the evolution of long-wavelength perturbations. The effective fluid has small perturbations and is characterized by a few parameters like an equation of state, a sound speed and a viscosity parameter. These parameters can be matched to numerical simulations or fitted from observations. We find that the backreaction of small-scale non-linearities is very small, being suppressed by the large hierarchy between the scale of non-linearities and the horizon scale. The effective pressure of the fluid is always positive and much too small to significantly affect the background evolution. Moreover, we prove that virialized scales decouple completely from the large-scale dynamics, at all orders in the post-Newtonian expansion. We propose that our effective theory be used to formulate a well-defined and controlled alternative to conventional perturbation theory, and we discuss possible observational applications. Finally, our way of reformulating results in second-order perturbation theory in terms of a long-wavelength effective fluid provides the opportunity to understand non-linear effects in a simple and physically intuitive way.

  9. Non-linear curve fitting using Microsoft Excel solver.

    PubMed

    Walsh, S; Diamond, D

    1995-04-01

    Solver, an analysis tool incorporated into Microsoft Excel V 5.0 for Windows, has been evaluated for solving non-linear equations. Test and experimental data sets have been processed, and the results suggest that solver can be successfully used for modelling data obtained in many analytical situations (e.g. chromatography and FIA peaks, fluorescence decays and ISE response characteristics). The relatively simple user interface, and the fact that Excel is commonly bundled free with new PCs makes it an ideal tool for those wishing to experiment with solving non-linear equations without having to purchase and learn a completely new package. The dynamic display of the iterative search process enables the user to monitor location of the optimum solution by the search algorithm. This, together with the almost universal availability of Excel, makes solver an ideal vehicle for teaching the principles of iterative non-linear curve fitting techniques. In addition, complete control of the modelling process lies with the user, who must present the raw data and enter the equation of the model, in contrast to many commercial packages bundled with instruments which perform these operations with a 'black-box' approach.

  10. Vibration and noise control using an optimal output feedback controller

    NASA Astrophysics Data System (ADS)

    Lim, Young-Hun; Gopinathan, Senthil V.; Varadan, Vasundara V.; Varadan, Vijay K.

    1999-06-01

    In this paper the design of an optimal controller using discretely placed collocated sensor/actuator pairs to control the vibration of a plate structure is presented. Three- dimensional finite elements are used to model the smart structure containing discrete piezoelectric sensors and actuators by the use of a combination of solid, transition, and shell elements. Since several discrete piezoelectric patches are spatially distributed in the structure to effectively observe and control the vibration of a structure, the system model is thus utilized to design multi-input-multi- output (MIMO) controller. The output feedback controller is then employed to emulate the optimal controller by solving the Riccati equations from modal space model. An optimal controller design for the vibration suppression of a clamped plate is presented for the steady state excitation case. The reduction in the sound pressure level inside an enclosure radiated from this optimally controlled vibrating plate is also estimated.

  11. Adaptive feedback control of wall modes in tokamaks

    NASA Astrophysics Data System (ADS)

    Sun, Zhipeng

    The goal of this study is to stabilize the resistive wall modes (RWM) in tokamaks with adaptive stochastic feedback control. This is the first ever attempt at adaptive stochastic feedback optimal control of RWM in tokamaks. Both adaptive optimal state feedback and adaptive output feedback control have been studied. The adaptive optimal state feedback control design successfully stabilizes a slowly time-evolving RWM in a tokamak in a time scale of 4 times the inverse of the growth rate of the RWM. The stabilized system output for the time-invariant model is twice the system noise level. For the time-varying model, it is several times larger than the time-invariant case. The adaptive stochastic output feedback can also stabilize the slowly time-evolving RWM. It can do this in a time about 3 times that of the inverse of the growth rate of the RWM. The stabilized system output is twice as large as that of the state feedback case. In order to avoid the bottleneck encountered in the various sequential computations with big matrices in the feedback algorithms, neural network control has been proposed. It has been used to implement the adaptive stochastic output feedback control. It can stabilize the RWM instability in a time of 3 times the inverse of the growth rate of the RWM. The stabilized wall modes have the steady state output similar to the output feedback case. The developed algorithms, state feedback, output feedback, neural network control, can be readily applied to other plasma instabilities.

  12. Sparse feedback structures for wireless control of civil systems

    NASA Astrophysics Data System (ADS)

    Verdoljak, Reuben D.; Linderman, Lauren E.

    2015-03-01

    Although originally popularized for structural health monitoring, wireless smart sensors are an attractive alternative to traditional tethered systems for structural control. Their onboard sensing, processing, and wireless communication offer all the components of a feedback control system. However, wireless smart sensors pose unique challenges for the application of centralized control, which is common in most modern control systems. Decentralized control offers several advantages to wireless structural control, including limiting the wireless communication required and the associated slow sampling rate and time delays in the control system. Previous decentralized structural control algorithms, both Ad-Hoc and Heuristic, enforce a spatial sparsity pattern during the design, which is assumed a priori. Therefore, the optimal feedback structure is not considered in the design. This work explores a decentralized optimal LQR design algorithm where the sparsity of the feedback gain is incorporated into the objective function. The control approach is compared to previous decentralized control techniques on the 20-Story control benchmark structure. Sparsity and control requirements are compared to centralized designs. The optimal sparse feedback design offers the best balance of performance, measurement feedback, and control effort. Additionally, the feedback structure identified is not easily identifiable a priori; thus, highlighting the significance of particular measurements in this feedback framework.

  13. Feedback control of flow vorticity at low Reynolds numbers.

    PubMed

    Zeitz, Maria; Gurevich, Pavel; Stark, Holger

    2015-03-01

    Our aim is to explore strategies of feedback control to design and stabilize novel dynamic flow patterns in model systems of complex fluids. To introduce the control strategies, we investigate the simple Newtonian fluid at low Reynolds number in a circular geometry. Then, the fluid vorticity satisfies a diffusion equation. We determine the mean vorticity in the sensing area and use two control strategies to feed it back into the system by controlling the angular velocity of the circular boundary. Hysteretic feedback control generates self-regulated stable oscillations in time, the frequency of which can be adjusted over several orders of magnitude by tuning the relevant feedback parameters. Time-delayed feedback control initiates unstable vorticity modes for sufficiently large feedback strength. For increasing delay time, we first observe oscillations with beats and then regular trains of narrow pulses. Close to the transition line between the resting fluid and the unstable modes, these patterns are relatively stable over long times.

  14. PID feedback control of monochromator thermal stabilization

    NASA Astrophysics Data System (ADS)

    Yoder, Derek W.; Makarov, Oleg; Corcoran, Stephen; Fischetti, Robert F.

    2011-09-01

    The desire for increasingly smaller X-ray beams for macromolecular crystallography experiments also stimulates the need for improvements in beam stability. There are numerous sources of instability, which influence beam quality on the micron-size scale. Typically, the most problematic source is thermal drift within the double crystal monochromators. In addition to using liquid nitrogen to indirectly cool both the first and second crystals, GM/CA-CAT previously used a combination of flowing water at constant temperature and copper braiding to stabilize the mechanics, mounts, and the Compton scatter shielding. However, the copper braids inefficiently stabilized the temperature of components that were distant from the water lines. Additionally, vibrations in the water lines propagated throughout the vibrationally dampened monochromator, thereby introducing both positional and intensity instabilities in the transmitted X-ray beam. To address these problems, heating pads were placed directly onto the temperature-sensitive components, with output controlled by a PID-feedback loop. As a result, there is negligible temperature change in the first crystal radiation shielding over the entire range of operational heat loads. Additionally, the angular drift in the second crystal induced by temperature changes in other components is dramatically decreased.

  15. The Cortical Computations Underlying Feedback Control in Vocal Production

    PubMed Central

    Houde, John F.; Chang, Edward F.

    2015-01-01

    Recent neurophysiological studies of speaking are beginning to elucidate the neural mechanisms underlying auditory feedback processing during vocalizations. Here we review how research findings impact our state feedback control (SFC) model of speech motor control. We will discuss the evidence for cortical computations that compare incoming feedback with predictions derived from motor efference copy. We will also review observations from auditory feedback perturbation studies that demonstrate clear evidence for a state estimate correction process, which drives compensatory motor behavioral responses. While there is compelling support for cortical computations in the SFC model, there are still several outstanding questions that await resolution by future neural investigations. PMID:25989242

  16. Control of a Unified Chaotic System via Single Variable Feedback

    NASA Astrophysics Data System (ADS)

    Guo, Rong-Wei; Vincent E., U.

    2009-09-01

    Based on the LaSalle invariance principle, we propose a simple adaptive-feedback for controlling the unified chaotic system. We show explicitly with numerical proofs that our method can easily achieve the control of chaos in the unified chaotic system using only a single variable feedback. The present controller, to our knowledge, is the simplest control scheme for controlling a unified chaotic system.

  17. Non-Linear Dynamics of Saturn's Rings

    NASA Astrophysics Data System (ADS)

    Esposito, L. W.

    2015-12-01

    Non-linear processes can explain why Saturn's rings are so active and dynamic. Some of this non-linearity is captured in a simple Predator-Prey Model: Periodic forcing from the moon causes streamline crowding; This damps the relative velocity, and allows aggregates to grow. About a quarter phase later, the aggregates stir the system to higher relative velocity and the limit cycle repeats each orbit, with relative velocity ranging from nearly zero to a multiple of the orbit average: 2-10x is possible. Summary of Halo Results: A predator-prey model for ring dynamics produces transient structures like 'straw' that can explain the halo structure and spectroscopy: Cyclic velocity changes cause perturbed regions to reach higher collision speeds at some orbital phases, which preferentially removes small regolith particles; Surrounding particles diffuse back too slowly to erase the effect: this gives the halo morphology; This requires energetic collisions (v ≈ 10m/sec, with throw distances about 200km, implying objects of scale R ≈ 20km); We propose 'straw', as observed ny Cassini cameras. Transform to Duffing Eqn : With the coordinate transformation, z = M2/3, the Predator-Prey equations can be combined to form a single second-order differential equation with harmonic resonance forcing. Ring dynamics and history implications: Moon-triggered clumping at perturbed regions in Saturn's rings creates both high velocity dispersion and large aggregates at these distances, explaining both small and large particles observed there. This confirms the triple architecture of ring particles: a broad size distribution of particles; these aggregate into temporary rubble piles; coated by a regolith of dust. We calculate the stationary size distribution using a cell-to-cell mapping procedure that converts the phase-plane trajectories to a Markov chain. Approximating the Markov chain as an asymmetric random walk with reflecting boundaries allows us to determine the power law index from

  18. Control of force through feedback in small driven systems.

    PubMed

    Dieterich, E; Camunas-Soler, J; Ribezzi-Crivellari, M; Seifert, U; Ritort, F

    2016-07-01

    Controlling a time-dependent force applied to single molecules or colloidal particles is crucial for many types of experiments. Since in optical tweezers the primary controlled variable is the position of the trap, imposing a target force requires an active feedback process. We analyze this feedback process for the paradigmatic case of a nonequilibrium steady state generated by a dichotomous force protocol, first theoretically for a colloidal particle in a harmonic trap and then with both simulations and experiments for a long DNA hairpin. For the first setup, we find there is an optimal feedback gain separating monotonic from oscillatory response, whereas a too strong feedback leads to an instability. For the DNA molecule, reaching the target force requires substantial feedback gain since weak feedback cannot overcome the tendency to relax towards the equilibrium force.

  19. Non Linear Beam Dynamics Studies at SPEAR

    SciTech Connect

    Terebilo, A.; Pellegrini, C.; Cornacchia, M.; Corbett, J.; Martin, D.; /SLAC

    2011-09-12

    The frequency map analysis of a Hamiltonian system recently introduced to accelerators physics in combination with turn-by-turn phase space measurements opens new experimental opportunities for studying non linear dynamic in storage rings. In this paper we report on the experimental program at SPEAR having the goal of measuring the frequency map of the machine. In this paper we discuss the accuracy of the instantaneous tune extraction from experimental data and demonstrate the possibility of the frequency map measurement. The instantaneous tune extraction technique can be applied to experimental tracking data with reasonable accuracy. Frequency map can be experimentally determined using the existing turn-by-turn phase space measurement techniques and NAFF instantaneous tune extraction.

  20. Design of output feedback consensus controllers for nonlinear sampled-data multi-agent systems of strict-feedback form

    NASA Astrophysics Data System (ADS)

    Katayama, Hitoshi

    2014-09-01

    Design of reduced-order observer-based output feedback consensus controllers for nonlinear sampled-data multi-agent systems of strict-feedback form is considered based on nonlinear sampled-data control and consensus control theories. As a practical application of the proposed design method, output feedback consensus control for sampled-data fully actuated ships is also discussed.

  1. Remote Robot Control With High Force-Feedback Gain

    NASA Technical Reports Server (NTRS)

    Kim, Won S.

    1993-01-01

    Improved scheme for force-reflecting hand control of remote robotic manipulator provides unprecedently high force-reflection gain, even when dissimilar master and slave arms used. Three feedback loops contained in remote robot control system exerting position-error-based force feedback and compliance control. Outputs of force and torque sensors on robot not used directly for force reflection, but for compliance control, while errors in position used to generate reflected forces.

  2. Lyapunov optimal feedback control of a nonlinear inverted pendulum

    NASA Technical Reports Server (NTRS)

    Grantham, W. J.; Anderson, M. J.

    1989-01-01

    Liapunov optimal feedback control is applied to a nonlinear inverted pendulum in which the control torque was constrained to be less than the nonlinear gravity torque in the model. This necessitates a control algorithm which 'rocks' the pendulum out of its potential wells, in order to stabilize it at a unique vertical position. Simulation results indicate that a preliminary Liapunov feedback controller can successfully overcome the nonlinearity and bring almost all trajectories to the target.

  3. Remote Robot Control With High Force-Feedback Gain

    NASA Technical Reports Server (NTRS)

    Kim, Won S.

    1993-01-01

    Improved scheme for force-reflecting hand control of remote robotic manipulator provides unprecedently high force-reflection gain, even when dissimilar master and slave arms used. Three feedback loops contained in remote robot control system exerting position-error-based force feedback and compliance control. Outputs of force and torque sensors on robot not used directly for force reflection, but for compliance control, while errors in position used to generate reflected forces.

  4. Stability and optimal parameters for continuous feedback chaos control.

    PubMed

    Kouomou, Y Chembo; Woafo, P

    2002-09-01

    We investigate the conditions under which an optimal continuous feedback control can be achieved. Chaotic oscillations in the single-well Duffing model, with either a positive or a negative nonlinear stiffness term, are tuned to their related Ritz approximation. The Floquet theory enables the stability analysis of the control. Critical values of the feedback control coefficient fulfilling the optimization criteria are derived. The influence of the chosen target orbit, of the feedback coefficient, and of the onset time of control on its duration is discussed. The analytic approach is confirmed by numerical simulations.

  5. Thermodynamics of quantum-jump-conditioned feedback control.

    PubMed

    Strasberg, Philipp; Schaller, Gernot; Brandes, Tobias; Esposito, Massimiliano

    2013-12-01

    We consider open quantum systems weakly coupled to thermal reservoirs and subjected to quantum feedback operations triggered with or without delay by monitored quantum jumps. We establish a thermodynamic description of such systems and analyze how the first and second law of thermodynamics are modified by the feedback. We apply our formalism to study the efficiency of a qubit subjected to a quantum feedback control and operating as a heat pump between two reservoirs. We also demonstrate that quantum feedbacks can be used to stabilize coherences in nonequilibrium stationary states which in some cases may even become pure quantum states.

  6. Direct laser additive fabrication system with image feedback control

    DOEpatents

    Griffith, Michelle L.; Hofmeister, William H.; Knorovsky, Gerald A.; MacCallum, Danny O.; Schlienger, M. Eric; Smugeresky, John E.

    2002-01-01

    A closed-loop, feedback-controlled direct laser fabrication system is disclosed. The feedback refers to the actual growth conditions obtained by real-time analysis of thermal radiation images. The resulting system can fabricate components with severalfold improvement in dimensional tolerances and surface finish.

  7. Real-time feedback control of a mesoscopic superposition

    SciTech Connect

    Jacobs, Kurt; Finn, Justin; Vinjanampathy, Sai

    2011-04-15

    We show that continuous real-time feedback can be used to track, control, and protect a mesoscopic superposition of two spatially separated wave packets. The feedback protocol is enabled by an approximate state estimator and requires two continuous measurements, performed simultaneously. For nanomechanical and superconducting resonators, both measurements can be implemented by coupling the resonators to superconducting qubits.

  8. Two-year record of trace gas (CO2, CH4, O2, and Hg0) concentrations and dynamics in arctic tundra soils of northern Alaska - seasonality, non-linear temperature controls, and effects of soil diffusivity

    NASA Astrophysics Data System (ADS)

    Obrist, D.; Agnan, Y.; Hedge, C.; Moore, C. W.; Helmig, D.; Hueber, J.; Paxton, D.

    2016-12-01

    deposition of mercury to arctic ecosystems was the main source for soil accumulation. In conclusion, these results indicate a highly heterogeneous pattern of soil trace gas dynamics in tundra soils, with strong changes in diffusivity imposed by freeze-thaw cycles and strong and non-linear responses of trace gas dynamics to soil temperatures.

  9. Optical Model Reduction and Robust Feedback Control for Aerodynamics

    DTIC Science & Technology

    2010-03-29

    LQR ) control formulation, roughly 1210 Riccati unknowns need to be calculated for a discretized flow model describing 610 states. Existing computing...1 Optimal Model Reduction and Robust Feedback Control for Aerodynamics AFoSR Grant AF-FA9550-08-1-0450 Seddik M. Djouadi Department of...methods of model reduction that integrate feedback active flow control with applications to nonlinear convection and turbulent flows governed by

  10. Coherent feedback control of a single qubit in diamond

    NASA Astrophysics Data System (ADS)

    Hirose, Masashi; Cappellaro, Paola

    2016-04-01

    Engineering desired operations on qubits subjected to the deleterious effects of their environment is a critical task in quantum information processing, quantum simulation and sensing. The most common approach relies on open-loop quantum control techniques, including optimal-control algorithms based on analytical or numerical solutions, Lyapunov design and Hamiltonian engineering. An alternative strategy, inspired by the success of classical control, is feedback control. Because of the complications introduced by quantum measurement, closed-loop control is less pervasive in the quantum setting and, with exceptions, its experimental implementations have been mainly limited to quantum optics experiments. Here we implement a feedback-control algorithm using a solid-state spin qubit system associated with the nitrogen vacancy centre in diamond, using coherent feedback to overcome the limitations of measurement-based feedback, and show that it can protect the qubit against intrinsic dephasing noise for milliseconds. In coherent feedback, the quantum system is connected to an auxiliary quantum controller (ancilla) that acquires information about the output state of the system (by an entangling operation) and performs an appropriate feedback action (by a conditional gate). In contrast to open-loop dynamical decoupling techniques, feedback control can protect the qubit even against Markovian noise and for an arbitrary period of time (limited only by the coherence time of the ancilla), while allowing gate operations. It is thus more closely related to quantum error-correction schemes, although these require larger and increasing qubit overheads. Increasing the number of fresh ancillas enables protection beyond their coherence time. We further evaluate the robustness of the feedback protocol, which could be applied to quantum computation and sensing, by exploring a trade-off between information gain and decoherence protection, as measurement of the ancilla-qubit correlation

  11. Optimization of Passive and Active Non-Linear Vibration Mounting Systems Based on Vibratory Power Transmission

    NASA Astrophysics Data System (ADS)

    Royston, T. J.; Singh, R.

    1996-07-01

    While significant non-linear behavior has been observed in many vibration mounting applications, most design studies are typically based on the concept of linear system theory in terms of force or motion transmissibility. In this paper, an improved analytical strategy is presented for the design optimization of complex, active of passive, non-linear mounting systems. This strategy is built upon the computational Galerkin method of weighted residuals, and incorporates order reduction and numerical continuation in an iterative optimization scheme. The overall dynamic characteristics of the mounting system are considered and vibratory power transmission is minimized via adjustment of mount parameters by using both passive and active means. The method is first applied through a computational example case to the optimization of basic passive and active, non-linear isolation configurations. It is found that either active control or intentionally introduced non-linearity can improve the mount's performance; but a combination of both produces the greatest benefit. Next, a novel experimental, active, non-linear isolation system is studied. The effect of non-linearity on vibratory power transmission and active control are assessed via experimental measurements and the enhanced Galerkin method. Results show how harmonic excitation can result in multiharmonic vibratory power transmission. The proposed optimization strategy offers designers some flexibility in utilizing both passive and active means in combination with linear and non-linear components for improved vibration mounts.

  12. Neural mechanisms underlying auditory feedback control of speech.

    PubMed

    Tourville, Jason A; Reilly, Kevin J; Guenther, Frank H

    2008-02-01

    The neural substrates underlying auditory feedback control of speech were investigated using a combination of functional magnetic resonance imaging (fMRI) and computational modeling. Neural responses were measured while subjects spoke monosyllabic words under two conditions: (i) normal auditory feedback of their speech and (ii) auditory feedback in which the first formant frequency of their speech was unexpectedly shifted in real time. Acoustic measurements showed compensation to the shift within approximately 136 ms of onset. Neuroimaging revealed increased activity in bilateral superior temporal cortex during shifted feedback, indicative of neurons coding mismatches between expected and actual auditory signals, as well as right prefrontal and Rolandic cortical activity. Structural equation modeling revealed increased influence of bilateral auditory cortical areas on right frontal areas during shifted speech, indicating that projections from auditory error cells in posterior superior temporal cortex to motor correction cells in right frontal cortex mediate auditory feedback control of speech.

  13. In situ characterisation of non linear capacitors

    NASA Astrophysics Data System (ADS)

    Laudebat, L.; Bley, V.; Lebey, T.; Schneider, H.; Tounsi, P.

    2001-05-01

    Multilayers ceramic capacitors (MLCC) presenting non linear behaviours of their C(V) characteristics may have interesting applications in power electronics. Most of them have already been described. Nevertheless, the choice of a particular type instead of another one is all the more so difficult since, on one hand the physical mechanisms able to explain this behaviour is far from being understood. On the other hand, C(V) characteristics are in general obtained for low voltage values different from the ones they are going to be involved in. In this paper, direct in situ characterisations of different BaTiO3 based capacitors commercially available are achieved. The role of the capacitors' type (X7R,Z5U), of the temperature and of the voltage waveform (and more particularly its polarity) is demonstrated. Temperature values up to 200 oC are measured during normal operations in a RCD dissipative snubber without any alterations of the C(V) characteristics. All these results are discussed as regards the main physical properties of the constitutive materials in order to reach an optimisation of their use through an appropriate dimensioning.

  14. Effects of national antibiotic stewardship and infection control strategies on hospital-associated and community-associated meticillin-resistant Staphylococcus aureus infections across a region of Scotland: a non-linear time-series study.

    PubMed

    Lawes, Timothy; Lopez-Lozano, José-María; Nebot, Cesar A; Macartney, Gillian; Subbarao-Sharma, Rashmi; Dare, Ceri Rj; Wares, Karen D; Gould, Ian M

    2015-12-01

    Restriction of antibiotic consumption to below predefined total use thresholds might remove the selection pressure that maintains antimicrobial resistance within populations. We assessed the effect of national antibiotic stewardship and infection prevention and control programmes on prevalence density of meticillin-resistant Staphylococcus aureus (MRSA) infections across a region of Scotland. This non-linear time-series analysis and quasi-experimental study explored ecological determinants of MRSA epidemiology among 1,289,929 hospital admissions and 455,508 adults registered in primary care in northeast Scotland. Interventions included antibiotic stewardship to restrict use of so-called 4C (cephalosporins, co-amoxiclav, clindamycin, and fluoroquinolones) and macrolide antibiotics; a hand hygiene campaign; hospital environment inspections; and MRSA admission screening. Total effects were defined as the difference between scenarios with intervention (observed) and without intervention (predicted from time-series models). The primary outcomes were prevalence density of MRSA infections per 1000 occupied bed days (OBDs) in hospitals or per 10,000 inhabitants per day (IDs) in the community. During antibiotic stewardship, use of 4C and macrolide antibiotics fell by 47% (mean decrease 224 defined daily doses [DDDs] per 1000 OBDs, 95% CI 154-305, p=0·008) in hospitals and 27% (mean decrease 2·52 DDDs per 1000 IDs, 0·65-4·55, p=0·031) in the community. Hospital prevalence densities of MRSA were inversely related to intensified infection prevention and control, but positively associated with MRSA rates in neighbouring hospitals, importation pressures, bed occupancy, and use of fluoroquinolones, co-amoxiclav, and third-generation cephalosporins, or macrolide antibiotics that exceeded hospital-specific thresholds. Community prevalence density was predicted by hospital MRSA rates and above-threshold use of macrolides, fluoroquinolones, and clindamycin. MRSA prevalence

  15. Cortical Feedback Control of Olfactory Bulb Circuits

    PubMed Central

    Boyd, Alison M.; Sturgill, James F.; Poo, Cindy; Isaacson, Jeffry S.

    2013-01-01

    SUMMARY Olfactory cortex pyramidal cells integrate sensory input from olfactory bulb mitral and tufted (M/T) cells and project axons back to the bulb. However, the impact of cortical feedback projections on olfactory bulb circuits is unclear. Here, we selectively express channelrhodopsin-2 in olfactory cortex pyramidal cells and show that cortical feedback projections excite diverse populations of bulb interneurons. Activation of cortical fibers directly excites GABAergic granule cells, which in turn inhibit M/T cells. However, we show that cortical inputs preferentially target short axon cells that drive feedforward inhibition of granule cells. In vivo, activation of olfactory cortex that only weakly affects spontaneous M/T cell firing strongly gates odor-evoked M/T cell responses: cortical activity suppresses odor-evoked excitation and enhances odor-evoked inhibition. Together, these results indicate that although cortical projections have diverse actions on olfactory bulb microcircuits, the net effect of cortical feedback on M/T cells is an amplification of odor-evoked inhibition. PMID:23259951

  16. Multifunctional design of inertially-actuated velocity feedback controllers.

    PubMed

    Elliott, S J; Rohlfing, J; Gardonio, P

    2012-02-01

    The vibration of a structure can be controlled using either a passive tuned mass damper or using an active vibration control system. In this paper, the design of a multifunctional system is discussed, which uses an inertial actuator as both a tuned mass damper and as an element in a velocity feedback control loop. The natural frequency of the actuator would normally need to be well below that of the structure under control to give a stable velocity feedback controller, whereas it needs to be close to the natural frequency of a dominant structural resonance to act as an effective tuned mass damper. A compensator is used in the feedback controller here to allow stable feedback operation even when the actuator natural frequency is close to that of a structural mode. A practical example of such a compensator is described for a small inertial actuator, which is then used to actively control the vibrations both on a panel and on a beam. The influence of the actuator as a passive tuned mass damper can be clearly seen before the feedback loop is closed, and broadband damping is then additionally achieved by closing the velocity feedback loop.

  17. Enhancing Sideband Cooling by Feedback-Controlled Light

    NASA Astrophysics Data System (ADS)

    Rossi, Massimiliano; Kralj, Nenad; Zippilli, Stefano; Natali, Riccardo; Borrielli, Antonio; Pandraud, Gregory; Serra, Enrico; Di Giuseppe, Giovanni; Vitali, David

    2017-09-01

    We realize a phase-sensitive closed-loop control scheme to engineer the fluctuations of the pump field which drives an optomechanical system and show that the corresponding cooling dynamics can be significantly improved. In particular, operating in the counterintuitive "antisquashing" regime of positive feedback and increased field fluctuations, sideband cooling of a nanomechanical membrane within an optical cavity can be improved by 7.5 dB with respect to the case without feedback. Close to the quantum regime of reduced thermal noise, such feedback-controlled light would allow going well below the quantum backaction cooling limit.

  18. Adaptive fuzzy output feedback dynamic surface control of interconnected nonlinear pure-feedback systems.

    PubMed

    Li, Yongming; Tong, Shaocheng; Li, Tieshan

    2015-01-01

    In this paper, an adaptive fuzzy decentralized output feedback control design is presented for a class of interconnected nonlinear pure-feedback systems. The considered nonlinear systems contain unknown nonlinear uncertainties and the states are not necessary to be measured directly. Fuzzy logic systems are employed to approximate the unknown nonlinear functions, and then a fuzzy state observer is designed and the estimations of the immeasurable state variables are obtained. Based on the adaptive backstepping dynamic surface control design technique, an adaptive fuzzy decentralized output feedback control scheme is developed. It is proved that all the variables of the resulting closed-loop system are semi-globally uniformly ultimately bounded, and also that the observer and tracking errors are guaranteed to converge to a small neighborhood of the origin. Some simulation results and comparisons with the existing results are provided to illustrate the effectiveness and merits of the proposed approach.

  19. A New Multi-tanh-Based Non-linear Function Synthesiser

    NASA Astrophysics Data System (ADS)

    Taher Abuelma'atti, Muhammad; Radhi Al-Abbas, Saad

    2016-11-01

    A new complementary metal-oxide-semiconductor transadmittance-mode with input voltage and output current, analogue non-linear odd-function synthesiser is presented. The proposed circuit is based on the assumption that a non-linear odd- function can be approximated by the summation of hyperbolic tangent (tanh) functions with different arguments. Each term of the tanh function expansion is realised by exploiting to advantage the inherent non-linearity of a current-controlled current-conveyor (CCCCII) (or an operational transconductance amplifier (OTA)) with a different bias current. The output currents of these CCCCIIs (OTAs) are weighted using the gains of current amplifiers. These weighted currents are algebraically added to form the required non-linear function. The proposed circuit is suitable for integration, can be easily extended to include higher order terms of the tanh-odd-function expansion and can be programmed to realise arbitrary hard non-linear odd-functions that cannot be easily realised using already existing techniques, based on the Taylor-series expansion, for synthesising non-linear functions. PSPICE simulation results, obtained from CCCCII-based realisations of selected hard non-linearities, demonstrating the functionality of the proposed circuit are included.

  20. Adaptive method with intercessory feedback control for an intelligent agent

    DOEpatents

    Goldsmith, Steven Y.

    2004-06-22

    An adaptive architecture method with feedback control for an intelligent agent provides for adaptively integrating reflexive and deliberative responses to a stimulus according to a goal. An adaptive architecture method with feedback control for multiple intelligent agents provides for coordinating and adaptively integrating reflexive and deliberative responses to a stimulus according to a goal. Re-programming of the adaptive architecture is through a nexus which coordinates reflexive and deliberator components.

  1. Non linear anthropometric predictors in swimming.

    PubMed

    Sekulić, Damir; Zenić, Natasa; Zubcević, Nada Grcić

    2007-09-01

    In this paper we have tried to identify the significance and character of the linear and non-linear relations between simple anthropometric predictors: body height (BH), body weight (BW), and body mass index, and swimming performance: freestyle swimming 50 (FS50) and 400 meters (FS400), in a sample of young (15 years old on average) male (N = 40) and female (N = 28) swimmers. Linear (general model: y = a+bx) and nonlinear regression (general model: y = a+bx+cx2) were calculated simultaneously. Morphological variables are a significantly better predictor of the FS50 in males (BH mostly), and FS400 in females (BW mostly). This study emphasized some of the main advantages in the nonlinear regression calculation (including an interpretation of the relationships at a more superior level), and consequently allowed a precise anthropometric modeling in swimming using simple and easily measurable variables. For example, the best results in FS400 can be expected for the subjects that are average in BW (which guarantees solid muscle mass--the generator of force), but above average in BH (because of the physical law of lever). In conclusion, nonlinear regressions allow one to define the real nature of the relationships between variables, but only if compared with the linear ones. Additionally, this study emphasized one of the most important factors in defining possible specification-equation (e.g. structure of the influence of the different dimensions on the sport achievement) in different sports. In short, it underlines the importance of sampling the appropriate sample of the subject--highly skilled athletes exclusively.

  2. Non-linear optical titanyl arsenates: Crystal growth and properties

    NASA Astrophysics Data System (ADS)

    Nordborg, Jenni Eva Louise

    Crystals are appreciated not only for their appearance, but also for their unique physical properties which are utilized by the photonic industry in appliances that we come across every day. An important part of enabling the technical use of optical devices is the manufacture of crystals. This dissertation deals with a specific group of materials called the potassium titanyl phosphate (KIP) family, known for their non-linear optical and ferroelectric properties. The isomorphs vary in their linear optical and dielectric properties, which can be tuned to optimize device performance by forming solid solutions of the different materials. Titanyl arsenates have a wide range of near-infrared transmission which makes them useful for tunable infrared lasers. The isomorphs examined in the present work were primarily RbTiOASO4 (RTA) and CsTiOAsO4 (CTA) together with the mixtures RbxCs 1-xTiOAsO4 (RCTA). Large-scale crystals were grown by top seeding solution growth utilizing a three-zone furnace with excellent temperature control. Sufficiently slow cooling and constant upward lifting produced crystals with large volumes useable for technical applications. Optical quality RTA crystals up to 10 x 12 x 20 mm were grown. The greater difficulty in obtaining good crystals of CTA led to the use of mixed RCTA materials. The mixing of rubidium and cesium in RCTA is more favorable to crystal growth than the single components in pure RTA and CTA. Mixed crystals are rubidium-enriched and contain only 20-30% of the cesium concentration in the flux. The cesium atoms show a preference for the larger cation site. The network structure is very little affected by the cation substitution; consequently, the non-linear optical properties of the Rb-rich isomorphic mixtures of RTA and CTA can be expected to remain intact. Crystallographic methods utilizing conventional X-ray tubes, synchrotron radiation and neutron diffraction have been employed to investigate the properties of the atomic

  3. Orbit stability and feedback control in synchrotron radiation rings

    SciTech Connect

    Yu, L.H.

    1989-01-01

    Stability of the electron orbit is essential for the utilization of a low emittance storage ring as a high brightness radiation source. We discuss the development of the measurement and feedback control of the closed orbit, with emphasis on the activities as the National Synchrotron Light Source of BNL. We discuss the performance of the beam position detectors in use and under development: the PUE rf detector, split ion chamber detector, photo-emission detector, solid state detector, and the graphite detector. Depending on the specific experiments, different beamlines require different tolerances on the orbit motion. Corresponding to these different requirements, we discuss two approaches to closed orbit feedback: the global and local feedback systems. Then we describe a new scheme for the real time global feedback by implementing a feedback system based upon a harmonic analysis of both the orbit movements and the correction magnetic fields. 14 refs., 6 figs., 2 tabs.

  4. Non-Markovian coherent feedback control of quantum dot systems

    NASA Astrophysics Data System (ADS)

    Xue, Shibei; Wu, Rebing; Hush, Michael R.; Tarn, Tzyh-Jong

    2017-03-01

    In this paper we present a non-Markovian coherent feedback scheme for decoherence suppression in single quantum dot systems. The feedback loop is closed via a quantum tunnelling junction between the natural source and drain baths of the quantum dot. The exact feedback-controlled non-Markovian Langevin equation is derived for describing the dynamics of the quantum dot. To deal with the nonlinear memory function in the Langevin equation, we analyse the Green’s function-based root locus, from which we show that the decoherence of the quantum dot can be suppressed via increasing the feedback coupling strength. The effectiveness of decoherence suppression induced by non-Markovian coherent feedback is demonstrated by a single quantum dot example bathed with Lorentzian noises.

  5. Force control in the absence of visual and tactile feedback.

    PubMed

    Mugge, Winfred; Abbink, David A; Schouten, Alfred C; van der Helm, Frans C T; Arendzen, J H; Meskers, Carel G M

    2013-02-01

    Motor control tasks like stance or object handling require sensory feedback from proprioception, vision and touch. The distinction between tactile and proprioceptive sensors is not frequently made in dynamic motor control tasks, and if so, mostly based on signal latency. We previously found that force control tasks entail more compliant behavior than a passive, relaxed condition and by neuromuscular modeling we were able to attribute this to adaptations in proprioceptive force feedback from Golgi tendon organs. This required the assumption that both tactile and visual feedback are too slow to explain the measured adaptations in face of unpredictable force perturbations. Although this assumption was shown to hold using model simulations, so far no experimental data is available to validate it. Here we applied a systematic approach using continuous perturbations and engineering analyses to provide experimental evidence for the hypothesis that motor control adaptation in force control tasks can be achieved using proprioceptive feedback only. Varying task instruction resulted in substantial adaptations in neuromuscular behavior, which persisted after eliminating visual and/or tactile feedback by a nerve block of the nervus plantaris medialis. It is concluded that proprioception adapts dynamic human ankle motor control even in the absence of visual and tactile feedback.

  6. A variable-gain output feedback control design methodology

    NASA Technical Reports Server (NTRS)

    Halyo, Nesim; Moerder, Daniel D.; Broussard, John R.; Taylor, Deborah B.

    1989-01-01

    A digital control system design technique is developed in which the control system gain matrix varies with the plant operating point parameters. The design technique is obtained by formulating the problem as an optimal stochastic output feedback control law with variable gains. This approach provides a control theory framework within which the operating range of a control law can be significantly extended. Furthermore, the approach avoids the major shortcomings of the conventional gain-scheduling techniques. The optimal variable gain output feedback control problem is solved by embedding the Multi-Configuration Control (MCC) problem, previously solved at ICS. An algorithm to compute the optimal variable gain output feedback control gain matrices is developed. The algorithm is a modified version of the MCC algorithm improved so as to handle the large dimensionality which arises particularly in variable-gain control problems. The design methodology developed is applied to a reconfigurable aircraft control problem. A variable-gain output feedback control problem was formulated to design a flight control law for an AFTI F-16 aircraft which can automatically reconfigure its control strategy to accommodate failures in the horizontal tail control surface. Simulations of the closed-loop reconfigurable system show that the approach produces a control design which can accommodate such failures with relative ease. The technique can be applied to many other problems including sensor failure accommodation, mode switching control laws and super agility.

  7. Asymptotically optimal feedback control for a system of linear oscillators

    NASA Astrophysics Data System (ADS)

    Ovseevich, Alexander; Fedorov, Aleksey

    2013-12-01

    We consider problem of damping of an arbitrary number of linear oscillators under common bounded control. We are looking for a feedback control steering the system to the equilibrium. The obtained control is asymptotically optimal: the ratio of motion time to zero with this control to the minimum one is close to 1, if the initial energy of the system is large.

  8. Real-time RNN-based acoustic thermometry with feedback control

    NASA Astrophysics Data System (ADS)

    Hsu, Stephen J.; Nam, Joana H.; Fan, Liexiang; Brunke, Shelby S.; Sekins, K. Michael

    2017-03-01

    A major obstacle to the widespread adoption of HIFU therapy is the development of a suitable method of monitoring the a blation therapy in real-time. While MR-thermometry has emerged as a promising method for HIFU therapy monitoring, acoustic guidance has continuously been sought for reasons of cost and practicality. We have previously demonstrated the potential of acoustic thermometry, by using a recurrent neural network (RNN) to estimate changes in tissue temperature during HIFU ablation therapies. A limitation of this method is that an excessive therapeutic dose can cause multiple, non-linear changes within the ultrasound data, resulting in unreliable temperature estimates from the RNN. Accordingly, we propose a revised method of dosing wherein closed loop feedback is used to provide a controlled and specific dose; not only to ensure an efficacious lesion, but also to preserve the integrity of the ultrasound image, thereby producing accurate temperature estimates from the RNN. This investigation of controlling the thermal dose using feedback was performed on ex vivo bovine liver. The acoustic parameters used as inputs to the RNN were: changes in integrated backscatter intensity, thermal strain, and decorrelation. The therapeutic dose was delivered using a 1.1 MHz, 2D-array HIFU transducer transmitting at regular intervals during a 40-second dose. Interleaved between these regular HIFU dose intervals, volumetric ultrasound images were acquired on a Siemens ACUSON SC2000, with a 4Zlc probe. Feedback was introduced to the system by varying the HIFU duty cycle, in order to minimize the difference between a desired temperature curve (assigned a priori) and the estimated focal temperature values. Two methods were used for obtaining the focal temperature: the first was direct measurement using a 75-micron copper-constantan thermocouple embedded within the liver sample, and the second was temperature estimation as calculated from the RNN-based output temperatures

  9. Invariant poles feedback control of flexible, highly variable spacecraft.

    NASA Technical Reports Server (NTRS)

    Mendel, J. M.

    1972-01-01

    This paper describes a technique for single-axis control of a model of a highly flexible Space Station. Active damping of lower frequency flexibility modes is employed. In the control technique, referred to as invariant poles feedback control (IPFC), feedback gains are adjusted so that the closed-loop system's characteristic equation is matched to that of a reference model; hence, closed-loop system's poles will not move - they will be invariant (provided bending frequencies and parameters can be identified accurately). This is accomplished by obtaining the system's characteristic equation in closed form; equating respective coefficients between terms of like powers in s in the system and reference model characteristic equations; and, solving for the feedback gains. The feedback gains are explicit functions of system plant parameters and the coefficients of the reference model's characteristic equation, and are easily programmed for the digital computer.

  10. Invariant poles feedback control of flexible highly variable spacecraft.

    NASA Technical Reports Server (NTRS)

    Mendel, J. M.

    1972-01-01

    Description of a technique for single-axis control of a model of a highly flexible space station. Active damping of lower frequency flexibility modes is employed. In the control technique, referred to as invariant poles feedback control, feedback gains are adjusted so that the closed-loop system characteristic equation is matched to that of a reference model. Hence closed-loop system poles will not move; they will be invariant (provided that bending frequencies and parameters can be identified accurately). This is accomplished by obtaining the system characteristic equation in closed form; equating respective coefficients between terms of like powers in s in the system and reference model characteristic equations; and solving for the feedback gains. The feedback gains are explicit functions of system plant parameters and the coefficients of the reference model characteristic equation, and are easily programmed for the digital computer.

  11. Control of resistance plug welding using quantitative feedback theory

    SciTech Connect

    Bentley, A.E.; Horowitz, I. ||; Chait, Y.; Rodrigues, J.

    1996-12-01

    Resistance welding is used extensively throughout the manufacturing industry. Variations in weld quality often result in costly post-weld inspections. Applications of feed-back control to such processes have been limited by the lack of accurate models describing the nonlinear dynamics of this process. A new system based on electrode displacement feedback is developed that greatly improves quality control of the resistance plug welding process. The system is capable of producing repeatable welds of consistent displacement (and thus consistent quality), with wide variations in weld parameters. This paper describes the feedback design of a robust controller using Quantitative Feedback Theory for this highly complex process, and the experimental results of the applied system.

  12. Virtual Grasping: Closed-Loop Force Control Using Electrotactile Feedback

    PubMed Central

    Jorgovanovic, Nikola; Dosen, Strahinja; Djozic, Damir J.; Krajoski, Goran; Farina, Dario

    2014-01-01

    Closing the control loop by providing somatosensory feedback to the user of a prosthesis is a well-known, long standing challenge in the field of prosthetics. Various approaches have been investigated for feedback restoration, ranging from direct neural stimulation to noninvasive sensory substitution methods. Although there are many studies presenting closed-loop systems, only a few of them objectively evaluated the closed-loop performance, mostly using vibrotactile stimulation. Importantly, the conclusions about the utility of the feedback were partly contradictory. The goal of the current study was to systematically investigate the capability of human subjects to control grasping force in closed loop using electrotactile feedback. We have developed a realistic experimental setup for virtual grasping, which operated in real time, included a set of real life objects, as well as a graphical and dynamical model of the prosthesis. We have used the setup to test 10 healthy, able bodied subjects to investigate the role of training, feedback and feedforward control, robustness of the closed loop, and the ability of the human subjects to generalize the control to previously “unseen” objects. Overall, the outcomes of this study are very optimistic with regard to the benefits of feedback and reveal various, practically relevant, aspects of closed-loop control. PMID:24516504

  13. Virtual grasping: closed-loop force control using electrotactile feedback.

    PubMed

    Jorgovanovic, Nikola; Dosen, Strahinja; Djozic, Damir J; Krajoski, Goran; Farina, Dario

    2014-01-01

    Closing the control loop by providing somatosensory feedback to the user of a prosthesis is a well-known, long standing challenge in the field of prosthetics. Various approaches have been investigated for feedback restoration, ranging from direct neural stimulation to noninvasive sensory substitution methods. Although there are many studies presenting closed-loop systems, only a few of them objectively evaluated the closed-loop performance, mostly using vibrotactile stimulation. Importantly, the conclusions about the utility of the feedback were partly contradictory. The goal of the current study was to systematically investigate the capability of human subjects to control grasping force in closed loop using electrotactile feedback. We have developed a realistic experimental setup for virtual grasping, which operated in real time, included a set of real life objects, as well as a graphical and dynamical model of the prosthesis. We have used the setup to test 10 healthy, able bodied subjects to investigate the role of training, feedback and feedforward control, robustness of the closed loop, and the ability of the human subjects to generalize the control to previously "unseen" objects. Overall, the outcomes of this study are very optimistic with regard to the benefits of feedback and reveal various, practically relevant, aspects of closed-loop control.

  14. Global feedback control for pattern-forming systems.

    PubMed

    Stanton, L G; Golovin, A A

    2007-09-01

    Global feedback control of pattern formation in a wide class of systems described by the Swift-Hohenberg (SH) equation is investigated theoretically, by means of stability analysis and numerical simulations. Two cases are considered: (i) feedback control of the competition between hexagon and roll patterns described by a supercritical SH equation, and (ii) the use of feedback control to suppress the blowup in a system described by a subcritical SH equation. In case (i), it is shown that feedback control can change the hexagon and roll stability regions in the parameter space as well as cause a transition from up to down hexagons and stabilize a skewed (mixed-mode) hexagonal pattern. In case (ii), it is demonstrated that feedback control can suppress blowup and lead to the formation of spatially localized patterns in the weakly nonlinear regime. The effects of a delayed feedback are also investigated for both cases, and it is shown that delay can induce temporal oscillations as well as blowup.

  15. Effects on non-linearities on aircraft poststall motion

    SciTech Connect

    Rohacs, J.; Thomasson, P.; Mosehilde, E.

    1994-12-31

    The poststall maneuverability controlled by thrust vectoring has become one of the important aspects of new fighter development projects. In simplified case, the motion of aircraft can be described by 6DOF nonlinear system. The lecture deals with the longitudinal motion of poststall maneuverable aircraft. The investigation made about the effects of non-linearities in aerodynamic coefficients having considerable non-linearities and hysteresisis an the poststall motions. There were used some different models of aerodynamic coefficients. The results of investigation have shown that the poststall domain of vectored aircraft can be divided into five different pHs in field of thrust - pitch vector angle, and the chaotic motions of aircraft can be found at the different frequencies of thrust deflection. There were defined an unstable right domain with an unstable oscillation and a field of overpulling at poststall motion. The certain frequency chaotic attractors were got at frequencies of Oxitation between the 0.15 and 0.65 rad/sec. The pitching moment derivatives had the big influence on the chaotic motions, while the lift coefficient derivatives bad the reasonable effects, only.

  16. Feedback Control Systems Loop Shaping Design with Practical Considerations

    NASA Technical Reports Server (NTRS)

    Kopsakis, George

    2007-01-01

    This paper describes loop shaping control design in feedback control systems, primarily from a practical stand point that considers design specifications. Classical feedback control design theory, for linear systems where the plant transfer function is known, has been around for a long time. But it s still a challenge of how to translate the theory into practical and methodical design techniques that simultaneously satisfy a variety of performance requirements such as transient response, stability, and disturbance attenuation while taking into account the capabilities of the plant and its actuation system. This paper briefly addresses some relevant theory, first in layman s terms, so that it becomes easily understood and then it embarks into a practical and systematic design approach incorporating loop shaping design coupled with lead-lag control compensation design. The emphasis is in generating simple but rather powerful design techniques that will allow even designers with a layman s knowledge in controls to develop effective feedback control designs.

  17. Sampled-Data State Feedback Stabilization of Boolean Control Networks.

    PubMed

    Liu, Yang; Cao, Jinde; Sun, Liangjie; Lu, Jianquan

    2016-04-01

    In this letter, we investigate the sampled-data state feedback control (SDSFC) problem of Boolean control networks (BCNs). Some necessary and sufficient conditions are obtained for the global stabilization of BCNs by SDSFC. Different from conventional state feedback controls, new phenomena observed the study of SDSFC. Based on the controllability matrix, we derive some necessary and sufficient conditions under which the trajectories of BCNs can be stabilized to a fixed point by piecewise constant control (PCC). It is proved that the global stabilization of BCNs under SDSFC is equivalent to that by PCC. Moreover, algorithms are given to construct the sampled-data state feedback controllers. Numerical examples are given to illustrate the efficiency of the obtained results.

  18. Control of Cardiac Arrhythmia by Nonlinear Spatiotemporal Delayed Feedback

    NASA Astrophysics Data System (ADS)

    Boroujeni, Forough Rezaei; Vasegh, Nastaran; Sedigh, Ali Khaki

    The dynamic feedback control of the cardiac pacing interval has been widely used to suppress alternans. In this paper, temporally and spatially suppressing the alternans for cardiac tissue consisting of a one-dimensional chain of cardiac units is investigated. The model employed is a nonlinear partial difference equation. The model's fixed points and their stability conditions are determined, and bifurcations and chaos phenomenon have been studied by numerical simulations. The main objective of this paper is to stabilize the unstable fixed point of the model. The proposed approach is nonlinear spatiotemporal delayed feedback, and the appropriate interval for controller feedback gain is calculated using the linear stability analysis. It is proven that the proposed approach is robust with respect to all bifurcation parameter variations. Also, set point tracking is achieved by employing delayed feedback with an integrator. Finally, simulation results are provided to show the effectiveness of the proposed methodology.

  19. Cognitive Evaluation Theory, Locus of Control and Positive Verbal Feedback.

    ERIC Educational Resources Information Center

    Lonky, Edward; Reihman, Jacqueline

    This study tests the hypothesis that individual differences in locus of control orientation may mediate elementary school students' responses to positive verbal feedback. A total of 30 kindergarten through fourth grade subjects were assessed for locus of control orientation using the Bialer Children's Locus of Control Questionnaire. To establish a…

  20. Finite element models and feedback control of flexible aerospace structures

    NASA Technical Reports Server (NTRS)

    Balas, M. J.

    1980-01-01

    Large flexible aerospace structures, such as the solar power satellite, are distributed parameter systems with very complex continuum descriptions. This paper investigates the use of finite element methods to produce reduced-order models and finite dimensional feedback controllers for these structures. The main results give conditions under which stable control of the finite element model will produce stable control of the actual structure.

  1. Software Controls For Automated Feedback Tuning

    NASA Astrophysics Data System (ADS)

    Lazarski, K.; Alkire, R. W.; Duke, N. E. C.; Rotella, F. J.

    2004-05-01

    The Structural Biology Center (SBC) beamlines have been designed to take full advantage of the highly intense radiation available at Argonne's Advance Photon Source for crystallography experiments. In order to facilitate the delivery of an intense, stable x-ray beam to crystallographic samples, new beam position stabilization software has been developed. Using the beam-position monitor developed by Alkire, Rosenbaum and Evans, the position of the beam is corrected in real time by applying changes to the monochromator tune using DC servomotors. Real-time monitoring tools were developed, in addition to the technique of selecting the reference trigger points. A user interface for feedback tuning has been developed in conjunction with real-time monitoring and interacting with data acquisition at the bending-magnet beamline (19BM) of the SBC. Preliminary results showed positional stability of the beam to better than 1 μrad in tune.

  2. Non-linear behavior of fiber composite laminates

    NASA Technical Reports Server (NTRS)

    Hashin, Z.; Bagchi, D.; Rosen, B. W.

    1974-01-01

    The non-linear behavior of fiber composite laminates which results from lamina non-linear characteristics was examined. The analysis uses a Ramberg-Osgood representation of the lamina transverse and shear stress strain curves in conjunction with deformation theory to describe the resultant laminate non-linear behavior. A laminate having an arbitrary number of oriented layers and subjected to a general state of membrane stress was treated. Parametric results and comparison with experimental data and prior theoretical results are presented.

  3. Stabilizing unstable steady states using multiple delay feedback control.

    PubMed

    Ahlborn, Alexander; Parlitz, Ulrich

    2004-12-31

    Feedback control with different and independent delay times is introduced and shown to be an efficient method for stabilizing fixed points (equilibria) of dynamical systems. In comparison to other delay based chaos control methods multiple delay feedback control is superior for controlling steady states and works also for relatively large delay times (sometimes unavoidable in experiments due to system dead times). To demonstrate this approach for stabilizing unstable fixed points we present numerical simulations of Chua's circuit and a successful experimental application for stabilizing a chaotic frequency doubled Nd-doped yttrium aluminum garnet laser.

  4. Buck-boost converter feedback controller design via evolutionary search

    NASA Astrophysics Data System (ADS)

    Sundareswaran, K.; Devi, V.; Nadeem, S. K.; Sreedevi, V. T.; Palani, S.

    2010-11-01

    Buck-boost converters are switched power converters. The model of the converter system varies from the ON state to the OFF state and hence traditional methods of controller design based on approximate transfer function models do not yield good dynamic response at different operating points of the converter system. This article attempts to design a feedback controller for a buck-boost type dc-dc converter using a genetic algorithm. The feedback controller design is perceived as an optimisation problem and a robust controller is estimated through an evolutionary search. Extensive simulation and experimental results provided in the article show the effectiveness of the new approach.

  5. Control of breathing by interacting pontine and pulmonary feedback loops.

    PubMed

    Molkov, Yaroslav I; Bacak, Bartholomew J; Dick, Thomas E; Rybak, Ilya A

    2013-01-01

    The medullary respiratory network generates respiratory rhythm via sequential phase switching, which in turn is controlled by multiple feedbacks including those from the pons and nucleus tractus solitarii; the latter mediates pulmonary afferent feedback to the medullary circuits. It is hypothesized that both pontine and pulmonary feedback pathways operate via activation of medullary respiratory neurons that are critically involved in phase switching. Moreover, the pontine and pulmonary control loops interact, so that pulmonary afferents control the gain of pontine influence of the respiratory pattern. We used an established computational model of the respiratory network (Smith et al., 2007) and extended it by incorporating pontine circuits and pulmonary feedback. In the extended model, the pontine neurons receive phasic excitatory activation from, and provide feedback to, medullary respiratory neurons responsible for the onset and termination of inspiration. The model was used to study the effects of: (1) "vagotomy" (removal of pulmonary feedback), (2) suppression of pontine activity attenuating pontine feedback, and (3) these perturbations applied together on the respiratory pattern and durations of inspiration (T(I)) and expiration (T(E)). In our model: (a) the simulated vagotomy resulted in increases of both T(I) and T(E), (b) the suppression of pontine-medullary interactions led to the prolongation of T(I) at relatively constant, but variable T(E), and (c) these perturbations applied together resulted in "apneusis," characterized by a significantly prolonged T(I). The results of modeling were compared with, and provided a reasonable explanation for, multiple experimental data. The characteristic changes in T(I) and T(E) demonstrated with the model may represent characteristic changes in the balance between the pontine and pulmonary feedback control mechanisms that may reflect specific cardio-respiratory disorders and diseases.

  6. Nonlinear Dynamics and Chaotic Motions in Feedback Controlled Elastic Systems.

    DTIC Science & Technology

    1985-08-01

    mechanical oscillator ", "On slowly varying oscillations ", "Knotted Orbits and bifurcation sequences in periodically forced oscillations ", "Dynamics of a...each P.I. 2.1 Analytical Studies of Feedback Controlled Oscillators (P.J. Holmes, S. Wiggins (Grad. Student)) 2.1.1 Bifurcation studies. Local and...global bifurcation studies of nonlinear oscillators subject to linear and nonlinear feedback have been completed. The systems treated have the form x

  7. Feedback linearizing control of a MIMO power system

    NASA Astrophysics Data System (ADS)

    Ilyes, Laszlo

    Prior research has demonstrated that either the mechanical or electrical subsystem of a synchronous electric generator may be controlled using single-input single-output (SISO) nonlinear feedback linearization. This research suggests a new approach which applies nonlinear feedback linearization to a multi-input multi-output (MIMO) model of the synchronous electric generator connected to an infinite bus load model. In this way, the electrical and mechanical subsystems may be linearized and simultaneously decoupled through the introduction of a pair of auxiliary inputs. This allows well known, linear, SISO control methods to be effectively applied to the resulting systems. The derivation of the feedback linearizing control law is presented in detail, including a discussion on the use of symbolic math processing as a development tool. The linearizing and decoupling properties of the control law are validated through simulation. And finally, the robustness of the control law is demonstrated.

  8. Non linear processes modulated by low doses of radiation exposure

    NASA Astrophysics Data System (ADS)

    Mariotti, Luca; Ottolenghi, Andrea; Alloni, Daniele; Babini, Gabriele; Morini, Jacopo; Baiocco, Giorgio

    The perturbation induced by radiation impinging on biological targets can stimulate the activation of several different pathways, spanning from the DNA damage processing to intra/extra -cellular signalling. In the mechanistic investigation of radiobiological damage this complex “system” response (e.g. omics, signalling networks, micro-environmental modifications, etc.) has to be taken into account, shifting from a focus on the DNA molecule solely to a systemic/collective view. An additional complication comes from the finding that the individual response of each of the involved processes is often not linear as a function of the dose. In this context, a systems biology approach to investigate the effects of low dose irradiations on intra/extra-cellular signalling will be presented, where low doses of radiation act as a mild perturbation of a robustly interconnected network. Results obtained through a multi-level investigation of both DNA damage repair processes (e.g. gamma-H2AX response) and of the activation kinetics for intra/extra cellular signalling pathways (e.g. NFkB activation) show that the overall cell response is dominated by non-linear processes - such as negative feedbacks - leading to possible non equilibrium steady states and to a poor signal-to-noise ratio. Together with experimental data of radiation perturbed pathways, different modelling approaches will be also discussed.

  9. Output feedback fuzzy controller design with local nonlinear feedback laws for discrete-time nonlinear systems.

    PubMed

    Dong, Jiuxiang; Wang, Youyi; Yang, Guang-Hong

    2010-12-01

    This paper considers the output feedback control problem for nonlinear discrete-time systems, which are represented by a type of fuzzy systems with local nonlinear models. By using the estimations of the states and nonlinear functions in local models, sufficient conditions for designing observer-based controllers are given for discrete-time nonlinear systems. First, a separation property, i.e., the controller and the observer can be independently designed, is proved for the class of fuzzy systems. Second, a two-step procedure with cone complementarity linearization algorithms is also developed for solving the H( ∞) dynamic output feedback (DOF) control problem. Moreover, for the case where the nonlinear functions in local submodels are measurable, a convex condition for designing H(∞) controllers is given by a new DOF control scheme. In contrast to the existing methods, the new methods can design output feedback controllers with fewer fuzzy rules as well as less computational burden, which is helpful for controller designs and implementations. Lastly, numerical examples are given to illustrate the effectiveness of the proposed methods.

  10. Active vibroacoustic control with multiple local feedback loops.

    PubMed

    Elliott, Stephen J; Gardonio, Paolo; Sors, Thomas C; Brennan, Michael J

    2002-02-01

    When multiple actuators and sensors are used to control the vibration of a panel, or its sound radiation, they are usually positioned so that they couple into specific modes and are all connected together with a centralized control system. This paper investigates the physical effects of having a regular array of actuator and sensor pairs that are connected only by local feedback loops. An array of 4 x 4 force actuators and velocity sensors is first simulated, for which such a decentralized controller can be shown to be unconditionally stable. Significant reductions in both the kinetic energy of the panel and in its radiated sound power can be obtained for an optimal value of feedback gain, although higher values of feedback gain can induce extra resonances in the system and degrade the performance. A more practical transducer pair, consisting of a piezoelectric actuator and velocity sensor, is also investigated and the simulations suggest that a decentralized controller with this arrangement is also stable over a wide range of feedback gains. The resulting reductions in kinetic energy and sound power are not as great as with the force actuators, due to the extra resonances being more prominent and at lower frequencies, but are still worthwhile. This suggests that an array of independent modular systems, each of which included an actuator, a sensor, and a local feedback control loop, could be a simple and robust method of controlling broadband sound transmission when integrated into a panel.

  11. The non-linear initiation of diapirs and plume heads

    NASA Astrophysics Data System (ADS)

    Bercovici, David; Kelly, Amanda

    1997-04-01

    A simple theory is devised to describe the non-linear feedback mechanisms involved in the initial growth of a single diapir or plume head from a low viscosity channel overlain by a much more viscous layer. Such feedbacks arise primarily from the relation between the growth of a proto-diapir (i.e. an undulation on the upper boundary of the low viscosity channel) and the draining of the low viscosity channel. In the period of time between its initial exponential growth (characterized by linear stability analysis) and its separation from the low viscosity channel as a fully formed diapir, the proto-diapir can undergo a significant cessation in its development due to deflation of the low viscosity channel; i.e. the proto-diapir's growth can essentially stall for a long period of time before it separates and begins its ascent through the overlying medium. The theory is used to determine a criterion for separation of the diapir from the low viscosity channel that is in terms of the geometrical and mechanical properties of the channel, instead of the ad hoc volume flux widely used in many models of mantle plumes and plume heads (e.g. Whitehead and Luther, 1975; Richards et al., 1989; Olson, 1990; Sleep, 1990; Bercovici and Mahoney, 1994). From this separation criterion, self-consistent scaling laws can be formulated to relate the size of the fully developed diapir and its trailing conduit to the properties of the initial channel, instead of to the ad hoc volume flux. Basic laboratory experiments involving highly viscous fluids are presented and demonstrate that the so-called 'stalling' period between initial growth and separation does indeed occur. These results suggest that nascent mantle plume heads may stall for extended periods at the base of the mantle and thereby contribute to variations in thickness of the D″ layer.

  12. Feedback control laws for highly maneuverable aircraft

    NASA Technical Reports Server (NTRS)

    Garrard, William L.; Balas, Gary J.

    1995-01-01

    During this year, we concentrated our efforts on the design of controllers for lateral/directional control using mu synthesis. This proved to be a more difficult task than we anticipated and we are still working on the designs. In the lateral-directional control problem, the inputs are pilot lateral stick and pedal commands and the outputs are roll rate about the velocity vector and side slip angle. The control effectors are ailerons, rudder deflection, and directional thrust vectoring vane deflection which produces a yawing moment about the body axis. Our math model does not contain any provision for thrust vectoring of rolling moment. This has resulted in limitations of performance at high angles of attack. During 1994-95, the following tasks for the lateral-directional controllers were accomplished: (1) Designed both inner and outer loop dynamic inversion controllers. These controllers are implemented using accelerometer outputs rather than an a priori model of the vehicle aerodynamics; (2) Used classical techniques to design controllers for the system linearized by dynamics inversion. These controllers acted to control roll rate and Dutch roll response; (3) Implemented the inner loop dynamic inversion and classical controllers on the six DOF simulation; (4) Developed a lateral-directional control allocation scheme based on minimizing required control effort among the ailerons, rudder, and directional thrust vectoring; and (5) Developed mu outer loop controllers combined with classical inner loop controllers.

  13. Predictive Feedback and Feedforward Control for Systems with Unknown Disturbances

    NASA Technical Reports Server (NTRS)

    Juang, Jer-Nan; Eure, Kenneth W.

    1998-01-01

    Predictive feedback control has been successfully used in the regulation of plate vibrations when no reference signal is available for feedforward control. However, if a reference signal is available it may be used to enhance regulation by incorporating a feedforward path in the feedback controller. Such a controller is known as a hybrid controller. This paper presents the theory and implementation of the hybrid controller for general linear systems, in particular for structural vibration induced by acoustic noise. The generalized predictive control is extended to include a feedforward path in the multi-input multi-output case and implemented on a single-input single-output test plant to achieve plate vibration regulation. There are cases in acoustic-induce vibration where the disturbance signal is not available to be used by the hybrid controller, but a disturbance model is available. In this case the disturbance model may be used in the feedback controller to enhance performance. In practice, however, neither the disturbance signal nor the disturbance model is available. This paper presents the theory of identifying and incorporating the noise model into the feedback controller. Implementations are performed on a test plant and regulation improvements over the case where no noise model is used are demonstrated.

  14. Global feedforward and glocal feedback control of large deformable mirrors

    NASA Astrophysics Data System (ADS)

    Ruppel, Thomas; Sawodny, Oliver

    2011-09-01

    With an increasing demand for high spatial resolution and fast temporal response of AO components for ELTs, the need for actively controlled, electronically damped deformable mirrors is evident. With typically more than 1000 actuators and collocated sensors, the evolving multi-input multi-output control task for shaping the deformable mirror requires sophisticated control concepts. Although global position control of the mirror would be the most promising solution, the computational complexity for high order spatial control of the deformable element typically exceeds available computing power. Due to this reason, existing deformable membrane mirrors for large telescopes incorporate local feedback instead of global feedback control and neglect some of the global dynamics of the deformable mirror. As a side effect, coupling of the separately controlled actuators through the deformable membrane can lead to instability of the individually stable loops and draws the need for carefully designing the control parameters of the local feedback loops. In this presentation, the computational demands for global position control of deformable mirrors are revisited and a less demanding model-based modal control concept for large deformable membrane mirrors with distributed force actuators and collocated position sensors is presented. Both global feedforward and glocal feedback control is employed in a two-degree-of-freedom control structure allowing for separately designing tracking performance and disturbance rejection. In order to implement state feedback control, non-measureable state information is reconstructed by using model-based distributed state observers. By taking into account the circular symmetry of the deformable mirror geometry, the computational complexity of the algorithms is discussed and model reduction techniques with quasi-static state approximation are presented. As an example, the geometric layout of required sensor / actuator wiring and computational

  15. Feedback Flow Control for a Pitching Turret (Part II) (POSTPRINT)

    DTIC Science & Technology

    2010-01-01

    imposes no penalty on the control input. VII. Closed-loop Control Run with an Advanced Controller Three compensators ( LQR regulators with Kalman...AFRL-RB-WP-TP-2010-3024 FEEDBACK FLOW CONTROL FOR A PITCHING TURRET (PART II) (POSTPRINT) T. Vaithianathan and H.A. Carlson Clear...display a currently valid OMB control number. PLEASE DO NOT RETURN YOUR FORM TO THE ABOVE ADDRESS. 1. REPORT DATE (DD-MM-YY) 2. REPORT TYPE 3

  16. Event-triggered output feedback control for distributed networked systems.

    PubMed

    Mahmoud, Magdi S; Sabih, Muhammad; Elshafei, Moustafa

    2016-01-01

    This paper addresses the problem of output-feedback communication and control with event-triggered framework in the context of distributed networked control systems. The design problem of the event-triggered output-feedback control is proposed as a linear matrix inequality (LMI) feasibility problem. The scheme is developed for the distributed system where only partial states are available. In this scheme, a subsystem uses local observers and share its information to its neighbors only when the subsystem's local error exceeds a specified threshold. The developed method is illustrated by using a coupled cart example from the literature.

  17. Scattering Control Using Nonlinear Smart Metasurface with Internal Feedback

    NASA Astrophysics Data System (ADS)

    Semenikhina, D. V.; Semenikhin, A. I.

    2017-05-01

    The ideology of creation of a nonlinear smart metasurface with internal feedback for the adaptive control by spectral composition of scattered field is offered. The metasurface contains a lattice of strip elements with nonlinear loads-sensors. They are included in a circuit of internal feedback for the adaptive control of scattered field. Numerically it is shown that maximal levels of the second harmonic in the spectrum of scattered far field correspond to maximum of voltage rectified on metasurface. Experimentally the prototype of the plane smart covering on the basis of the metasurface in the form of strip lattice with controlled nonlinear loads-sensors is investigated for an idea confirmation.

  18. On spatial spillover in feedforward and feedback noise control

    NASA Astrophysics Data System (ADS)

    Xie, Antai; Bernstein, Dennis

    2017-03-01

    Active feedback noise control for rejecting broadband disturbances must contend with the Bode integral constraint, which implies that suppression over some frequency range gives rise to amplification over another range at the performance microphone. This is called spectral spillover. The present paper deals with spatial spillover, which refers to the amplification of noise at locations where no microphone is located. A spatial spillover function is defined, which is valid for both feedforward and feedback control with scalar and vector control inputs. This function is numerically analyzed and measured experimentally. Obstructions are introduced in the acoustic space to investigate their effect on spatial spillover.

  19. Hybrid Feedforward-Feedback Noise Control Using Virtual Sensors

    NASA Technical Reports Server (NTRS)

    Bean, Jacob; Fuller, Chris; Schiller, Noah

    2016-01-01

    Several approaches to active noise control using virtual sensors are evaluated for eventual use in an active headrest. Specifically, adaptive feedforward, feedback, and hybrid control structures are compared. Each controller incorporates the traditional filtered-x least mean squares algorithm. The feedback controller is arranged in an internal model configuration to draw comparisons with standard feedforward control theory results. Simulation and experimental results are presented that illustrate each controllers ability to minimize the pressure at both physical and virtual microphone locations. The remote microphone technique is used to obtain pressure estimates at the virtual locations. It is shown that a hybrid controller offers performance benefits over the traditional feedforward and feedback controllers. Stability issues associated with feedback and hybrid controllers are also addressed. Experimental results show that 15-20 dB reduction in broadband disturbances can be achieved by minimizing the measured pressure, whereas 10-15 dB reduction is obtained when minimizing the estimated pressure at a virtual location.

  20. Effect of motor dynamics on nonlinear feedback robot arm control

    NASA Technical Reports Server (NTRS)

    Tarn, Tzyh-Jong; Li, Zuofeng; Bejczy, Antal K.; Yun, Xiaoping

    1991-01-01

    A nonlinear feedback robot controller that incorporates the robot manipulator dynamics and the robot joint motor dynamics is proposed. The manipulator dynamics and the motor dynamics are coupled to obtain a third-order-dynamic model, and differential geometric control theory is applied to produce a linearized and decoupled robot controller. The derived robot controller operates in the robot task space, thus eliminating the need for decomposition of motion commands into robot joint space commands. Computer simulations are performed to verify the feasibility of the proposed robot controller. The controller is further experimentally evaluated on the PUMA 560 robot arm. The experiments show that the proposed controller produces good trajectory tracking performances and is robust in the presence of model inaccuracies. Compared with a nonlinear feedback robot controller based on the manipulator dynamics only, the proposed robot controller yields conspicuously improved performance.

  1. Effect of motor dynamics on nonlinear feedback robot arm control

    NASA Technical Reports Server (NTRS)

    Tarn, Tzyh-Jong; Li, Zuofeng; Bejczy, Antal K.; Yun, Xiaoping

    1991-01-01

    A nonlinear feedback robot controller that incorporates the robot manipulator dynamics and the robot joint motor dynamics is proposed. The manipulator dynamics and the motor dynamics are coupled to obtain a third-order-dynamic model, and differential geometric control theory is applied to produce a linearized and decoupled robot controller. The derived robot controller operates in the robot task space, thus eliminating the need for decomposition of motion commands into robot joint space commands. Computer simulations are performed to verify the feasibility of the proposed robot controller. The controller is further experimentally evaluated on the PUMA 560 robot arm. The experiments show that the proposed controller produces good trajectory tracking performances and is robust in the presence of model inaccuracies. Compared with a nonlinear feedback robot controller based on the manipulator dynamics only, the proposed robot controller yields conspicuously improved performance.

  2. Nonlinear feedback control of highly manoeuvrable aircraft

    NASA Technical Reports Server (NTRS)

    Garrard, William L.; Enns, Dale F.; Snell, S. A.

    1992-01-01

    This paper describes the application of nonlinear quadratic regulator (NLQR) theory to the design of control laws for a typical high-performance aircraft. The NLQR controller design is performed using truncated solutions of the Hamilton-Jacobi-Bellman equation of optimal control theory. The performance of the NLQR controller is compared with the performance of a conventional P + I gain scheduled controller designed by applying standard frequency response techniques to the equations of motion of the aircraft linearized at various angles of attack. Both techniques result in control laws which are very similar in structure to one another and which yield similar performance. The results of applying both control laws to a high-g vertical turn are illustrated by nonlinear simulation.

  3. Nonlinear feedback control of highly manoeuvrable aircraft

    NASA Technical Reports Server (NTRS)

    Garrard, William L.; Enns, Dale F.; Snell, S. A.

    1992-01-01

    This paper describes the application of nonlinear quadratic regulator (NLQR) theory to the design of control laws for a typical high-performance aircraft. The NLQR controller design is performed using truncated solutions of the Hamilton-Jacobi-Bellman equation of optimal control theory. The performance of the NLQR controller is compared with the performance of a conventional P + I gain scheduled controller designed by applying standard frequency response techniques to the equations of motion of the aircraft linearized at various angles of attack. Both techniques result in control laws which are very similar in structure to one another and which yield similar performance. The results of applying both control laws to a high-g vertical turn are illustrated by nonlinear simulation.

  4. Feedback control laws for highly maneuverable aircraft

    NASA Technical Reports Server (NTRS)

    Garrard, William L.; Balas, Gary J.

    1994-01-01

    During the first half of the year, the investigators concentrated their efforts on completing the design of control laws for the longitudinal axis of the HARV. During the second half of the year they concentrated on the synthesis of control laws for the lateral-directional axes. The longitudinal control law design efforts can be briefly summarized as follows. Longitudinal control laws were developed for the HARV using mu synthesis design techniques coupled with dynamic inversion. An inner loop dynamic inversion controller was used to simplify the system dynamics by eliminating the aerodynamic nonlinearities and inertial cross coupling. Models of the errors resulting from uncertainties in the principal longitudinal aerodynamic terms were developed and included in the model of the HARV with the inner loop dynamic inversion controller. This resulted in an inner loop transfer function model which was an integrator with the modeling errors characterized as uncertainties in gain and phase. Outer loop controllers were then designed using mu synthesis to provide robustness to these modeling errors and give desired response to pilot inputs. Both pitch rate and angle of attack command following systems were designed. The following tasks have been accomplished for the lateral-directional controllers: inner and outer loop dynamic inversion controllers have been designed; an error model based on a linearized perturbation model of the inner loop system was derived; controllers for the inner loop system have been designed, using classical techniques, that control roll rate and Dutch roll response; the inner loop dynamic inversion and classical controllers have been implemented on the six degree of freedom simulation; and lateral-directional control allocation scheme has been developed based on minimizing required control effort.

  5. High-fidelity simulation and reduced-order modelling of integrally-actuated membrane wings with feedback control

    NASA Astrophysics Data System (ADS)

    Buoso, Stefano; Palacios, Rafael

    2016-04-01

    This work presents a numerical framework for the simulation and design of integrally actuated membrane wings with feedback control. The performance of the aeroelastic system are evaluated using a high-fidelity model. It consists in a fluid solver based on the direct numerical integration of the unsteady Navier-Stokes equations implicitly coupled with a geometrically non-linear dynamic structural model which has been calibrated using experimental data. The rate-dependent constitutive law for the dielectric elastomer considered for the integral wing actuation is based on a non-linear formulation. The framework also includes a methodology for the model reduction of the fully-coupled system. The resulting low-order description showed to retain the main system dynamics, and can therefore be used for the design of the control scheme for the wing. Results highlights the potential to achieve on-demand aerodynamics using the actuation concept proposed. In particular, it is shown that the wing aerodynamic performance is noticeably enhanced through the actuation and the disturbances on the lift in case of gusts can be reduced up to 60%.

  6. Generic stabilizability for time-delayed feedback control.

    PubMed

    Sieber, J

    2016-05-01

    Time-delayed feedback control is one of the most successful methods to discover dynamically unstable features of a dynamical system in an experiment. This approach feeds back only terms that depend on the difference between the current output and the output from a fixed time T ago. Thus, any periodic orbit of period T in the feedback-controlled system is also a periodic orbit of the uncontrolled system, independent of any modelling assumptions. It has been an open problem whether this approach can be successful in general, that is, under genericity conditions similar to those in linear control theory (controllability), or if there are fundamental restrictions to time-delayed feedback control. We show that, in principle, there are no restrictions. This paper proves the following: for every periodic orbit satisfying a genericity condition slightly stronger than classical linear controllability, one can find control gains that stabilize this orbit with extended time-delayed feedback control. While the paper's techniques are based on linear stability analysis, they exploit the specific properties of linearizations near autonomous periodic orbits in nonlinear systems, and are, thus, mostly relevant for the analysis of nonlinear experiments.

  7. Robustness with observers. [linear optimal feedback control systems

    NASA Technical Reports Server (NTRS)

    Doyle, J. C.; Stein, G.

    1979-01-01

    The paper describes an adjustment procedure for observer-based linear control systems which asymptotically achieves the same loop transfer functions (and hence the same relative stability, robustness, and disturbance rejection properties) as full-state feedback control implementations. Full-state loop-transfer properties can be recovered asymptotically if the plant is minimum phase; this occurs at the expense of noise performance.

  8. The Locus of Control Construct in EEG Alpha Rhythm Feedback

    ERIC Educational Resources Information Center

    Johnson, Richard K.; Meyer, Robert G.

    1974-01-01

    The present study investigated locus of control, and performance in a biofeedback situation where the goal was to increase EEG alpha rhythm. Subjects with an internal locus of control were better able to use feedback to increase their alpha activity than external subjects. (Author)

  9. FEEDBACK CONTROL OF THE DIII-D ECH SYSTEM

    SciTech Connect

    J. LOHR; J.R. FERRON; Y.A. GORELOV; K. KAJIWARA; D. PONCE; M.R. WADE

    2002-08-01

    The output power of the DIII-D gyrotron complex has been modulated by the plasma control system using feedback on the difference between a desired electron temperature and the ECE measurement. Operation was stable and permitted control of the flux penetration during initiation of the discharge.

  10. Cross-Layer Adaptive Feedback Scheduling of Wireless Control Systems

    PubMed Central

    Xia, Feng; Ma, Longhua; Peng, Chen; Sun, Youxian; Dong, Jinxiang

    2008-01-01

    There is a trend towards using wireless technologies in networked control systems. However, the adverse properties of the radio channels make it difficult to design and implement control systems in wireless environments. To attack the uncertainty in available communication resources in wireless control systems closed over WLAN, a cross-layer adaptive feedback scheduling (CLAFS) scheme is developed, which takes advantage of the co-design of control and wireless communications. By exploiting cross-layer design, CLAFS adjusts the sampling periods of control systems at the application layer based on information about deadline miss ratio and transmission rate from the physical layer. Within the framework of feedback scheduling, the control performance is maximized through controlling the deadline miss ratio. Key design parameters of the feedback scheduler are adapted to dynamic changes in the channel condition. An event-driven invocation mechanism for the feedback scheduler is also developed. Simulation results show that the proposed approach is efficient in dealing with channel capacity variations and noise interference, thus providing an enabling technology for control over WLAN. PMID:27879934

  11. Stabilising falling liquid film flows using feedback control

    SciTech Connect

    Thompson, Alice B. Gomes, Susana N.; Pavliotis, Grigorios A.; Papageorgiou, Demetrios T.

    2016-01-15

    Falling liquid films become unstable due to inertial effects when the fluid layer is sufficiently thick or the slope sufficiently steep. This free surface flow of a single fluid layer has industrial applications including coating and heat transfer, which benefit from smooth and wavy interfaces, respectively. Here, we discuss how the dynamics of the system are altered by feedback controls based on observations of the interface height, and supplied to the system via the perpendicular injection and suction of fluid through the wall. In this study, we model the system using both Benney and weighted-residual models that account for the fluid injection through the wall. We find that feedback using injection and suction is a remarkably effective control mechanism: the controls can be used to drive the system towards arbitrary steady states and travelling waves, and the qualitative effects are independent of the details of the flow modelling. Furthermore, we show that the system can still be successfully controlled when the feedback is applied via a set of localised actuators and only a small number of system observations are available, and that this is possible using both static (where the controls are based on only the most recent set of observations) and dynamic (where the controls are based on an approximation of the system which evolves over time) control schemes. This study thus provides a solid theoretical foundation for future experimental realisations of the active feedback control of falling liquid films.

  12. Ferrite core non-linearity in coils for magnetic neurostimulation

    PubMed Central

    Lazzi, Gianluca

    2014-01-01

    The need to correctly predict the voltage across terminals of mm-sized coils, with ferrite core, to be employed for magnetic stimulation of the peripheral neural system is the motivation for this work. In such applications, which rely on a capacitive discharge on the coil to realise a transient voltage curve of duration and strength suitable for neural stimulation, the correct modelling of the non-linearity of the ferrite core is critical. A demonstration of how a finite-difference model of the considered coils, which include a model of the current-controlled inductance in the coil, can be used to correctly predict the time-domain voltage waveforms across the terminals of a test coil is presented. Five coils of different dimensions, loaded with ferrite cores, have been fabricated and tested: the measured magnitude and width of the induced pulse are within 10% of simulated values. PMID:26609390

  13. Ferrite core non-linearity in coils for magnetic neurostimulation.

    PubMed

    RamRakhyani, Anil Kumar; Lazzi, Gianluca

    2014-10-01

    The need to correctly predict the voltage across terminals of mm-sized coils, with ferrite core, to be employed for magnetic stimulation of the peripheral neural system is the motivation for this work. In such applications, which rely on a capacitive discharge on the coil to realise a transient voltage curve of duration and strength suitable for neural stimulation, the correct modelling of the non-linearity of the ferrite core is critical. A demonstration of how a finite-difference model of the considered coils, which include a model of the current-controlled inductance in the coil, can be used to correctly predict the time-domain voltage waveforms across the terminals of a test coil is presented. Five coils of different dimensions, loaded with ferrite cores, have been fabricated and tested: the measured magnitude and width of the induced pulse are within 10% of simulated values.

  14. ELM frequency feedback control on JET

    NASA Astrophysics Data System (ADS)

    Lennholm, M.; Beaumont, P. S.; Carvalho, I. S.; Chapman, I. T.; Felton, R.; Frigione, D.; Garzotti, L.; Goodyear, A.; Graves, J.; Grist, D.; Jachmich, S.; Lang, P.; Lerche, E.; de la Luna, E.; Mooney, R.; Morris, J.; Nave, M. F. F.; Rimini, F.; Sips, G.; Solano, E.; Tsalas, M.; EFDA Contributors, JET

    2015-06-01

    This paper describes the first development and implementation of a closed loop edge localized mode (ELM) frequency controller using gas injection as the actuator. The controller has been extensively used in recent experiments on JET and it has proved to work well at ELM frequencies in the 15-40 Hz range. The controller responds effectively to a variety of disturbances, generally recovering the requested ELM frequency within approximately 500 ms. Controlling the ELM frequency has become of prime importance in the new JET configuration with all metal walls, where insufficient ELM frequency is associated with excessive tungsten influx. The controller has allowed successful operation near the minimum acceptable ELM frequency where the best plasma confinement can be achieved. Use of the ELM frequency controller in conjunction with pellet injection has enabled investigations of ELM triggering by pellets while maintaining the desired ELM frequency even when pellets fail to trigger ELMs.

  15. Feedback controlled optics with wavefront compensation

    NASA Technical Reports Server (NTRS)

    Breckenridge, William G. (Inventor); Redding, David C. (Inventor)

    1993-01-01

    The sensitivity model of a complex optical system obtained by linear ray tracing is used to compute a control gain matrix by imposing the mathematical condition for minimizing the total wavefront error at the optical system's exit pupil. The most recent deformations or error states of the controlled segments or optical surfaces of the system are then assembled as an error vector, and the error vector is transformed by the control gain matrix to produce the exact control variables which will minimize the total wavefront error at the exit pupil of the optical system. These exact control variables are then applied to the actuators controlling the various optical surfaces in the system causing the immediate reduction in total wavefront error observed at the exit pupil of the optical system.

  16. Feedback Control Design for Counterflow Thrust Vectoring

    DTIC Science & Technology

    2005-09-01

    thrust vector angle. A model 27N pneumatic R-DDV servovalve from HR Textron is used in the test rig for this purpose. Data acquisition and control are...support this research. We also thank Robert Avant, Fritz Dittus and Mohammed I. Alidu for helping in the experimental setup. References ’Alvi, F. S... Thomson , M., "Minimal Controller Synthesis for Time-delay Systems Using a Smith Predictor," IEE Colloquium on Adaptive Controllers in Practice - Part Two

  17. Second law of thermodynamics with discrete quantum feedback control.

    PubMed

    Sagawa, Takahiro; Ueda, Masahito

    2008-02-29

    A new thermodynamic inequality is derived which leads to the maximum work that can be extracted from multi-heat-baths with the assistance of discrete quantum feedback control. The maximum work is determined by the free-energy difference and a generalized mutual information content between the thermodynamic system and the feedback controller. This maximum work can exceed that in conventional thermodynamics and, in the case of a heat cycle with two heat baths, the heat efficiency can be greater than that of the Carnot cycle. The consistency of our results with the second law of thermodynamics is ensured by the fact that work is needed for information processing of the feedback controller.

  18. Second Law of Thermodynamics with Discrete Quantum Feedback Control

    NASA Astrophysics Data System (ADS)

    Sagawa, Takahiro; Ueda, Masahito

    2008-02-01

    A new thermodynamic inequality is derived which leads to the maximum work that can be extracted from multi-heat-baths with the assistance of discrete quantum feedback control. The maximum work is determined by the free-energy difference and a generalized mutual information content between the thermodynamic system and the feedback controller. This maximum work can exceed that in conventional thermodynamics and, in the case of a heat cycle with two heat baths, the heat efficiency can be greater than that of the Carnot cycle. The consistency of our results with the second law of thermodynamics is ensured by the fact that work is needed for information processing of the feedback controller.

  19. Optimal feedback control of a bioreactor with a remote sensor

    NASA Technical Reports Server (NTRS)

    Niranjan, S. C.; San, K. Y.

    1988-01-01

    Sensors used to monitor bioreactor conditions directly often perform poorly in the face of adverse nonphysiological conditions. One way to circumvent this is to use a remote sensor block. However, such a configuration usually causes a significant time lag between measurements and the actual state values. Here, the problem of implementing feedback control strategies for such systems, described by nonlinear equations, is addressed. The problem is posed as an optimal control problem with a linear quadratic performance index. The linear control law so obtained is used to implement feedback. A global linearization technique as well as an expansion using Taylor series is used to linearize the nonlinear system, and the feedback is subsequently implemented.

  20. Optimal feedback control of a bioreactor with a remote sensor

    NASA Technical Reports Server (NTRS)

    Niranjan, S. C.; San, K. Y.

    1988-01-01

    Sensors used to monitor bioreactor conditions directly often perform poorly in the face of adverse nonphysiological conditions. One way to circumvent this is to use a remote sensor block. However, such a configuration usually causes a significant time lag between measurements and the actual state values. Here, the problem of implementing feedback control strategies for such systems, described by nonlinear equations, is addressed. The problem is posed as an optimal control problem with a linear quadratic performance index. The linear control law so obtained is used to implement feedback. A global linearization technique as well as an expansion using Taylor series is used to linearize the nonlinear system, and the feedback is subsequently implemented.

  1. Modeling Non-Linear Material Properties in Composite Materials

    DTIC Science & Technology

    2016-06-28

    Technical Report ARWSB-TR-16013 MODELING NON-LINEAR MATERIAL PROPERTIES IN COMPOSITE MATERIALS Michael F. Macri Andrew G...REPORT TYPE Technical 3. DATES COVERED (From - To) 4. TITLE AND SUBTITLE MODELING NON-LINEAR MATERIAL PROPERTIES IN COMPOSITE MATERIALS ...systems are increasingly incorporating composite materials into their design. Many of these systems subject the composites to environmental conditions

  2. Feedback Linearized Aircraft Control Using Dynamic Cell Structure

    NASA Technical Reports Server (NTRS)

    Jorgensen, C. C.

    1998-01-01

    A Dynamic Cell Structure (DCS ) Neural Network was developed which learns a topology representing network (TRN) of F-15 aircraft aerodynamic stability and control derivatives. The network is combined with a feedback linearized tracking controller to produce a robust control architecture capable of handling multiple accident and off-nominal flight scenarios. This paper describes network and its performance for accident scenarios including differential stabilator lock, soft sensor failure, control, stability derivative variation, and turbulence.

  3. Feedback Implementation of Zermelo's Optimal Control by Sugeno Approximation

    NASA Technical Reports Server (NTRS)

    Clifton, C.; Homaifax, A.; Bikdash, M.

    1997-01-01

    This paper proposes an approach to implement optimal control laws of nonlinear systems in real time. Our methodology does not require solving two-point boundary value problems online and may not require it off-line either. The optimal control law is learned using the original Sugeno controller (OSC) from a family of optimal trajectories. We compare the trajectories generated by the OSC and the trajectories yielded by the optimal feedback control law when applied to Zermelo's ship steering problem.

  4. Discriminant power analyses of non-linear dimension expansion methods

    NASA Astrophysics Data System (ADS)

    Woo, Seongyoun; Lee, Chulhee

    2016-05-01

    Most non-linear classification methods can be viewed as non-linear dimension expansion methods followed by a linear classifier. For example, the support vector machine (SVM) expands the dimensions of the original data using various kernels and classifies the data in the expanded data space using a linear SVM. In case of extreme learning machines or neural networks, the dimensions are expanded by hidden neurons and the final layer represents the linear classification. In this paper, we analyze the discriminant powers of various non-linear classifiers. Some analyses of the discriminating powers of non-linear dimension expansion methods are presented along with a suggestion of how to improve separability in non-linear classifiers.

  5. Employment of CB models for non-linear dynamic analysis

    NASA Technical Reports Server (NTRS)

    Klein, M. R. M.; Deloo, P.; Fournier-Sicre, A.

    1990-01-01

    The non-linear dynamic analysis of large structures is always very time, effort and CPU consuming. Whenever possible the reduction of the size of the mathematical model involved is of main importance to speed up the computational procedures. Such reduction can be performed for the part of the structure which perform linearly. Most of the time, the classical Guyan reduction process is used. For non-linear dynamic process where the non-linearity is present at interfaces between different structures, Craig-Bampton models can provide a very rich information, and allow easy selection of the relevant modes with respect to the phenomenon driving the non-linearity. The paper presents the employment of Craig-Bampton models combined with Newmark direct integration for solving non-linear friction problems appearing at the interface between the Hubble Space Telescope and its solar arrays during in-orbit maneuvers. Theory, implementation in the FEM code ASKA, and practical results are shown.

  6. Non-linear dielectric monitoring of biological suspensions

    NASA Astrophysics Data System (ADS)

    Treo, E. F.; Felice, C. J.

    2007-11-01

    Non-linear dielectric spectroscopy as a tool for in situ monitoring of enzyme assumes a non-linear behavior of the sample when a sinusoidal voltage is applied to it. Even many attempts have been made to improve the original experiments, all of them had limited success. In this paper we present upgrades made to a non-linear dielectric spectrometer developed and the results obtained when using different cells. We emphasized on the electrode surface, characterizing the grinding and polishing procedure. We found that the biological medium does not behave as expected, and the non-linear response is generated in the electrode-electrolyte interface. The electrochemistry of this interface can bias unpredictably the measured non-linear response.

  7. Employment of CB models for non-linear dynamic analysis

    NASA Technical Reports Server (NTRS)

    Klein, M. R. M.; Deloo, P.; Fournier-Sicre, A.

    1990-01-01

    The non-linear dynamic analysis of large structures is always very time, effort and CPU consuming. Whenever possible the reduction of the size of the mathematical model involved is of main importance to speed up the computational procedures. Such reduction can be performed for the part of the structure which perform linearly. Most of the time, the classical Guyan reduction process is used. For non-linear dynamic process where the non-linearity is present at interfaces between different structures, Craig-Bampton models can provide a very rich information, and allow easy selection of the relevant modes with respect to the phenomenon driving the non-linearity. The paper presents the employment of Craig-Bampton models combined with Newmark direct integration for solving non-linear friction problems appearing at the interface between the Hubble Space Telescope and its solar arrays during in-orbit maneuvers. Theory, implementation in the FEM code ASKA, and practical results are shown.

  8. A biopsychosocial model based on negative feedback and control

    PubMed Central

    Carey, Timothy A.; Mansell, Warren; Tai, Sara J.

    2014-01-01

    Although the biopsychosocial model has been a popular topic of discussion for over four decades it has not had the traction in fields of research that might be expected of such an intuitively appealing idea. One reason for this might be the absence of an identified mechanism or a functional architecture that is authentically biopsychosocial. What is needed is a robust mechanism that is equally important to biochemical processes as it is to psychological and social processes. Negative feedback may be the mechanism that is required. Negative feedback has been implicated in the regulation of neurotransmitters as well as important psychological and social processes such as emotional regulation and the relationship between a psychotherapist and a client. Moreover, negative feedback is purported to also govern the activity of all other organisms as well as humans. Perceptual Control Theory (PCT) describes the way in which negative feedback establishes control at increasing levels of perceptual complexity. Thus, PCT may be the first biopsychosocial model to be articulated in functional terms. In this paper we outline the working model of PCT and explain how PCT provides an embodied hierarchical neural architecture that utilizes negative feedback to control physiological, psychological, and social variables. PCT has major implications for both research and practice and, importantly, provides a guide by which fields of research that are currently separated may be integrated to bring about substantial progress in understanding the way in which the brain alters, and is altered by, its behavioral and environmental context. PMID:24616685

  9. Destabilization of velocity feedback controllers with stroke limited inertial actuators.

    PubMed

    Baumann, Oliver Nicholas; Elliott, Stephen John

    2007-05-01

    It has been observed when using inertial actuators for the active reduction of structural vibration, that velocity feedback controllers are liable to become unstable if the actuator is subject to stroke saturation. This article presents a simple nonlinear, time domain model of an inertial actuator mounted on a single degree of freedom system. At low amplitudes the actuator, when used in a velocity feedback control loop, increases the effective damping of the structure. At higher amplitudes the system is shown to become unstable, however, and generates limit cycle oscillations having a predictable frequency.

  10. Control of spatially patterned synchrony with multisite delayed feedback

    NASA Astrophysics Data System (ADS)

    Hauptmann, C.; Omel‘Chenko, O.; Popovych, O. V.; Maistrenko, Y.; Tass, P. A.

    2007-12-01

    We present an analytical study describing a method for the control of spatiotemporal patterns of synchrony in networks of coupled oscillators. Delayed feedback applied through a small number of electrodes effectively induces spatiotemporal dynamics at minimal stimulation intensities. Different arrangements of the delays cause different spatial patterns of synchrony, comparable to central pattern generators (CPGs), i.e., interacting clusters of oscillatory neurons producing patterned output, e.g., for motor control. Multisite delayed feedback stimulation might be used to restore CPG activity in patients with incomplete spinal cord injury or gait ignition disorders.

  11. Experimental study on feedback control system of plasma position

    SciTech Connect

    Abe, M.; Otsuka, M.; Nishi, M.; Kanamori, T.; Kobayashi, T.; Uchikawa, S.

    1981-01-01

    Performance of the feedback control system for the horizontal plasma position in the small shell-less tokamak, HT-1, has been studied numerically and experimentally. Emphasis was put on verifying the validity of coupling parameter evaluation methods for poloidal field coils and structures such as the vaccum vessel and the transformer iron core. The effect of the iron core on the poloidal field distribution was analyzed numerically. Mutual inductances between poloidal field coils and structures were obtained from the calculated eddy currents. Using these calculated parameters, the indicial response of the feedback control loop was studied analytically. Good agreement between calculations and experiments was obtained.

  12. Linearizing feedforward/feedback attitude control

    NASA Technical Reports Server (NTRS)

    Paielli, Russell A.; Bach, Ralph E.

    1991-01-01

    An approach to attitude control theory is introduced in which a linear form is postulated for the closed-loop rotation error dynamics, then the exact control law required to realize it is derived. The nonminimal (four-component) quaternion form is used to attitude because it is globally nonsingular, but the minimal (three-component) quaternion form is used for attitude error because it has no nonlinear constraints to prevent the rotational error dynamics from being linearized, and the definition of the attitude error is based on quaternion algebra. This approach produces an attitude control law that linearizes the closed-loop rotational error dynamics exactly, without any attitude singularities, even if the control errors become large.

  13. Linearizing feedforward/feedback attitude control

    NASA Technical Reports Server (NTRS)

    Paielli, Russell A.; Bach, Ralph E.

    1991-01-01

    An approach to attitude control theory is introduced in which a linear form is postulated for the closed-loop rotation error dynamics, then the exact control law required to realize it is derived. The nonminimal (four-component) quaternion form is used to attitude because it is globally nonsingular, but the minimal (three-component) quaternion form is used for attitude error because it has no nonlinear constraints to prevent the rotational error dynamics from being linearized, and the definition of the attitude error is based on quaternion algebra. This approach produces an attitude control law that linearizes the closed-loop rotational error dynamics exactly, without any attitude singularities, even if the control errors become large.

  14. Integrated Control with Structural Feedback to Enable Lightweight Aircraft

    NASA Technical Reports Server (NTRS)

    Taylor, Brian R.

    2011-01-01

    This presentation for the Fundamental Aeronautics Program Technical Conference covers the benefits of active structural control, related research areas, and focuses on the use of optimal control allocation for the prevention of critical loads. Active control of lightweight structures has the potential to reduce aircraft weight and fuel burn. Sensor, control law, materials, control effector, and system level research will be necessary to enable active control of lightweight structures. Optimal control allocation with structural feedback has been shown in simulation to be feasible in preventing critical loads and is one example of a control law to enable future lightweight aircraft.

  15. Is feedback control effective for ecosystem-based fisheries management?

    PubMed

    Matsuda, Hiroyuki; Abrams, Peter A

    2013-12-21

    We investigate the effects of species interactions on the robustness of feedback control of the harvesting of prey species. We consider the consequences of feedback control of fishing effort. If a prey species is exploited, increasing fishing effort decreases predator abundance more than it does the prey abundance. Feedback control of fishing effort may cause the extinction of the predator, even if the prey population is well controlled. Even when fishing effort is controlled by predator density, it is difficult for the fishery and the predator to coexist, and, if they do so, the system exhibits complex dynamic behaviors. If the predator and fishery coexist, feedback control of fishing effort converges to a stable equilibrium, a synchronous cycle, or an asynchronous cycle. In the last case, the system undergoes more complex cycling with a longer period than that when the fishing effort is kept constant. These analyses suggest that there is no effective strategy that is robust against measurement errors, process errors and complex interactions in ecosystem dynamics.

  16. Tollmien-Schlichting wave cancellation by feedback control

    NASA Astrophysics Data System (ADS)

    Vemuri, Hari; Morrison, Jonathan; Kerrigan, Eric

    2015-11-01

    Tollmien-Schlichting (TS) waves are primary instabilities in the boundary layer and, by actively interfering with their growth, the transition process can be delayed. In this study the experimental results of both open-loop and real-time feedback control will be shown for 3D TS waves excited within a flat-plate boundary layer. They are excited at a 0.75mm pin-hole source driven by a speaker. A 0.75 mm thin, dual slot geometry is used for actuation by another speaker and a wall hot-wire sensor manufactured in-house is used as the sensor for feedback control. The spatial transfer function models between the source and sensor (Gs) and the actuator and sensor (Ga) obtained by classic frequency sweep techniques are used to synthesize various types of robust, stabilizing controllers (K). The transfer function Gs determines the unstable range of frequencies whereas Ga together with K determines the stability of the closed-loop. A second traversing hot-wire is used to record the performance of the controller downstream. It is shown that the experimental transfer functions agree remarkably well with numerical calculations as do the predicted results from feedback control. Preliminary experimental feedback control results for various other actuator configurations will also be presented. This work is supported by EADS (support agreement number IW203591) and LFC-UK.

  17. A stochastic optimal feedforward and feedback control methodology for superagility

    NASA Technical Reports Server (NTRS)

    Halyo, Nesim; Direskeneli, Haldun; Taylor, Deborah B.

    1992-01-01

    A new control design methodology is developed: Stochastic Optimal Feedforward and Feedback Technology (SOFFT). Traditional design techniques optimize a single cost function (which expresses the design objectives) to obtain both the feedforward and feedback control laws. This approach places conflicting demands on the control law such as fast tracking versus noise atttenuation/disturbance rejection. In the SOFFT approach, two cost functions are defined. The feedforward control law is designed to optimize one cost function, the feedback optimizes the other. By separating the design objectives and decoupling the feedforward and feedback design processes, both objectives can be achieved fully. A new measure of command tracking performance, Z-plots, is also developed. By analyzing these plots at off-nominal conditions, the sensitivity or robustness of the system in tracking commands can be predicted. Z-plots provide an important tool for designing robust control systems. The Variable-Gain SOFFT methodology was used to design a flight control system for the F/A-18 aircraft. It is shown that SOFFT can be used to expand the operating regime and provide greater performance (flying/handling qualities) throughout the extended flight regime. This work was performed under the NASA SBIR program. ICS plans to market the software developed as a new module in its commercial CACSD software package: ACET.

  18. Feedback control as a framework for understanding tradeoffs in biology.

    PubMed

    Cowan, Noah J; Ankarali, Mert M; Dyhr, Jonathan P; Madhav, Manu S; Roth, Eatai; Sefati, Shahin; Sponberg, Simon; Stamper, Sarah A; Fortune, Eric S; Daniel, Thomas L

    2014-07-01

    Control theory arose from a need to control synthetic systems. From regulating steam engines to tuning radios to devices capable of autonomous movement, it provided a formal mathematical basis for understanding the role of feedback in the stability (or change) of dynamical systems. It provides a framework for understanding any system with regulation via feedback, including biological ones such as regulatory gene networks, cellular metabolic systems, sensorimotor dynamics of moving animals, and even ecological or evolutionary dynamics of organisms and populations. Here, we focus on four case studies of the sensorimotor dynamics of animals, each of which involves the application of principles from control theory to probe stability and feedback in an organism's response to perturbations. We use examples from aquatic (two behaviors performed by electric fish), terrestrial (following of walls by cockroaches), and aerial environments (flight control by moths) to highlight how one can use control theory to understand the way feedback mechanisms interact with the physical dynamics of animals to determine their stability and response to sensory inputs and perturbations. Each case study is cast as a control problem with sensory input, neural processing, and motor dynamics, the output of which feeds back to the sensory inputs. Collectively, the interaction of these systems in a closed loop determines the behavior of the entire system. © The Author 2014. Published by Oxford University Press on behalf of the Society for Integrative and Comparative Biology. All rights reserved. For permissions please email: journals.permissions@oup.com.

  19. Control feedback as the motivational force behind habitual behavior.

    PubMed

    Nafcha, O; Higgins, E T; Eitam, B

    2016-01-01

    Motivated behavior is considered to be a product of integration of a behavior's subjective benefits and costs. As such, it is unclear what motivates "habitual behavior" which occurs, by definition, after the outcome's value has diminished. One possible answer is that habitual behavior continues to be selected due to its "intrinsic" worth. Such an explanation, however, highlights the need to specify the motivational system for which the behavior has intrinsic worth. Another key question is how does an activity attain such intrinsically rewarding properties. In an attempt to answer both questions, we suggest that habitual behavior is motivated by the influence it brings over the environment-by the control motivation system, including "control feedback." Thus, when referring to intrinsic worth, we refer to a representation of an activity that has been reinforced due to it being effective in controlling the environment, managing to make something happen. As an answer to when does an activity attain such rewarding properties, we propose that this occurs when the estimated instrumental outcome expectancy of an activity is positive, but the precision of this expectancy is low. This lack of precision overcomes the chronic dominance of outcome feedback over control feedback in determining action selection by increasing the relative weight of the control feedback. Such a state of affairs will lead to repeated selection of control relevant behavior and entails insensitivity to outcome devaluation, thereby producing a habit. © 2016 Elsevier B.V. All rights reserved.

  20. Predictability of extremes in non-linear hierarchically organized systems

    NASA Astrophysics Data System (ADS)

    Kossobokov, V. G.; Soloviev, A.

    2011-12-01

    Understanding the complexity of non-linear dynamics of hierarchically organized systems progresses to new approaches in assessing hazard and risk of the extreme catastrophic events. In particular, a series of interrelated step-by-step studies of seismic process along with its non-stationary though self-organized behaviors, has led already to reproducible intermediate-term middle-range earthquake forecast/prediction technique that has passed control in forward real-time applications during the last two decades. The observed seismic dynamics prior to and after many mega, great, major, and strong earthquakes demonstrate common features of predictability and diverse behavior in course durable phase transitions in complex hierarchical non-linear system of blocks-and-faults of the Earth lithosphere. The confirmed fractal nature of earthquakes and their distribution in space and time implies that many traditional estimations of seismic hazard (from term-less to short-term ones) are usually based on erroneous assumptions of easy tractable analytical models, which leads to widespread practice of their deceptive application. The consequences of underestimation of seismic hazard propagate non-linearly into inflicted underestimation of risk and, eventually, into unexpected societal losses due to earthquakes and associated phenomena (i.e., collapse of buildings, landslides, tsunamis, liquefaction, etc.). The studies aimed at forecast/prediction of extreme events (interpreted as critical transitions) in geophysical and socio-economical systems include: (i) large earthquakes in geophysical systems of the lithosphere blocks-and-faults, (ii) starts and ends of economic recessions, (iii) episodes of a sharp increase in the unemployment rate, (iv) surge of the homicides in socio-economic systems. These studies are based on a heuristic search of phenomena preceding critical transitions and application of methodologies of pattern recognition of infrequent events. Any study of rare

  1. Non-linear dynamics of a spur gear pair

    NASA Astrophysics Data System (ADS)

    Kahraman, A.; Singh, R.

    1990-10-01

    Non-linear frequency response characteristics of a spur gear pair with backlash are examined in this paper for both external and internal excitations. The internal excitation is of importance from the high frequency noise and vibration control viewpoint and it represents the overall kinematic or static transmission error. Such problems may be significantly different from the rattle problems associated with external, low frequency torque excitation. Two solution methods, namely the digital simulation technique and the method of harmonic balance, have been used to develop the steady state solutions for the internal sinusoidal excitation. Difficulties associated with the determination of the multiple solutions at a given frequency in the digital simulation technique have been resolved, as one must search the entire initial conditions map. Such solutions and the transition frequencies for various impact situations are easily found by the method of harmonic balance. Further, the principle of superposition can be employed to analyze the periodic transmission error excitation and/or combined excitation problems provided that the excitation frequencies are sufficiently apart from each other. Our analytical predictions match satisfactorily with the limited experimental data available in the literature. Using the digital simulation, we have also observed that the chaotic and subharmonic resonances may exist in a gear pair depending upon the mean or design load, mean to alternating force ratio, damping and backlash. Specifically, the mean load determines the conditions for no impacts, single-sided impacts and double-sided impacts. Our results are different from the frequency response characteristics of the conventional, single-degree-of-freedom, clearance type non-linear system. Our formulation should form the basis of further analytical and experimental work in the geared rotor dynamics area.

  2. Deterministic Production of Photon Number States via Quantum Feedback Control

    NASA Astrophysics Data System (ADS)

    Geremia, J. M.

    2006-05-01

    It is well-known that measurements reduce the state of a quantum system, at least approximately, to an eigenstate of the operator associated with the physical property being measured. Here, we employ a continuous measurement of cavity photon number to achieve a robust, nondestructively verifiable procedure for preparing number states of an optical cavity mode. Such Fock states are highly sought after for the enabling role they play in quantum computing, networking and precision metrology. Furthermore, we demonstrate that the particular Fock state produced in each application of the continuous photon number measurement can be controlled using techniques from real-time quantum feedback control. The result of the feedback- stabilized measurement is a deterministic source of (nearly ideal) cavity Fock states. An analysis of feedback stability and the experimental viability of a quantum optical implementation currently underway at the University of New Mexico will be presented.

  3. An improved force feedback control algorithm for active tendons.

    PubMed

    Guo, Tieneng; Liu, Zhifeng; Cai, Ligang

    2012-01-01

    An active tendon, consisting of a displacement actuator and a co-located force sensor, has been adopted by many studies to suppress the vibration of large space flexible structures. The damping, provided by the force feedback control algorithm in these studies, is small and can increase, especially for tendons with low axial stiffness. This study introduces an improved force feedback algorithm, which is based on the idea of velocity feedback. The algorithm provides a large damping ratio for space flexible structures and does not require a structure model. The effectiveness of the algorithm is demonstrated on a structure similar to JPL-MPI. The results show that large damping can be achieved for the vibration control of large space structures.

  4. Theory of feedback controlled brain stimulations for Parkinson's disease

    NASA Astrophysics Data System (ADS)

    Sanzeni, A.; Celani, A.; Tiana, G.; Vergassola, M.

    2016-01-01

    Limb tremor and other debilitating symptoms caused by the neurodegenerative Parkinson's disease are currently treated by administering drugs and by fixed-frequency deep brain stimulation. The latter interferes directly with the brain dynamics by delivering electrical impulses to neurons in the subthalamic nucleus. While deep brain stimulation has shown therapeutic benefits in many instances, its mechanism is still unclear. Since its understanding could lead to improved protocols of stimulation and feedback control, we have studied a mathematical model of the many-body neural network dynamics controlling the dynamics of the basal ganglia. On the basis of the results obtained from the model, we propose a new procedure of active stimulation, that depends on the feedback of the network and that respects the constraints imposed by existing technology. We show by numerical simulations that the new protocol outperforms the standard ones for deep brain stimulation and we suggest future experiments that could further improve the feedback procedure.

  5. An Improved Force Feedback Control Algorithm for Active Tendons

    PubMed Central

    Guo, Tieneng; Liu, Zhifeng; Cai, Ligang

    2012-01-01

    An active tendon, consisting of a displacement actuator and a co-located force sensor, has been adopted by many studies to suppress the vibration of large space flexible structures. The damping, provided by the force feedback control algorithm in these studies, is small and can increase, especially for tendons with low axial stiffness. This study introduces an improved force feedback algorithm, which is based on the idea of velocity feedback. The algorithm provides a large damping ratio for space flexible structures and does not require a structure model. The effectiveness of the algorithm is demonstrated on a structure similar to JPL-MPI. The results show that large damping can be achieved for the vibration control of large space structures. PMID:23112660

  6. Regulating vacuum pump speed with feedback control

    SciTech Connect

    Ludington, D.C.; Aneshansley, D.J.; Pellerin, R.; Guo, F.

    1992-01-01

    Considerable energy is wasted by the vacuum pump/motor on dairy farms. The output capacity (m{sup 3}/min or cfm) of the vacuum pump always exceeds the capacity needed to milk cows and wash pipelines. Vacuum pumps run at full speed and load regardless of actual need for air. Excess air is admitted through a controller. Energy can be saved from electrical demand reduced by regulating vacuum pump speed according to air based on air usage. An adjustable speed drive (ASD) on the motor and controlled based upon air usage, can reduce the energy used by the vacuum pump. However, the ASD unit tested could not maintain vacuum levels within generally accepted guidelines when air usage changed. Adding a high vacuum reserve and a dual vacuum controller between the vacuum pump and the milking pipeline brought vacuum stability within guidelines. The ASD/dual vacuum system can reduce energy consumption and demand by at least 50 percent during milking and provide better vacuum stability than conventional systems. Tests were not run during washing cycles. Using 1990 costs and only the energy saved during milking, the simple payback on investment in new equipment for a 5 hp motor, speed controller and vacuum regulator would be about 5 years.

  7. Active flutter suppression using optical output feedback digital controllers

    NASA Technical Reports Server (NTRS)

    1982-01-01

    A method for synthesizing digital active flutter suppression controllers using the concept of optimal output feedback is presented. A convergent algorithm is employed to determine constrained control law parameters that minimize an infinite time discrete quadratic performance index. Low order compensator dynamics are included in the control law and the compensator parameters are computed along with the output feedback gain as part of the optimization process. An input noise adjustment procedure is used to improve the stability margins of the digital active flutter controller. Sample rate variation, prefilter pole variation, control structure variation and gain scheduling are discussed. A digital control law which accommodates computation delay can stabilize the wing with reasonable rms performance and adequate stability margins.

  8. Optimization of Feedback Control of Flow over a Circular Cylinder

    NASA Astrophysics Data System (ADS)

    Son, Donggun; Kim, Euiyoung; Choi, Haecheon

    2012-11-01

    We perform a feedback gain optimization of the proportional-integral-differential (PID) control for flow over a circular cylinder at Re = 60 and 100. We measure the transverse velocity at a centerline location in the wake as a sensing variable and provide blowing and suction at the upper and lower slots on the cylinder surface as an actuation. The cost function to minimize is defined as the mean square of the sensing variable, and the PID control gains are optimized by iterative feedback tuning method which is a typical model free gain optimization method. In this method, the control gains are iteratively updated by the gradient of cost function until the control system satisfies a certain stopping criteria. The PID control with optimal control gains successfully reduces the velocity fluctuations at the sensing location and attenuates (or annihilates) vortex shedding in the wake, resulting in the reduction in the mean drag and lift fluctuations. Supported by the NRF Program (2011-0028032).

  9. Implementation of integral feedback control in biological systems.

    PubMed

    Somvanshi, Pramod R; Patel, Anilkumar K; Bhartiya, Sharad; Venkatesh, K V

    2015-01-01

    Integral control design ensures that a key variable in a system is tightly maintained within acceptable levels. This approach has been widely used in engineering systems to ensure offset free operation in the presence of perturbations. Several biological systems employ such an integral control design to regulate cellular processes. An integral control design motif requires a negative feedback and an integrating process in the network loop. This review describes several biological systems, ranging from bacteria to higher organisms in which the presence of integral control principle has been hypothesized. The review highlights that in addition to the negative feedback, occurrence of zero-order kinetics in the process is a key element to realize the integral control strategy. Although the integral control motif is common to these systems, the mechanisms involved in achieving it are highly specific and can be incorporated at the level of signaling, metabolism, or at the phenotypic levels.

  10. Robot arm force control through system linearization by nonlinear feedback

    NASA Technical Reports Server (NTRS)

    Tarn, T. J.; Bejczy, A. K.; Yun, Xiaoping

    1988-01-01

    Based on a differential geometric feedback linearization technique for nonlinear time-varying systems, a dynamic force control method for robot arms is developed. It uses active force-moment measurements at the robot wrist. The controller design fully incorporate the robot-arm dynamics and is so general that it can be reduced to pure position control, hybrid position/force control, pure force control. The controller design is independent of the tasks to be performed. Computer simulations show that the controller improves the position error by a factor of ten in cases in which position errors generate force measurements. A theorem on linearization of time-varying system is also presented.

  11. Output Feedback Slewing Control of Flewible Spacecraft by

    NASA Astrophysics Data System (ADS)

    Kim, Daesik; Kim, Chun-Hwey; Bang, Hyochoong

    1997-12-01

    Slewing maneuver and vibration suppression control of flexible spacecraft model by Lyapunov stability theory are considered. The specific model considered in this paper consists of a rigid hub with an elastic appendage attached to the central hub and tip mass. Attitude control to point and stabilize single axis using reaction wheel type device is tested. To control all flexible modes is so critical to designing an active control law. We therefore considered an direct output feeback control design by using Lyapunov stability theory. It is shown that the ouput feedback control law design with proposed configuration gives satisfactory result in slewing performance and vibration suppression control.

  12. Feedback control of optical beam spatial profiles using thermal lensing.

    PubMed

    Liu, Zhanwei; Fulda, Paul; Arain, Muzammil A; Williams, Luke; Mueller, Guido; Tanner, D B; Reitze, D H

    2013-09-10

    A method for active control of the spatial profile of a laser beam using adaptive thermal lensing is described. A segmented electrical heater was used to generate thermal gradients across a transmissive optical element, resulting in a controllable thermal lens. The segmented heater also allows the generation of cylindrical lenses, and provides the capability to steer the beam in both horizontal and vertical planes. Using this device as an actuator, a feedback control loop was developed to stabilize the beam size and position.

  13. Discrete-time infinity control problem with measurement feedback

    NASA Technical Reports Server (NTRS)

    Stoorvogel, A. A.; Saberi, A.; Chen, B. M.

    1992-01-01

    The paper is concerned with the discrete-time H(sub infinity) control problem with measurement feedback. The authors extend previous results by having weaker assumptions on the system parameters. The authors also show explicitly the structure of H(sub infinity) controllers. Finally, they show that it is in certain cases possible, without loss of performance, to reduce the dynamical order of the controllers.

  14. Robust Feedback Control of Flow Induced Structural Radiation of Sound

    NASA Technical Reports Server (NTRS)

    Heatwole, Craig M.; Bernhard, Robert J.; Franchek, Matthew A.

    1997-01-01

    A significant component of the interior noise of aircraft and automobiles is a result of turbulent boundary layer excitation of the vehicular structure. In this work, active robust feedback control of the noise due to this non-predictable excitation is investigated. Both an analytical model and experimental investigations are used to determine the characteristics of the flow induced structural sound radiation problem. The problem is shown to be broadband in nature with large system uncertainties associated with the various operating conditions. Furthermore the delay associated with sound propagation is shown to restrict the use of microphone feedback. The state of the art control methodologies, IL synthesis and adaptive feedback control, are evaluated and shown to have limited success for solving this problem. A robust frequency domain controller design methodology is developed for the problem of sound radiated from turbulent flow driven plates. The control design methodology uses frequency domain sequential loop shaping techniques. System uncertainty, sound pressure level reduction performance, and actuator constraints are included in the design process. Using this design method, phase lag was added using non-minimum phase zeros such that the beneficial plant dynamics could be used. This general control approach has application to lightly damped vibration and sound radiation problems where there are high bandwidth control objectives requiring a low controller DC gain and controller order.

  15. Design of multivariable feedback control systems via spectral assignment

    NASA Technical Reports Server (NTRS)

    Mielke, R. R.; Tung, L. J.; Marefat, M.

    1983-01-01

    The applicability of spectral assignment techniques to the design of multivariable feedback control systems was investigated. A fractional representation design procedure for unstable plants is presented and illustrated with an example. A computer aided design software package implementing eigenvalue/eigenvector design procedures is described. A design example which illustrates the use of the program is explained.

  16. Weight Control Through Covert Sensitization and False Feedback

    ERIC Educational Resources Information Center

    Elliott, Charles H.; Denney, Douglas R.

    1975-01-01

    Subjects (N=45) were treated with one of three weight control procedures: (a) attention placebo; (b) covert sensitization; and (c) covert sensitization augmented by false physiological feedback. Although all treatment groups lost weight, there was no differential weight loss among the groups at posttest or a 4-week follow-up test. (Author)

  17. Kinematic feedback control laws for generating natural arm movements.

    PubMed

    Kim, Donghyun; Jang, Cheongjae; Park, Frank C

    2014-03-01

    We propose a stochastic optimal feedback control law for generating natural robot arm motions. Our approach, inspired by the minimum variance principle of Harris and Wolpert (1998 Nature 394 780-4) and the optimal feedback control principles put forth by Todorov and Jordan (2002 Nature Neurosci. 5 1226-35) for explaining human movements, differs in two crucial respects: (i) the endpoint variance is minimized in joint space rather than Cartesian hand space, and (ii) we ignore the dynamics and instead consider only the second-order differential kinematics. The feedback control law generating the motions can be straightforwardly obtained by backward integration of a set of ordinary differential equations; these equations are obtained exactly, without any linear-quadratic approximations. The only parameters to be determined a priori are the variance scale factors, and for both the two-DOF planar arm and the seven-DOF spatial arm, a table of values is constructed based on the given initial and final arm configurations; these values are determined via an optimal fitting procedure, and consistent with existing findings about neuromuscular motor noise levels of human arm muscles. Experiments conducted with a two-link planar arm and a seven-DOF spatial arm verify that the trajectories generated by our feedback control law closely resemble human arm motions, in the sense of producing nearly straight-line hand trajectories, having bell-shaped velocity profiles, and satisfying Fitts Law.

  18. Ultrashort pulse laser microsurgery system with plasma luminescence feedback control

    SciTech Connect

    Kim, B.M.; Feit, M.D.; Rubenchik, A.M.; Gold, D.M.; Darrow, C.B.; Da Silva, L.B.

    1997-11-10

    Plasma luminescence spectroscopy was used for precise ablation of bone tissue during ultrashort pulse laser (USPL) micro-spinal surgery. Strong contrast of the luminescence spectra between bone marrow and spinal cord provided the real time feedback control so that only bone tissue can be selectively ablated while preserving the spinal cord.

  19. Non-linear pattern formation in bone growth and architecture.

    PubMed

    Salmon, Phil

    2014-01-01

    The three-dimensional morphology of bone arises through adaptation to its required engineering performance. Genetically and adaptively bone travels along a complex spatiotemporal trajectory to acquire optimal architecture. On a cellular, micro-anatomical scale, what mechanisms coordinate the activity of osteoblasts and osteoclasts to produce complex and efficient bone architectures? One mechanism is examined here - chaotic non-linear pattern formation (NPF) - which underlies in a unifying way natural structures as disparate as trabecular bone, swarms of birds flying, island formation, fluid turbulence, and others. At the heart of NPF is the fact that simple rules operating between interacting elements, and Turing-like interaction between global and local signals, lead to complex and structured patterns. The study of "group intelligence" exhibited by swarming birds or shoaling fish has led to an embodiment of NPF called "particle swarm optimization" (PSO). This theoretical model could be applicable to the behavior of osteoblasts, osteoclasts, and osteocytes, seeing them operating "socially" in response simultaneously to both global and local signals (endocrine, cytokine, mechanical), resulting in their clustered activity at formation and resorption sites. This represents problem-solving by social intelligence, and could potentially add further realism to in silico computer simulation of bone modeling. What insights has NPF provided to bone biology? One example concerns the genetic disorder juvenile Pagets disease or idiopathic hyperphosphatasia, where the anomalous parallel trabecular architecture characteristic of this pathology is consistent with an NPF paradigm by analogy with known experimental NPF systems. Here, coupling or "feedback" between osteoblasts and osteoclasts is the critical element. This NPF paradigm implies a profound link between bone regulation and its architecture: in bone the architecture is the regulation. The former is the emergent

  20. Microgravity vibration isolation: Optimal preview and feedback control

    NASA Technical Reports Server (NTRS)

    Hampton, R. D.; Knospe, C. R.; Grodsinsky, C. M.; Allaire, P. E.; Lewis, D. W.

    1992-01-01

    In order to achieve adequate low-frequency vibration isolation for certain space experiments an active control is needed, due to inherent passive-isolator limitations. Proposed here are five possible state-space models for a one-dimensional vibration isolation system with a quadratic performance index. The five models are subsets of a general set of nonhomogeneous state space equations which includes disturbance terms. An optimal control is determined, using a differential equations approach, for this class of problems. This control is expressed in terms of constant, Linear Quadratic Regulator (LQR) feedback gains and constant feedforward (preview) gains. The gains can be easily determined numerically. They result in a robust controller and offers substantial improvements over a control that uses standard LQR feedback alone.

  1. Feedback Control for Formation Flying Maintenance Using State Transition Matrix

    NASA Astrophysics Data System (ADS)

    Yan, Hui; Gong, Qi

    2012-06-01

    The Linear Quadratic Regulator (LQR) control design method has been widely used for satellite formation maintenance. In this paper a new feedback control is proposed to solve LQR problems using the state transition matrix. Such a method has the potential to reduce the online computational burden. We apply the control law to formation flying maintenance under J 2 perturbation using the Gim-Alfriend state transition matrix. The numerical simulations demonstrate the STM feedback control via receding horizon scheme works well. The projected circular orbits are maintained very well for the circular and elliptic Chief orbits after 100 day propagation under J 2 influence. Much control effort is needed to track the projected circular orbits if the Chief orbit is elliptic.

  2. Implementing Nonlinear Feedback Controllers using DNA Strand Displacement Reactions.

    PubMed

    Sawlekar, Rucha; Montefusco, Francesco; Kulkarni, Vishwesh V; Bates, Declan G

    2016-04-29

    We show how an important class of nonlinear feedback controllers can be designed using idealized abstract chemical reactions and implemented via DNA strand displacement (DSD) reactions. Exploiting chemical reaction networks (CRNs) as a programming language for the design of complex circuits and networks, we show how a set of unimolecular and bimolecular reactions can be used to realize input-output dynamics that produce a nonlinear quasi sliding mode (QSM) feedback controller. The kinetics of the required chemical reactions can then be implemented as enzyme-free, enthalpy/entropy driven DNA reactions using a toehold mediated strand displacement mechanism via Watson-Crick base pairing and branch migration. We demonstrate that the closed loop response of the nonlinear QSM controller outperforms a traditional linear controller by facilitating much faster tracking response dynamics without introducing overshoots in the transient response. The resulting controller is highly modular and is less affected by retroactivity effects than standard linear designs.

  3. Implementing Nonlinear Feedback Controllers Using DNA Strand Displacement Reactions.

    PubMed

    Sawlekar, Rucha; Montefusco, Francesco; Kulkarni, Vishwesh V; Bates, Declan G

    2016-07-01

    We show how an important class of nonlinear feedback controllers can be designed using idealized abstract chemical reactions and implemented via DNA strand displacement (DSD) reactions. Exploiting chemical reaction networks (CRNs) as a programming language for the design of complex circuits and networks, we show how a set of unimolecular and bimolecular reactions can be used to realize input-output dynamics that produce a nonlinear quasi sliding mode (QSM) feedback controller. The kinetics of the required chemical reactions can then be implemented as enzyme-free, enthalpy/entropy driven DNA reactions using a toehold mediated strand displacement mechanism via Watson-Crick base pairing and branch migration. We demonstrate that the closed loop response of the nonlinear QSM controller outperforms a traditional linear controller by facilitating much faster tracking response dynamics without introducing overshoots in the transient response. The resulting controller is highly modular and is less affected by retroactivity effects than standard linear designs.

  4. Structural Dynamic Analyses And Test Predictions For Spacecraft Structures With Non-Linearities

    NASA Astrophysics Data System (ADS)

    Vergniaud, Jean-Baptiste; Soula, Laurent; Newerla, Alfred

    2012-07-01

    The overall objective of the mechanical development and verification process is to ensure that the spacecraft structure is able to sustain the mechanical environments encountered during launch. In general the spacecraft structures are a-priori assumed to behave linear, i.e. the responses to a static load or dynamic excitation, respectively, will increase or decrease proportionally to the amplitude of the load or excitation induced. However, past experiences have shown that various non-linearities might exist in spacecraft structures and the consequences of their dynamic effects can significantly affect the development and verification process. Current processes are mainly adapted to linear spacecraft structure behaviour. No clear rules exist for dealing with major structure non-linearities. They are handled outside the process by individual analysis and margin policy, and analyses after tests to justify the CLA coverage. Non-linearities can primarily affect the current spacecraft development and verification process on two aspects. Prediction of flights loads by launcher/satellite coupled loads analyses (CLA): only linear satellite models are delivered for performing CLA and no well-established rules exist how to properly linearize a model when non- linearities are present. The potential impact of the linearization on the results of the CLA has not yet been properly analyzed. There are thus difficulties to assess that CLA results will cover actual flight levels. Management of satellite verification tests: the CLA results generated with a linear satellite FEM are assumed flight representative. If the internal non- linearities are present in the tested satellite then there might be difficulties to determine which input level must be passed to cover satellite internal loads. The non-linear behaviour can also disturb the shaker control, putting the satellite at risk by potentially imposing too high levels. This paper presents the results of a test campaign performed in

  5. Nonlinear feedback control for high alpha flight

    NASA Technical Reports Server (NTRS)

    Stalford, Harold

    1990-01-01

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

  6. Feedback control of major disruptions in International Thermonuclear Experimental Reactor

    SciTech Connect

    Sen, A. K.

    2011-08-15

    It is argued that major disruptions in ITER can be avoided by the feedback control of the causative MHD precursors. The sensors will be 2D-arrays of ECE detectors and the suppressors will be modulated ECH beams injected radially to produce non-thermal radial pressures to counter the radial dynamics of MHD modes. The appropriate amplitude and phase of this signal can stabilize the relevant MHD modes and prevent their evolution to a major disruption. For multimode MHD precursors, an optimal feedback scheme with a Kalman filter is discussed.

  7. Computer modeling of batteries from non-linear circuit elements

    NASA Technical Reports Server (NTRS)

    Waaben, S.; Federico, J.; Moskowitz, I.

    1983-01-01

    A simple non-linear circuit model for battery behavior is given. It is based on time-dependent features of the well-known PIN change storage diode, whose behavior is described by equations similar to those associated with electrochemical cells. The circuit simulation computer program ADVICE was used to predict non-linear response from a topological description of the battery analog built from advice components. By a reasonable choice of one set of parameters, the circuit accurately simulates a wide spectrum of measured non-linear battery responses to within a few millivolts.

  8. Toward broadband electroacoustic resonators through optimized feedback control strategies

    NASA Astrophysics Data System (ADS)

    Boulandet, R.; Lissek, H.

    2014-09-01

    This paper presents a methodology for the design of broadband electroacoustic resonators for low-frequency room equalization. An electroacoustic resonator denotes a loudspeaker used as a membrane resonator, the acoustic impedance of which can be modified through proportional feedback control, to match a target impedance. However, such impedance matching only occurs over a limited bandwidth around resonance, which can limit its use for the low-frequency equalization of rooms, requiring an effective control at least up to the Schroeder frequency. Previous experiments have shown that impedance matching can be achieved over a range of a few octaves using a simple proportional control law. But there is still a limit to the feedback gain, beyond which the feedback-controlled loudspeaker becomes non-dissipative. This paper evaluates the benefits of using PID control and phase compensation techniques to improve the overall performance of the electroacoustic resonator. More specifically, it is shown that some adverse effects due to high-order dynamics in the moving-coil transducer can be mitigated. The corresponding control settings are also identified with equivalent electroacoustic resonator parameters, allowing a straightforward design of the controller. Experimental results using PID control and phase compensation are finally compared in terms of sound absorption performances. As a conclusion the overall performances of electroacoustic resonators for damping the modal resonances inside a duct are presented, along with general discussions on practical implementation and the extension to actual room modes damping.

  9. Non-Markovian quantum feedback networks II: Controlled flows

    NASA Astrophysics Data System (ADS)

    Gough, John E.

    2017-06-01

    The concept of a controlled flow of a dynamical system, especially when the controlling process feeds information back about the system, is of central importance in control engineering. In this paper, we build on the ideas presented by Bouten and van Handel [Quantum Stochastics and Information: Statistics, Filtering and Control (World Scientific, 2008)] and develop a general theory of quantum feedback. We elucidate the relationship between the controlling processes, Z, and the measured processes, Y, and to this end we make a distinction between what we call the input picture and the output picture. We should note that the input-output relations for the noise fields have additional terms not present in the standard theory but that the relationship between the control processes and measured processes themselves is internally consistent—we do this for the two main cases of quadrature measurement and photon-counting measurement. The theory is general enough to include a modulating filter which post-processes the measurement readout Y before returning to the system. This opens up the prospect of applying very general engineering feedback control techniques to open quantum systems in a systematic manner, and we consider a number of specific modulating filter problems. Finally, we give a brief argument as to why most of the rules for making instantaneous feedback connections [J. Gough and M. R. James, Commun. Math. Phys. 287, 1109 (2009)] ought to apply for controlled dynamical networks as well.

  10. L1 adaptive output-feedback control architectures

    NASA Astrophysics Data System (ADS)

    Kharisov, Evgeny

    This research focuses on development of L 1 adaptive output-feedback control. The objective is to extend the L1 adaptive control framework to a wider class of systems, as well as obtain architectures that afford more straightforward tuning. We start by considering an existing L1 adaptive output-feedback controller for non-strictly positive real systems based on piecewise constant adaptation law. It is shown that L 1 adaptive control architectures achieve decoupling of adaptation from control, which leads to bounded away from zero time-delay and gain margins in the presence of arbitrarily fast adaptation. Computed performance bounds provide quantifiable performance guarantees both for system output and control signal in transient and steady state. A noticeable feature of the L1 adaptive controller is that its output behavior can be made close to the behavior of a linear time-invariant system. In particular, proper design of the lowpass filter can achieve output response, which almost scales for different step reference commands. This property is relevant to applications with human operator in the loop (for example: control augmentation systems of piloted aircraft), since predictability of the system response is necessary for adequate performance of the operator. Next we present applications of the L1 adaptive output-feedback controller in two different fields of engineering: feedback control of human anesthesia, and ascent control of a NASA crew launch vehicle (CLV). The purpose of the feedback controller for anesthesia is to ensure that the patient's level of sedation during surgery follows a prespecified profile. The L1 controller is enabled by anesthesiologist after he/she achieves sufficient patient sedation level by introducing sedatives manually. This problem formulation requires safe switching mechanism, which avoids controller initialization transients. For this purpose, we used an L1 adaptive controller with special output predictor initialization routine

  11. Feedback control of multimode magnetohydrodynamic instabilities via neutral beams

    SciTech Connect

    Sen, A.K.

    1998-08-01

    In most scenarios of confinement degradation due to MHD (magnetohydrodynamic) fluctuations in both tokamaks and reversed field pinches several MHD modes are involved. This is the motivation for the development of a multimode feedback scheme in the present paper, in contrast to the past work. The scheme is based on modal (state) feedback, where each mode is unscrambled out of the sensor signal, which is a superposition of all mode information and then individually acted upon by a unique gain and phase. Finally, all these individually processed mode signals are electronically summed and impressed on the accelerator grid of a neutral beam as a single control signal. It is shown that this process can lead to the stabilization of all unstable modes without destabilization of any stable modes, in contrast to previous feedback experiments. {copyright} {ital 1998 American Institute of Physics.}

  12. Feedback Control of Two-Component Regulatory Systems.

    PubMed

    Groisman, Eduardo A

    2016-09-08

    Two-component systems are a dominant form of bacterial signal transduction. The prototypical two-component system consists of a sensor that responds to a specific input(s) by modifying the output of a cognate regulator. Because the output of a two-component system is the amount of phosphorylated regulator, feedback mechanisms may alter the amount of regulator, and/or modify the ability of a sensor or other proteins to alter the phosphorylation state of the regulator. Two-component systems may display intrinsic feedback whereby the amount of phosphorylated regulator changes under constant inducing conditions and without the participation of additional proteins. Feedback control allows a two-component system to achieve particular steady-state levels, to reach a given steady state with distinct dynamics, to express coregulated genes in a given order, and to activate a regulator to different extents, depending on the signal acting on the sensor.

  13. Active member bridge feedback control for damping augmentation

    NASA Technical Reports Server (NTRS)

    Chen, Gun-Shing; Lurie, Boris J.

    1992-01-01

    An active damping augmentation approach using active members in a structural system is described. The problem of maximizing the vibration damping in a lightly damped structural system is considered using the analogy of impedance matching between the load and source impedances in an electrical network. The proposed active damping augmentation approach therefore consists of finding the desired active member impedances that maximize the vibration damping, and designing a feedback control in order to achieve desired active member impedances. This study uses a bridge feedback concept that feeds back a combination of signals from sensors of the axial force and relative velocity across the active member to realize the desired active member impedance. The proposed active damping augmentation approach and bridge feedback concept were demonstrated on a three-longeron softly suspended truss structure.

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

    NASA Technical Reports Server (NTRS)

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

    2011-01-01

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

  15. Smart panels with SISO or MIMO velocity feedback control systems

    NASA Astrophysics Data System (ADS)

    Gardonio, Paolo; Elliott, Stephen

    2003-10-01

    This paper summarizes and contrasts the research work that has been carried out on two types of smart panels with ASAC control systems: first, a SISO velocity feedback control system with a sensor that detects the volumetric component of the vibration of the panel and an actuator that exerts a uniform force over the surface of the panel and, second, a MIMO decentralized feedback control system using a grid of sensors that measure the point velocities of the panel and a grid of actuators that generates point excitations in the locations of the sensors. Both theoretical predictions and experimental results are presented for a reference problem of control of sound radiation by a rectangular panel clamped along the perimeter. The simulations carried out for the two systems have shown that the smart panel with the volume velocity sensor and uniform force actuator can in principle give better control performance than the smart panel with the sixteen decentralized control units. However, the practical implementation of the smart panel with the volume velocity sensor and uniform force actuator is limited by stability problems which are instead a minor issue for the panel with 16 decentralized velocity feedback control units.

  16. Output feedback control of a quadrotor UAV using neural networks.

    PubMed

    Dierks, Travis; Jagannathan, Sarangapani

    2010-01-01

    In this paper, a new nonlinear controller for a quadrotor unmanned aerial vehicle (UAV) is proposed using neural networks (NNs) and output feedback. The assumption on the availability of UAV dynamics is not always practical, especially in an outdoor environment. Therefore, in this work, an NN is introduced to learn the complete dynamics of the UAV online, including uncertain nonlinear terms like aerodynamic friction and blade flapping. Although a quadrotor UAV is underactuated, a novel NN virtual control input scheme is proposed which allows all six degrees of freedom (DOF) of the UAV to be controlled using only four control inputs. Furthermore, an NN observer is introduced to estimate the translational and angular velocities of the UAV, and an output feedback control law is developed in which only the position and the attitude of the UAV are considered measurable. It is shown using Lyapunov theory that the position, orientation, and velocity tracking errors, the virtual control and observer estimation errors, and the NN weight estimation errors for each NN are all semiglobally uniformly ultimately bounded (SGUUB) in the presence of bounded disturbances and NN functional reconstruction errors while simultaneously relaxing the separation principle. The effectiveness of proposed output feedback control scheme is then demonstrated in the presence of unknown nonlinear dynamics and disturbances, and simulation results are included to demonstrate the theoretical conjecture.

  17. Feedback Control for Noise Reduction Program

    NASA Astrophysics Data System (ADS)

    Tucker, Jerry H.

    2002-12-01

    As part of Langley Research Center's continuing noise reduction program, an active noise control system (ANC) is being developed to suppress noise inside an aircraft cabin. This interior noise reduction system consists of the following major components: 1. Several accelerometers. 2. An input amplifier. 3. A digital signal processor (DSP) system that includes an analog to digital converter (ADC) and a digital to analog converter (DAC). 4. A high voltage power amplifier. 5. PZT actuators. 6. Power supply and distribution. The accelerometers detect interior panel vibrations. The accelerometer signals are fed to the input amplifier where they are conditioned prior to being sent to the ADC. The DSP receives the digitized signals form the ADC, processes these signals, and sends the result to the DAC. The DAC's analog output is used as input to the high voltage power amplifier. The power amplifier drives the PZT actuators to cancel noise form 50 to 1,300 Hz. The specific area of concern for this work was development of a DSP system that could be used for an actual flight demonstration. It was decided to base the system on a commercially available DSP board, the Spectrum Digital eZdsp. This was complicated by the fact that the ADC and DAC capabilities available on the eZdsp board were not sufficient to meet the system specification. Designing and fabricating a special ADC and DAC daughter card for the eZdsp circumvented this problem. The DSP system hardware has been successfully tested and is currently being integrated into the complete noise reduction system. This work has been completed in collaboration with another ASEE Fellow, Dr.William Edmonson from Hampton University and was conducted under the direction of the principle investigator, Dr. Qamar A. Shams of the Instrumentation Systems Development Branch, as part of a continuing noise reduction program.

  18. Force Feedback Control of Robotic Forceps for Minimally Invasive Surgery

    NASA Astrophysics Data System (ADS)

    Ishii, Chiharu; Kamei, Yusuke

    2008-06-01

    Recently, the robotic surgical support systems are in clinical use for minimally invasive surgery. For improvement in operativity and safety of minimally invasive surgery, the development of haptic forceps manipulator is in demand to help surgeon's immersion and dexterity. We have developed a multi-DOF robotic forceps manipulator using a novel omni-directional bending mechanism, so far. In this paper, in order to control the developed robotic forceps as a slave manipulator, joy-stick type master manipulator with force feedback mechanism for remote control is designed and built, and force feedback bilateral control system was constructed for grasping and bending motions of the robotic forceps. Experimental works were carried out and experimental results showed the effectiveness of the proposed control system.

  19. Robust H∞ state-feedback control for linear systems.

    PubMed

    Chen, Hao; Zhang, Zhenzhen; Wang, Huazhang

    2017-04-01

    This paper investigates the problem of robust H∞ control for linear systems. First, the state-feedback closed-loop control algorithm is designed. Second, by employing the geometric progression theory, a modified augmented Lyapunov-Krasovskii functional (LKF) with the geometric integral interval is established. Then, parameter uncertainties and the derivative of the delay are flexibly described by introducing the convex combination skill. This technique can eliminate the unnecessary enlargement of the LKF derivative estimation, which gives less conservatism. In addition, the designed controller can ensure that the linear systems are globally asymptotically stable with a guaranteed H∞ performance in the presence of a disturbance input and parameter uncertainties. A liquid monopropellant rocket motor with a pressure feeding system is evaluated in a simulation example. It shows that this proposed state-feedback control approach achieves the expected results for linear systems in the sense of the prescribed H∞ performance.

  20. Nonlinear feedback method of robot control - A preliminary experimental study

    NASA Technical Reports Server (NTRS)

    Tarn, T. J.; Ganguly, S.; Li, Z.; Bejczy, A. K.

    1990-01-01

    The nonlinear feedback method of robot control has been experimentally implemented on two PUMA 560 robot arms. The feasibility of the proposed controller, which was shown viable through simulation results earlier, is stressed. The servomechanism operates in task space, and the nonlinear feedback takes care of the necessary transformations to compute the necessary joint currents. A discussion is presented of the implementation with details of the experiments performed. The performance of the controller is encouraging but was limited to 100-Hz sampling frequency and to derived velocity information at the time of the experimentation. The setup of the lab, the software aspects, results, and the control hardware architecture that has recently been implemented are discussed.

  1. Delayed feedback control of synchronization in weakly coupled oscillator networks

    NASA Astrophysics Data System (ADS)

    Novičenko, Viktor

    2015-08-01

    We study control of synchronization in weakly coupled oscillator networks by using a phase-reduction approach. Starting from a general class of limit-cycle oscillators we derive a phase model, which shows that delayed feedback control changes effective coupling strengths and effective frequencies. We derive the analytical condition for critical control gain, where the phase dynamics of the oscillator becomes extremely sensitive to any perturbations. As a result the network can attain phase synchronization even if the natural interoscillatory couplings are small. In addition, we demonstrate that delayed feedback control can disrupt the coherent phase dynamic in synchronized networks. The validity of our results is illustrated on networks of diffusively coupled Stuart-Landau and FitzHugh-Nagumo models.

  2. Output-feedback control of reactive batch distillation columns

    SciTech Connect

    Monroy-Loperena, R.; Alvarez-Ramirez, J.

    2000-02-01

    In this work, an output-feedback, control for the regulation of distillate purity via manipulations of the reflux ratio in reactive batch distillation is designed. The approach is based on an approximate model of the composition dynamics and makes use of a reduced-order observer to estimate the modeling error. An input/output linearizing feedback is proposed where the estimated modeling error is included to achieve robust tracking of a composition reference. It is shown that the resulting controller has the structure of a proportional-integral derivative (PID) controller with antireset windup. The controller performance is tested using a simulation example including strong uncertainties in the reaction model. An interesting finding is that the required reflux ratio policy to reach asymptotically a constant reference resembles the reflux ratio policy obtained from posing an optimization technique.

  3. Nonlinear feedback method of robot control - A preliminary experimental study

    NASA Technical Reports Server (NTRS)

    Tarn, T. J.; Ganguly, S.; Li, Z.; Bejczy, A. K.

    1990-01-01

    The nonlinear feedback method of robot control has been experimentally implemented on two PUMA 560 robot arms. The feasibility of the proposed controller, which was shown viable through simulation results earlier, is stressed. The servomechanism operates in task space, and the nonlinear feedback takes care of the necessary transformations to compute the necessary joint currents. A discussion is presented of the implementation with details of the experiments performed. The performance of the controller is encouraging but was limited to 100-Hz sampling frequency and to derived velocity information at the time of the experimentation. The setup of the lab, the software aspects, results, and the control hardware architecture that has recently been implemented are discussed.

  4. Positive position feedback control for large space structures

    NASA Technical Reports Server (NTRS)

    Fanson, J. L.; Caughey, T. K.

    1987-01-01

    A new technique for vibration suppression in large space structures is investigated in laboratory experiments on a thin cantilever beam. This technique, called Positive Position Feedback, makes use of generalized displacement measurements to accomplish vibration suppression. Several features of Positive Position Feedback make it attractive for the large space structure control environment: The realization of the controller is simple and straightforward. Global stability conditions can be derived which are independent of the dynamical characteristics of the structure being controlled, i.e., all spillover is stabilizing. The method cannot be destabilized by finite actuator dynamics, and the technique is amenable to a strain-based sensing approach. The experiments control the first six bending modes of a cantilever beam, and make use of piezoelectric materials for actuators and sensors, simulating a piezoelectric active-member. The modal damping ratios are increased by factors ranging from 2 to 130.

  5. Pilot-optimal multivariable control synthesis by output feedback

    NASA Technical Reports Server (NTRS)

    Schmidt, D. K.; Innocenti, M.

    1981-01-01

    A control system design approach for optimal stability augmentation, systems, using limited state feedback theory with the specific inclusion of the human pilot in the loop is presented. The methodology is especially suitable for application to flight vehicles exhibiting nonconventional dynamic characteristics and for which quantitative handling qualities specifications are not available. The design is based on a correlation between pilot ratings and objective function of the optimal control model of the human pilot. Simultaneous optimization for augmentation and pilot gains are required.

  6. Stabilizing feedback control for dynamical systems with bounded uncertainty

    NASA Technical Reports Server (NTRS)

    Gutman, S.; Leitmann, G.

    1976-01-01

    The theories of differential games and generalized dynamic systems are used to deduce stabilizing controllers for quasi-linear systems. Attention is given to a class of dynamic systems subject to parameter and input uncertainty whose values range in a given compact set. Using a worst case design philosophy, a feedback control is derived that assures uniform asymptotic (Liapunov) stability of the origin under all admissible uncertainties.

  7. Fourier imaging of non-linear structure formation

    NASA Astrophysics Data System (ADS)

    Brandbyge, Jacob; Hannestad, Steen

    2017-04-01

    We perform a Fourier space decomposition of the dynamics of non-linear cosmological structure formation in ΛCDM models. From N-body simulations involving only cold dark matter we calculate 3-dimensional non-linear density, velocity divergence and vorticity Fourier realizations, and use these to calculate the fully non-linear mode coupling integrals in the corresponding fluid equations. Our approach allows for a reconstruction of the amount of mode coupling between any two wavenumbers as a function of redshift. With our Fourier decomposition method we identify the transfer of power from larger to smaller scales, the stable clustering regime, the scale where vorticity becomes important, and the suppression of the non-linear divergence power spectrum as compared to linear theory. Our results can be used to improve and calibrate semi-analytical structure formation models.

  8. Asymptotic Stability of Interconnected Passive Non-Linear Systems

    NASA Technical Reports Server (NTRS)

    Isidori, A.; Joshi, S. M.; Kelkar, A. G.

    1999-01-01

    This paper addresses the problem of stabilization of a class of internally passive non-linear time-invariant dynamic systems. A class of non-linear marginally strictly passive (MSP) systems is defined, which is less restrictive than input-strictly passive systems. It is shown that the interconnection of a non-linear passive system and a non-linear MSP system is globally asymptotically stable. The result generalizes and weakens the conditions of the passivity theorem, which requires one of the systems to be input-strictly passive. In the case of linear time-invariant systems, it is shown that the MSP property is equivalent to the marginally strictly positive real (MSPR) property, which is much simpler to check.

  9. Dilatonic non-linear sigma models and Ricci flow extensions

    NASA Astrophysics Data System (ADS)

    Carfora, M.; Marzuoli, A.

    2016-09-01

    We review our recent work describing, in terms of the Wasserstein geometry over the space of probability measures, the embedding of the Ricci flow in the renormalization group flow for dilatonic non-linear sigma models.

  10. A non linear analytical model of switched reluctance machines

    NASA Astrophysics Data System (ADS)

    Sofiane, Y.; Tounzi, A.; Piriou, F.

    2002-06-01

    Nowadays, the switched reluctance machine are widely used. To determine their performances and to elaborate control strategy, we generally use the linear analytical model. Unhappily, this last is not very accurate. To yield accurate modelling results, we use then numerical models based on either 2D or 3D Finite Element Method. However, this approach is very expensive in terms of computation time and remains suitable to study the behaviour of eventually a whole device. However, it is not, a priori, adapted to elaborate control strategy for electrical machines. This paper deals with a non linear analytical model in terms of variable inductances. The theoretical development of the proposed model is introduced. Then, the model is applied to study the behaviour of a whole controlled switched reluctance machine. The parameters of the structure are identified from a 2D numerical model. They can also be determined from an experimental bench. Then, the results given by the proposed model are compared to those issue from the 2D-FEM approach and from the classical linear analytical model.

  11. Electrotactile EMG feedback improves the control of prosthesis grasping force

    NASA Astrophysics Data System (ADS)

    Schweisfurth, Meike A.; Markovic, Marko; Dosen, Strahinja; Teich, Florian; Graimann, Bernhard; Farina, Dario

    2016-10-01

    Objective. A drawback of active prostheses is that they detach the subject from the produced forces, thereby preventing direct mechanical feedback. This can be compensated by providing somatosensory feedback to the user through mechanical or electrical stimulation, which in turn may improve the utility, sense of embodiment, and thereby increase the acceptance rate. Approach. In this study, we compared a novel approach to closing the loop, namely EMG feedback (emgFB), to classic force feedback (forceFB), using electrotactile interface in a realistic task setup. Eleven intact-bodied subjects and one transradial amputee performed a routine grasping task while receiving emgFB or forceFB. The two feedback types were delivered through the same electrotactile interface, using a mixed spatial/frequency coding to transmit 8 discrete levels of the feedback variable. In emgFB, the stimulation transmitted the amplitude of the processed myoelectric signal generated by the subject (prosthesis input), and in forceFB the generated grasping force (prosthesis output). The task comprised 150 trials of routine grasping at six forces, randomly presented in blocks of five trials (same force). Interquartile range and changes in the absolute error (AE) distribution (magnitude and dispersion) with respect to the target level were used to assess precision and overall performance, respectively. Main results. Relative to forceFB, emgFB significantly improved the precision of myoelectric commands (min/max of the significant levels) for 23%/36% as well as the precision of force control for 12%/32%, in intact-bodied subjects. Also, the magnitude and dispersion of the AE distribution were reduced. The results were similar in the amputee, showing considerable improvements. Significance. Using emgFB, the subjects therefore decreased the uncertainty of the forward pathway. Since there is a correspondence between the EMG and force, where the former anticipates the latter, the emgFB allowed for

  12. Non-Linear Dielectrics and Ferrites in ICEPIC

    DTIC Science & Technology

    2012-04-10

    in-cell code ICEPIC. The non-linear dielectric model includes a relaxation term to account for the physical response time of the material, which may...Andrew D. Greenwood, David M. French, Brad W. Hoff, Susan L. Heidger Air Force Research Laboratory, Directed Energy Directorate, Kirtland AFB, NM 87117...ICEPIC. The non-linear dielectric model includes a relaxation term to account for the physical response time of the material, which may be longer than an

  13. Valuation of financial models with non-linear state spaces

    NASA Astrophysics Data System (ADS)

    Webber, Nick

    2001-02-01

    A common assumption in valuation models for derivative securities is that the underlying state variables take values in a linear state space. We discuss numerical implementation issues in an interest rate model with a simple non-linear state space, formulating and comparing Monte Carlo, finite difference and lattice numerical solution methods. We conclude that, at least in low dimensional spaces, non-linear interest rate models may be viable.

  14. Model-based feedback control of a microfluidic electroporation system

    NASA Astrophysics Data System (ADS)

    Ghadami, M.; Mahjoob, M. J.; Shagoshtasbi, H.; Lee, Y.-K.

    2013-12-01

    This paper describes new model-based feedback control method used for a single-cell microfluidic electroporation (EP) system. For this purpose, a new four-state nonlinear model has been developed to describe dynamics of a micro-channel electroporation system. EP measured current response is then used to verify the efficiency of the proposed new EP model. Consequently, two feedback control methods, namely, proportional-integral-derivative controller and model predictive controller have been applied to regulate the key states (i.e. transmembrane voltage (Vm) and nano-electropore radius (r)) in the EP model. Numerical simulations of static and dynamic responses of the two critical states, Vm and r, show that feedback control can improve the cell viability and EP efficiency compared to the open-loop system. In the experimental phase, a fabricated micro-EP chip with integrated Coulter counter is used to define the cell-size-dependent parameters of the EP model and electroporation of HeLa cells. In this phase, the EP model is also inserted into LabView software's environment to estimate the value of transmembrane voltage during the experiment. Variation of the external applied voltage derived from experimental result was in good adaptation with its equivalent theoretical values.

  15. GPU-based optimal control for RWM feedback in tokamaks

    DOE PAGES

    Clement, Mitchell; Hanson, Jeremy; Bialek, Jim; ...

    2017-08-23

    The design and implementation of a Graphics Processing Unit (GPU) based Resistive Wall Mode (RWM) controller to perform feedback control on the RWM using Linear Quadratic Gaussian (LQG) control is reported herein. Also, the control algorithm is based on a simplified DIII-D VALEN model. By using NVIDIA’s GPUDirect RDMA framework, the digitizer and output module are able to write and read directly to and from GPU memory, eliminating memory transfers between host and GPU. In conclusion, the system and algorithm was able to reduce plasma response excited by externally applied fields by 32% during development experiments.

  16. Negative derivative feedback for vibration control of flexible structures

    NASA Astrophysics Data System (ADS)

    Cazzulani, G.; Resta, F.; Ripamonti, F.; Zanzi, R.

    2012-07-01

    In this paper a resonant control technique, called negative derivative feedback (NDF), for structural vibration control is presented. Resonant control is a class of control logics, based on the modal approach, which calculates the control action through a dynamic compensator in order to achieve a damping increase on a certain number of system modes. The NDF compensator is designed to work as a band-pass filter, cutting off the control action far from the natural frequencies associated with the controlled modes and reducing the so-called spillover effect. In the paper the proposed control logic is compared both theoretically and experimentally with the most common state-of-the-art resonant control techniques.

  17. MRI feedback temperature control for focused ultrasound surgery.

    PubMed

    Vanne, A; Hynynen, K

    2003-01-07

    A temperature feedback controller routine using a physical model for temperature evolution was developed for use with focused ultrasound surgery. The algorithm for the controller was a multi-input, single-output linear quadratic regulator (LQR) derived from Pennes' bioheat transfer equation. The controller was tested with simulated temperature data that had the same characteristics as those obtained with magnetic resonance imaging (MRI). The output of the controller was the appropriate power level to be used by the transducer. Tissue parameters estimated prior to the simulated treatments were used to determine the controller parameters. The controller performance was simulated in three dimensions with varying system parameters, and sufficient temperature tracking was achieved. The worst-case overshoot was 7 degrees C and the steady-state error was 5 degrees C. The simulated behaviour of the controller suggests satisfactory performance and that the controller may be useful in controlling the power output during MRI-monitored ultrasound surgery.

  18. Scanning ablation of root caries with acoustic feedback control

    NASA Astrophysics Data System (ADS)

    Fan, Kenneth; Fried, Daniel

    2007-02-01

    It has been previously demonstrated that short λ=355-nm laser pulses can be used for the selective removal of caries lesions and composite restorative materials from occlusal surfaces with minimal damage to the peripheral sound tooth structure. One advantage of laser-systems is they can be integrated with acoustic and optical feedback systems for the automated discrimination of dental caries and restorative materials. The objective of this study was to test the hypothesis that root caries could be selectively removed from tooth surfaces using a computer controlled laserscanning system coupled with an acoustic feedback system. Dental root caries surfaces on extracted teeth were scanned with λ=355-nm laser pulses at irradiation intensities ranging from 0.6 to 0.8 J/cm2. Acoustic feedback signals were acquired and used to control the laser output and scanning stages were used to position the laser over carious dentin until all the caries were removed to a fixed depth. Polarization optical coherence tomography (PSOCT) was used to acquire images of the root caries lesions before and after removal by the laser in order to assess if ablation was selective. The amplitude of the acoustic waves generated during the ablation of carious dentin was higher than for sound dentin allowing the acoustic feedback system to discriminate between sound and carious dentin. PS-OCT showed that caries were removed to a depth of up to 1.5-mm with minimal peripheral damage to peripheral sound dentin. The acoustic feedback was successfully used to distinguish between root caries and sound dentin, enabling the selective removal of caries from dentin surfaces using a λ=355-nm, Nd:YAG Q-switched laser system.

  19. Control of decoherence in open quantum systems using feedback

    NASA Astrophysics Data System (ADS)

    Ganesan, Narayan

    Decoherence, which is caused due to the interaction of a quantum system with its environment plagues all quantum systems and leads to the loss of quantum properties that are vital for quantum computation and quantum information processing. In this work we propose a novel strategy using techniques from systems theory to completely eliminate decoherence and also provide conditions under which it can be done so. A novel construction employing an auxiliary system, the bait, which is instrumental to decoupling the system from the environment is presented. Almost all the earlier work on decoherence control employ density matrix and stochastic master equations to analyze the problem. Our approach to decoherence control involves the bilinear input affine model of quantum control system which lends itself to various techniques from classical control theory, but with non-trivial modifications to the quantum regime. The elegance of this approach yields interesting results on open loop decouplability and Decoherence Free Subspaces (DFS). Additionally, the feedback control of decoherence may be related to disturbance decoupling for classical input affine systems, which entails careful application of the methods by avoiding all the quantum mechanical pitfalls. The two concepts are contrasted and an improved theory of disturbance decoupling for general input affine systems is developed. In the process of calculating a suitable feedback the system has to be restructured due to its tensorial nature of interaction with the environment, which is unique to quantum systems. Finally the results are also shown to be superior to the ones obtained via master equations. In order to apply feedback a reliable information extraction scheme is presented that employs continuous indirect measurements with the help of a quantum probe. Finally, a methodology to synthesize feedback parameters itself is given, that technology permitting, could be implemented for practical 2-qubit systems to perform

  20. An integrated optical sensor for GMAW feedback control

    SciTech Connect

    Taylor, P.L.; Watkins, A.D.; Larsen, E.D.; Smartt, H.B.

    1992-01-01

    The integrated optical sensor (IOS) is a multifunction feedback control sensor for arc welding, that is computer automated and independent of significant operator interaction. It is based on three major off-the-shelf'' components: a charged coupled device (CCD) camera, a diode laser, and a processing computer. The sensor head is compact and lightweight to avoid interference with weld head mobility, hardened to survive the harsh operating environment, and free of specialized cooling and power requirements. The sensor is positioned behind the GMAW torch and measures weld pool position and width, standoff distance, and postweld centerline cooling rate. Weld pool position and width are used in a feedback loop, by the weld controller, to track the weld pool relative to the weld joint, thus allowing compensation for such phenomena as arc blow. Sensor stand off distance is used in a feedback loop to control the contact tip to base metal distance during the welding process. Cooling rate information is used to infer the final metallurgical state of the weld bead and heat affected zone, thereby providing a means of controlling post weld mechanical properties.

  1. An integrated optical sensor for GMAW feedback control

    SciTech Connect

    Taylor, P.L.; Watkins, A.D.; Larsen, E.D.; Smartt, H.B.

    1992-08-01

    The integrated optical sensor (IOS) is a multifunction feedback control sensor for arc welding, that is computer automated and independent of significant operator interaction. It is based on three major ``off-the-shelf`` components: a charged coupled device (CCD) camera, a diode laser, and a processing computer. The sensor head is compact and lightweight to avoid interference with weld head mobility, hardened to survive the harsh operating environment, and free of specialized cooling and power requirements. The sensor is positioned behind the GMAW torch and measures weld pool position and width, standoff distance, and postweld centerline cooling rate. Weld pool position and width are used in a feedback loop, by the weld controller, to track the weld pool relative to the weld joint, thus allowing compensation for such phenomena as arc blow. Sensor stand off distance is used in a feedback loop to control the contact tip to base metal distance during the welding process. Cooling rate information is used to infer the final metallurgical state of the weld bead and heat affected zone, thereby providing a means of controlling post weld mechanical properties.

  2. An elbow joint movement control model with visual feedback.

    PubMed

    Xiao, S; Li, X

    1997-01-01

    A motor program generator control model is proposed to simulate neuromuscular control. Three muscles (Biceps, Triceps, Brachialis) driving elbow joint flexion in a plane are simulated by integrating their nonlinear dynamic property and spinal neural circuitry. The motor descending commands are described by a visual feedback signal from the joint and an excitation signal for the motor neuron pool. The visual feedback signal mimics the gamma command whereas the excitation signal mimics another descending co-activation command. The gamma command is expressed as the output of a PID controller with the visual feedback error signal as the input. The gamma command and the motoneuron pool background activity are the inputs to the motoneuron pool model coupled with the Renshaw cell recurrent inhibitions. The output of the motoneuron pool model mimics the alpha command feeding directly to the muscle dynamics. A movement is produced by reducing the error signal between goal position and actual position and altering excitation signal properly. The simulation results show that a burst pattern of excitation signal and a PID controller can accurately trace the terminal goal and generate a smooth movement with a bell shaped velocity profile. The muscle activation signals have the characteristic similar to the smoothed EMG. Changing different parameters of the PID can cause the same effects as the stimulus pulse intensity or duration modulation.

  3. Velocity feedback control with a flywheel proof mass actuator

    NASA Astrophysics Data System (ADS)

    Kras, Aleksander; Gardonio, Paolo

    2017-08-01

    This paper presents four new proof mass actuators to be used in velocity feedback control systems for the control of vibrations of machines and flexible structures. A classical proof mass actuator is formed by a coil-magnet linear motor, with either the magnet or the armature-coil proof mass suspended on soft springs. This arrangement produces a net force effect at frequencies above the fundamental resonance frequency of the springs-proof mass system. Thus, it can be used to implement point velocity feedback loops, although the dynamic response and static deflection of the springs-proof mass system poses some stability and control performance limitations. The four proof mass actuators presented in this study include a flywheel element, which is used to augment the inertia effect of the suspended proof mass. The paper shows that the flywheel element modifies both the dynamic response and static deflection of the springs-proof mass system in such a way as the stability and control performance of velocity feedback loops using these actuators are significantly improved.

  4. Decoherence control in open quantum systems via classical feedback

    NASA Astrophysics Data System (ADS)

    Ganesan, Narayan; Tarn, Tzyh-Jong

    2007-03-01

    In this work we propose a strategy using techniques from systems theory to completely eliminate decoherence and also provide conditions under which it can be done. A construction employing an auxiliary system, the bait, which is instrumental to decoupling the system from the environment is presented. Our approach to decoherence control in contrast to other approaches in the literature involves the bilinear input affine model of quantum control system which lends itself to various techniques from classical control theory, but with nontrivial modifications to the quantum regime. The elegance of this approach yields interesting results on open loop decouplability and decoherence free subspaces. Additionally, the feedback control of decoherence may be related to disturbance decoupling for classical input affine systems, which entails careful application of the methods by avoiding all the quantum mechanical pitfalls. In the process of calculating a suitable feedback the system must be restructured due to its tensorial nature of interaction with the environment, which is unique to quantum systems. In the subsequent section we discuss a general information extraction scheme to gain knowledge of the state and the amount of decoherence based on indirect continuous measurement. The analysis of continuous measurement on a decohering quantum system has not been extensively studied before. Finally, a methodology to synthesize feedback parameters itself is given, that technology permitting, could be implemented for practical 2-qubit systems to perform decoherence free quantum computing. The results obtained are qualitatively different and superior to the ones obtained via master equations.

  5. Ultrasensitive Negative Feedback Control: A Natural Approach for the Design of Synthetic Controllers

    PubMed Central

    Montefusco, Francesco; Akman, Ozgur E.; Soyer, Orkun S.; Bates, Declan G.

    2016-01-01

    Many of the most important potential applications of Synthetic Biology will require the ability to design and implement high performance feedback control systems that can accurately regulate the dynamics of multiple molecular species within the cell. Here, we argue that the use of design strategies based on combining ultrasensitive response dynamics with negative feedback represents a natural approach to this problem that fully exploits the strongly nonlinear nature of cellular information processing. We propose that such feedback mechanisms can explain the adaptive responses observed in one of the most widely studied biomolecular feedback systems—the yeast osmoregulatory response network. Based on our analysis of such system, we identify strong links with a well-known branch of mathematical systems theory from the field of Control Engineering, known as Sliding Mode Control. These insights allow us to develop design guidelines that can inform the construction of feedback controllers for synthetic biological systems. PMID:27537373

  6. Non-linear effects of soda taxes on consumption and weight outcomes.

    PubMed

    Fletcher, Jason M; Frisvold, David E; Tefft, Nathan

    2015-05-01

    The potential health impacts of imposing large taxes on soda to improve population health have been of interest for over a decade. As estimates of the effects of existing soda taxes with low rates suggest little health improvements, recent proposals suggest that large taxes may be effective in reducing weight because of non-linear consumption responses or threshold effects. This paper tests this hypothesis in two ways. First, we estimate non-linear effects of taxes using the range of current rates. Second, we leverage the sudden, relatively large soda tax increase in two states during the early 1990s combined with new synthetic control methods useful for comparative case studies. Our findings suggest virtually no evidence of non-linear or threshold effects.

  7. Free Convective Nonaligned Non-Newtonian Flow with Non-linear Thermal Radiation

    NASA Astrophysics Data System (ADS)

    Rana, S.; Mehmood, R.; Narayana, PV S.; Akbar, N. S.

    2016-12-01

    The present study explores the free convective oblique Casson fluid over a stretching surface with non-linear thermal radiation effects. The governing physical problem is modelled and transformed into a set of coupled non-linear ordinary differential equations by suitable similarity transformation, which are solved numerically with the help of shooting method keeping the convergence control of 10-5 in computations. Influence of pertinent physical parameters on normal, tangential velocity profiles and temperature are expressed through graphs. Physical quantities of interest such as skin friction coefficients and local heat flux are investigated numerically.

  8. Conformal grasping using feedback controlled bubble actuator array

    NASA Astrophysics Data System (ADS)

    Carrigan, Wei; Stein, Richard; Mittal, Manoj; Wijesundara, Muthu B. J.

    2014-06-01

    This paper presents an implementation of a bubble actuator array (BAA) based active robotic skin, a modular system, onto existing low cost robotic end-effectors or prosthetic hands for conformal grasping of objects. The active skin is comprised of pneumatically controlled polyurethane rubber bubbles with overlaid sensors for feedback control. Sensor feedback allows the BAA based robotic skin to conformally grasp an object with an explicit uniform force distribution. The bubble actuator array reported here is capable of applying up to 4N of force at each point of contact and tested for conformally grasping objects with a radius of curvature up to 57.15mm. Once integrated onto a two-finger gripper with one degree of freedom (DOF), the active skin was shown to reduce point of contact forces of up to 50% for grasped objects.

  9. Improved Position Sensor for Feedback Control of Levitation

    NASA Technical Reports Server (NTRS)

    Hyers, Robert; Savage, Larry; Rogers, Jan

    2004-01-01

    An improved optoelectronic apparatus has been developed to provide the position feedback needed for controlling the levitation subsystem of a containerless-processing system. As explained, the advantage of this apparatus over prior optoelectronic apparatuses that have served this purpose stems from the use of an incandescent lamp, instead of a laser, to illuminate the levitated object. In containerless processing, a small object to be processed is levitated (e.g., by use of a microwave, low-frequency electromagnetic, electrostatic, or acoustic field) so that it is not in contact with the wall of the processing chamber or with any other solid object during processing. In the case of electrostatic or low-frequency electromagnetic levitation, real-time measurement of the displacement of the levitated object from its nominal levitation position along the vertical axis (and, in some cases, along one or two horizontal axes) is needed for feedback control of the levitating field.

  10. Feedback control of subcritical Turing instability with zero mode.

    PubMed

    Golovin, A A; Kanevsky, Y; Nepomnyashchy, A A

    2009-04-01

    A global feedback control of a system that exhibits a subcritical monotonic instability at a nonzero wave number (short-wave or Turing instability) in the presence of a zero mode is investigated using a Ginzburg-Landau equation coupled to an equation for the zero mode. This system is studied analytically and numerically. It is shown that feedback control, based on measuring the maximum of the pattern amplitude over the domain, can stabilize the system and lead to the formation of localized unipulse stationary states or traveling solitary waves. It is found that the unipulse traveling structures result from an instability of the stationary unipulse structures when one of the parameters characterizing the coupling between the periodic pattern and the zero mode exceeds a critical value that is determined by the zero mode damping coefficient.

  11. Acoustic emission feedback control for control of boiling in a microwave oven

    DOEpatents

    White, Terry L.

    1991-01-01

    An acoustic emission based feedback system for controlling the boiling level of a liquid medium in a microwave oven is provided. The acoustic emissions from the medium correlated with surface boiling is used to generate a feedback control signal proportional to the level of boiling of the medium. This signal is applied to a power controller to automatically and continuoulsly vary the power applied to the oven to control the boiling at a selected level.

  12. Acoustic emission feedback control for control of boiling in a microwave oven

    SciTech Connect

    White, T.L.

    1991-02-26

    This patent describes an acoustic emission based feedback system for controlling the boiling level of a liquid medium in a microwave oven. The acoustic emissions from the medium correlated with surface boiling is used to generate a feedback control signal proportional to the level of boiling of the medium. This signal is applied to a power controller to automatically and continuously vary the power applied to the oven to control the boiling at a selected level.

  13. Acoustic emission feedback control for control of boiling in a microwave oven

    SciTech Connect

    White, T.L.

    1990-05-02

    An acoustic emission based feedback system for controlling the boiling level of a liquid medium in a microwave oven is provided. The acoustic emissions from the medium correlated with surface boiling is used to generate a feedback control signal proportional to the level of boiling of the medium. This signal is applied to a power controller to automatically and continuously vary the power applied to the oven to control the boiling at a selected level. 2 figs.

  14. Visual discrimination and adaptation using non-linear unsupervised learning

    NASA Astrophysics Data System (ADS)

    Jiménez, Sandra; Laparra, Valero; Malo, Jesus

    2013-03-01

    Understanding human vision not only involves empirical descriptions of how it works, but also organization principles that explain why it does so. Identifying the guiding principles of visual phenomena requires learning algorithms to optimize specific goals. Moreover, these algorithms have to be flexible enough to account for the non-linear and adaptive behavior of the system. For instance, linear redundancy reduction transforms certainly explain a wide range of visual phenomena. However, the generality of this organization principle is still in question:10 it is not only that and additional constraints such as energy cost may be relevant as well, but also, statistical independence may not be the better solution to make optimal inferences in squared error terms. Moreover, linear methods cannot account for the non-uniform discrimination in different regions of the image and color space: linear learning methods necessarily disregard the non-linear nature of the system. Therefore, in order to account for the non-linear behavior, principled approaches commonly apply the trick of using (already non-linear) parametric expressions taken from empirical models. Therefore these approaches are not actually explaining the non-linear behavior, but just fitting it to image statistics. In summary, a proper explanation of the behavior of the system requires flexible unsupervised learning algorithms that (1) are tunable to different, perceptually meaningful, goals; and (2) make no assumption on the non-linearity. Over the last years we have worked on these kind of learning algorithms based on non-linear ICA,18 Gaussianization, 19 and principal curves. In this work we stress the fact that these methods can be tuned to optimize different design strategies, namely statistical independence, error minimization under quantization, and error minimization under truncation. Then, we show (1) how to apply these techniques to explain a number of visual phenomena, and (2) suggest the

  15. Impaired Feedforward Control and Enhanced Feedback Control of Speech in Patients with Cerebellar Degeneration.

    PubMed

    Parrell, Benjamin; Agnew, Zarinah; Nagarajan, Srikantan; Houde, John; Ivry, Richard B

    2017-09-20

    The cerebellum has been hypothesized to form a crucial part of the speech motor control network. Evidence for this comes from patients with cerebellar damage, who exhibit a variety of speech deficits, as well as imaging studies showing cerebellar activation during speech production in healthy individuals. To date, the precise role of the cerebellum in speech motor control remains unclear, as it has been implicated in both anticipatory (feedforward) and reactive (feedback) control. Here, we assess both anticipatory and reactive aspects of speech motor control, comparing the performance of patients with cerebellar degeneration and matched controls. Experiment 1 tested feedforward control by examining speech adaptation across trials in response to a consistent perturbation of auditory feedback. Experiment 2 tested feedback control, examining online corrections in response to inconsistent perturbations of auditory feedback. Both male and female patients and controls were tested. The patients were impaired in adapting their feedforward control system relative to controls, exhibiting an attenuated anticipatory response to the perturbation. In contrast, the patients produced even larger compensatory responses than controls, suggesting an increased reliance on sensory feedback to guide speech articulation in this population. Together, these results suggest that the cerebellum is crucial for maintaining accurate feedforward control of speech, but relatively uninvolved in feedback control.SIGNIFICANCE STATEMENT Speech motor control is a complex activity that is thought to rely on both predictive, feedforward control as well as reactive, feedback control. While the cerebellum has been shown to be part of the speech motor control network, its functional contribution to feedback and feedforward control remains controversial. Here, we use real-time auditory perturbations of speech to show that patients with cerebellar degeneration are impaired in adapting feedforward control of

  16. Feedback-Controlled LED Photobioreactor for Photophysiological Studies of Cyanobacteria

    SciTech Connect

    Melnicki, Matthew R.; Pinchuk, Grigoriy E.; Hill, Eric A.; Kucek, Leo A.; Stolyar, Sergey; Fredrickson, Jim K.; Konopka, Allan; Beliaev, Alex S.

    2013-04-09

    A custom photobioreactor (PBR) was designed to enable automatic light adjustments using computerized feedback control. A black anodized aluminum enclosure, constructed to surround the borosilicate reactor vessel, prevents the transmission of ambient light and serves as a mount for arrays of light-emitting diodes (LEDs). The high-output LEDs provide narrow-band light of either 630 or 680 nm for preferential excitation of the cyanobacterial light-harvesting pigments, phycobilin or chlorophyll a, respectively. Custom developed software BioLume provides automatic control of optical properties and a computer feedback loop can automatically adjust the incident irradiance as necessary to maintain a fixed transmitted light through the culture, based on user-determined set points. This feedback control serves to compensate for culture dynamics which have optical effects, (e.g., changing cell density, pigment adaptations) and thus can determine the appropriate light conditions for physiological comparisons or to cultivate light-sensitive strains, without prior analyses. The LED PBR may also be controlled as a turbidostat, using a feedback loop to continuously adjust the rate of media-dilution based on the transmitted light measurements, with a fast and precise response. This cultivation system gains further merit as a high-performance analytical device, using non-invasive tools (e.g., dissolved gas sensors, online mass spectrometry) to automate real-time measurements, thus permitting unsupervised experiments to search for optimal growth conditions, to monitor physiological responses to perturbations, as well as to quantitate photophysiological parameters using an in situ light-saturation response routine.

  17. A model for reverberating circuits with controlled feedback

    NASA Astrophysics Data System (ADS)

    Rodrigues, Vanessa de Freitas; de Castro, Maria Clícia Stelling; Wedemann, Roseli Suzi; Cortez, Celia Martins

    2015-12-01

    We studied the behavior of a mathematic-computational model for a reverberating neuronal circuit with controlled feedback, verifying the output pattern of the circuit, by means simulations using a program in language C++. Using values obtained from surveying the literature from animal experiments, we observed that the model was able to reproduce the polissynaptic activity of a neuron group of a vigil rat, with looping time of three neurons of the order of magnitude of 102 ms.

  18. Optimal feedback control infinite dimensional parabolic evolution systems: Approximation techniques

    NASA Technical Reports Server (NTRS)

    Banks, H. T.; Wang, C.

    1989-01-01

    A general approximation framework is discussed for computation of optimal feedback controls in linear quadratic regular problems for nonautonomous parabolic distributed parameter systems. This is done in the context of a theoretical framework using general evolution systems in infinite dimensional Hilbert spaces. Conditions are discussed for preservation under approximation of stabilizability and detectability hypotheses on the infinite dimensional system. The special case of periodic systems is also treated.

  19. A versatile feedback controller for electro-mechanical stimulation devices.

    PubMed

    Bohnenberger, J; Seyfarth, E A; Barth, F G

    1983-12-01

    Neurophysiological and behavioral work often requires that various laboratory stimulators be feedback-stabilized. We describe the design and performance of a versatile electronic controller that can be used to extend and flatten the frequency response of commercially available stimulating devices. The design includes flexible proportional-integral-derivative control action and active second-order, high-pass compensation. As an example application of this controller to 3 different electro-mechanical vibrator/transducer combinations demonstrates that the useful frequency response can be extended by more than a decade as compared with the uncontrolled device.

  20. Fiber optic sensor: Feedback control design and implementation

    SciTech Connect

    Tung, D.; Bertram, L.; Hillaire, R.; Anderson, S.; Leonard, S.; Marburger, S.

    1997-07-01

    Digital feedback control of Gas Tungsten Arc Welding (GTAW) has been demonstrated on a tube sample of stainless steel and titanium alloy. A fiber optic sensor returns a signal proportional to backside radiance from the workpiece; that signal is used by the controller to compute a compensation weld current. The controller executes 10 times a second on an Intel 486 chip. For travel speeds of 3 to 6 inches per minute and thicknesses between 0.025 and 0.10 inches, constant backside bead width was maintained within 0.02 inches, from startup to tie-in.

  1. Output feedback sliding mode control under networked environment

    NASA Astrophysics Data System (ADS)

    Zhang, Jinhui; Lam, James; Xia, Yuanqing

    2013-04-01

    This article considers the problem of sliding mode output feedback control for networked control systems (NCSs). The key idea is to make use of not only the current and previous measurements, but also previous inputs for the reconstruction of the state variables. Using this idea, sliding mode controllers are designed for systems with constant or time-varying network delay. The approach is not only more practical but also easy to implement. To illustrate this, the design technique is applied to an inverted pendulum system.

  2. Practical Loop-Shaping Design of Feedback Control Systems

    NASA Technical Reports Server (NTRS)

    Kopasakis, George

    2010-01-01

    An improved methodology for designing feedback control systems has been developed based on systematically shaping the loop gain of the system to meet performance requirements such as stability margins, disturbance attenuation, and transient response, while taking into account the actuation system limitations such as actuation rates and range. Loop-shaping for controls design is not new, but past techniques do not directly address how to systematically design the controller to maximize its performance. As a result, classical feedback control systems are designed predominantly using ad hoc control design approaches such as proportional integral derivative (PID), normally satisfied when a workable solution is achieved, without a good understanding of how to maximize the effectiveness of the control design in terms of competing performance requirements, in relation to the limitations of the plant design. The conception of this improved methodology was motivated by challenges in designing control systems of the types needed for supersonic propulsion. But the methodology is generally applicable to any classical control-system design where the transfer function of the plant is known or can be evaluated. In the case of a supersonic aerospace vehicle, a major challenge is to design the system to attenuate anticipated external and internal disturbances, using such actuators as fuel injectors and valves, bypass doors, and ramps, all of which are subject to limitations in actuator response, rates, and ranges. Also, for supersonic vehicles, with long slim type of structures, coupling between the engine and the structural dynamics can produce undesirable effects that could adversely affect vehicle stability and ride quality. In order to design distributed controls that can suppress these potential adverse effects, within the full capabilities of the actuation system, it is important to employ a systematic control design methodology such as this that can maximize the

  3. Task driven feedback control of robot arms - A step toward intelligent control

    NASA Technical Reports Server (NTRS)

    Bejczy, A. K.; Tarn, T. J.; Li, Z. F.

    1986-01-01

    The process of connecting task descriptions originating from machine intelligence planning programs to the mechanization of feedback control of robot arms is analyzed. It is shown in this paper that control theories and practices can be extended to a higher level where feedback control of robot arms directly can respond to work space task commands provided that the work space task as a command is given in the form of a closed function of time. A general mathematical procedure using tools from differential geometry is introduced for synthesizing task space motion planning so that the planned motion can be used as a direct input to the robot arm feedback control system to achieve desired robot hand motion. By definition, 'intelligent control' is being manifested through robot performance in the task space relative to task space commands. Thus, the capability of implementing feedback control of robot arms directly driven by appropriate task descriptions in the workspace as commands is a step toward intelligent control.

  4. Dynamic behavior of time-delayed acceleration feedback controller for active vibration control of flexible structures

    NASA Astrophysics Data System (ADS)

    An, Fang; Chen, Wei-dong; Shao, Min-qiang

    2014-09-01

    This paper addresses the design problem of the controller with time-delayed acceleration feedback. On the basis of the reduction method and output state-derivative feedback, a time-delayed acceleration feedback controller is proposed. Stability boundaries of the closed-loop system are determined by using Hurwitz stability criteria. Due to the introduction of time delay into the controller with acceleration feedback, the proposed controller has the feature of not only changing the mass property but also altering the damping property of the controlled system in the sense of equivalent structural modification. With this feature, the closed-loop system has a greater logarithmic decrement than the uncontrolled one, and in turn, the control behavior can be improved. In this connection, the time delay in the acceleration feedback control is a positive factor when satisfying some given conditions and it could be actively utilized. On the ground of the analysis, the developed controller is implemented on a cantilever beam for different controller gain-delay combinations, and the control performance is evaluated with the comparison to that of pure acceleration feedback controller. Simulation and experimental results verify the ability of the controller to attenuate the vibration resulting from the dominant mode.

  5. Control and regulation of pathways via negative feedback

    PubMed Central

    2017-01-01

    The biochemical networks found in living organisms include a huge variety of control mechanisms at multiple levels of organization. While the mechanistic and molecular details of many of these control mechanisms are understood, their exact role in driving cellular behaviour is not. For example, yeast glycolysis has been studied for almost 80 years but it is only recently that we have come to understand the systemic role of the multitude of feedback and feed-forward controls that exist in this pathway. In this article, control theory is discussed as an approach to dissect the control logic of complex pathways. One of the key issues is distinguishing between the terms control and regulation and how these concepts are applied to regulated enzymes such as phosphofructokinase. In doing so, one of the paradoxes in metabolic regulation can be resolved where enzymes such as phosphofructokinase have little control but, nevertheless, possess significant regulatory influence. PMID:28202588

  6. Active Feedback Control of a Web Flutter Using Flow Control Devices

    NASA Astrophysics Data System (ADS)

    Hayashi, Yusuke; Watanabe, Masahiro; Hara, Kensuke

    This paper develops a non-contact active feedback control of web flutter in a narrow passage by using movable plates set at inlet and outlet of the passage. The strategy of this active feedback control is based on the flow-control which cancels the exciting fluid force acting on the web, i.e., cancels the self-excited feedback mechanism. In this paper, suppression of the web flutter by the active feedback control is demonstrated experimentally. In the experiments, a web (film), as a controlled object, is subjected to air flow in a narrow passage. The web flutter occurs to the web in the translational motion over the critical flow velocity. And the web flutter is actively controlled and suppressed by the movable plate motion which changes the air flow in the passage. The critical flow velocity under controlled condition is examined with changing the controller gain and phase-shift between the web motion and the movable plate motion. As a result, it is indicated that the active feedback control increases the critical flow velocity, and suppress the web flutter effectively. Moreover, the control performance is examined experimentally, and stabilization mechanism by the active feedback control is discussed.

  7. Non-linear material characterisation using the noncollinear method

    NASA Astrophysics Data System (ADS)

    Croxford, Anthony J.; Wilcox, Paul D.; Drinkwater, Bruce W.

    2010-04-01

    Conventional ultrasonic NDT techniques are limited in their ability to detect small defects by the diffraction limit, that is there is much reduced sensitivity to defects smaller than the wavelength of the interrogating ultrasonic wave. While not a major issue for most inspection, this problem becomes particularly significant for the detection of fatigue damage prior to crack formation. In this regime conventional NDT has proven to be inadequate. For this reason significant effort has been expended on the development of non-linear techniques. These techniques rely on deviations of the material from linear stress strain behaviour which create harmonics in the resulting frequency response. Evidence suggests that changes to a materials condition, such as fatigue damage, change this non-linear response. This paper presents a non-linear inspection method using a non-collinear interaction. This technique has several advantages over other harmonic approaches in that there is spatial separation, modal separation and frequency separation of the non-linear signal. This allows the origin of the non-linear signal and underlying noise levels to be well defined. The capability of the technique is demonstrated using plastically strained material and samples subjected to low cycle fatigue.

  8. Isolating Non-Linear Signatures of Two Colliding Black Holes

    NASA Astrophysics Data System (ADS)

    Garrido, Rita

    2012-03-01

    The early and late stages of the binary-black-hole collision can be approximated by perturbations to a background, solutions to linearization of the Einstein's equations. However, once the two black holes are within several radii of each other, and ultimately collide, the solution is intrinsically non-linear. The main objective is to intuitively understand the non-linear portion of the solution to the Einstein equation by performing simulations of such mergers. I will identify the non-linear regime through a process of elimination. The early stages of the coalescence are well known by post-Newtonian theory. The end state is approximated very well by perturbation theory, the waveforms decay as a damped sinusoidal with a frequency and decay time uniquely determined by the mass and spin of the final black hole in theory. I will isolate the non-linear portion of the waveform by fitting the early stages to the post-Newtonian solution and the late stages to the perturbative solution. What remains is the non-linear region. Once isolated, we will search through the physics parameter space of the binary black holes for bulk features. These features can then be used to fine-tune the search algorithms hunting for these collisions with LIGO.

  9. Towards Quantum Cybernetics:. Optimal Feedback Control in Quantum Bio Informatics

    NASA Astrophysics Data System (ADS)

    Belavkin, V. P.

    2009-02-01

    A brief account of the quantum information dynamics and dynamical programming methods for the purpose of optimal control in quantum cybernetics with convex constraints and cońcave cost and bequest functions of the quantum state is given. Consideration is given to both open loop and feedback control schemes corresponding respectively to deterministic and stochastic semi-Markov dynamics of stable or unstable systems. For the quantum feedback control scheme with continuous observations we exploit the separation theorem of filtering and control aspects for quantum stochastic micro-dynamics of the total system. This allows to start with the Belavkin quantum filtering equation and derive the generalized Hamilton-Jacobi-Bellman equation using standard arguments of classical control theory. This is equivalent to a Hamilton-Jacobi equation with an extra linear dissipative term if the control is restricted to only Hamiltonian terms in the filtering equation. A controlled qubit is considered as an example throughout the development of the formalism. Finally, we discuss optimum observation strategies to obtain a pure quantum qubit state from a mixed one.

  10. Disturbance-free phase-shifting laser diode interferometer using adaptive feedback control

    SciTech Connect

    Suzuki, Takamasa; Takahashi, Tsutomu; Sasaki, Osami

    2009-10-10

    A feedback-control-equipped phase-shifting laser diode interferometer that eliminates external disturbance is proposed. The feedback loop is stabilized by adaptive control of the polarity of the interference signal. Conventional phase-shifting interferometry can be used with the feedback control, resulting in simplified signal processing and accurate measurement. Several experiments confirm the stability of the feedback control with a measurement repeatability of 1.8 nm.

  11. Feedback Control of Vibrations in a Micromachined Cantilever Beam with Electrostatic Actuators

    NASA Astrophysics Data System (ADS)

    Wang, P. K. C.

    1998-06-01

    The problem of feedback control of vibrations in a micromachined cantilever beam with nonlinear electrostatic actuators is considered. Various forms of nonlinear feedback controls depending on localized spatial averages of the beam velocity and displacement near the beam tip are derived by considering the time rate-of-change of the total energy of the beam. The physical implementation of the derived feedback controls is discussed briefly. The dynamic behaviour of the beam with the derived feedback controls is determined by computer simulation.

  12. Processes controlling Southern Ocean cloud-climate feedbacks (Invited)

    NASA Astrophysics Data System (ADS)

    Kay, J. E.; Medeiros, B.; Hwang, Y.; Gettelman, A.

    2013-12-01

    We use a fully coupled climate model (CESM) to identify processes controlling intriguingly diverse Southern Ocean cloud feedbacks in response to increased greenhouse gas forcing. Modeled Southern Ocean cloud-climate feedbacks range from the most positive (enhancing greenhouse warming at ~40 degrees South) to the most negative (damping greenhouse warming at ~60 degrees South) on the planet. As greenhouse gas concentrations increase, Antarctic sea ice loss, warming, and a poleward stormtrack shift/sub-tropical expansion all modify Southern Ocean clouds. Our analysis shows that Southern Ocean clouds are controlled both by thermodynamics (cloud changes for a given subsidence rate) and by dynamics (changes in subsidence rates). Hinting at the importance of thermodynamics, absorbed shortwave radiation over the Southern Ocean is substantially more affected by increased greenhouse gas forcing than by a poleward stormtrack shift in the absence of greenhouse forcing. While we find CESM a useful tool, CESM has substantial Southern Ocean biases (e.g., excessive Antarctic sea ice, excessive absorbed shortwave radiation). Thus, we also assess the impact that these biases have on the realism of CESM Southern Ocean cloud-climate greenhouse feedbacks.

  13. The effect of insulin feedback on closed loop glucose control.

    PubMed

    Steil, Garry M; Palerm, Cesar C; Kurtz, Natalie; Voskanyan, Gayane; Roy, Anirban; Paz, Sachiko; Kandeel, Fouad R

    2011-05-01

    Initial studies of closed-loop proportional integral derivative control in individuals with type 1 diabetes showed good overnight performance, but with breakfast meal being the hardest to control and requiring supplemental carbohydrate to prevent hypoglycemia. The aim of this study was to assess the ability of insulin feedback to improve the breakfast-meal profile. We performed a single center study with closed-loop control over approximately 30 h at an inpatient clinical research facility. Eight adult subjects with previously diagnosed type 1 diabetes participated. Subjects received closed-loop insulin delivery with supplemental carbohydrate as needed. Outcome measures were plasma insulin concentration, model-predicted plasma insulin concentration, 2-h postprandial and 3- to 4-h glucose rate-of-change following breakfast after 1 d of closed-loop control, and the need for supplemental carbohydrate in response to nadir hypoglycemia. Plasma insulin levels during closed loop were well correlated with model predictions (R = 0.86). Fasting glucose after 1 d of closed loop was not different from nighttime target (118 ± 9 vs. 110 mg/dl; P = 0.38). Two-hour postbreakfast glucose was 132 ± 16 mg/dl with stable values 3-4 h after the meal (0.03792 ± 0.0884 mg/dl · min, not different from 0; P = 0.68) and at target (97 ± 6 mg/dl, not different from 90; P = 0.28). Three subjects required supplemental carbohydrates after breakfast on d 2 of closed loop. Insulin feedback can be implemented using a model estimate of concentration. Proportional integral derivative control with insulin feedback can achieve a desired breakfast response but still requires supplemental carbohydrate to be delivered in some instances. Studies assessing more optimal control configurations and safeguards need to be conducted.

  14. East African weathering dynamics controlled by vegetation-climate feedbacks

    USGS Publications Warehouse

    Ivory, Sarah J.; McGlue, Michael M.; Ellis, Geoffrey S.; Boehlke, Adam; Lézine, Anne-Marie; Vincens, Annie; Cohen, Andrew S.

    2017-01-01

    Tropical weathering has important linkages to global biogeochemistry and landscape evolution in the East African rift. We disentangle the influences of climate and terrestrial vegetation on chemical weathering intensity and erosion at Lake Malawi using a long sediment record. Fossil pollen, microcharcoal, particle size, and mineralogy data affirm that the detrital clays accumulating in deep water within the lake are controlled by feedbacks between climate and hinterland forest composition. Particle-size patterns are also best explained by vegetation, through feedbacks with lake levels, wildfires, and erosion. We develop a new source-to-sink framework that links lacustrine sedimentation to hinterland vegetation in tropical rifts. Our analysis suggests that climate-vegetation interactions and their coupling to weathering/erosion could threaten future food security and has implications for accurately predicting petroleum play elements in continental rift basins.

  15. Temporal control and compensation for perturbed voicing feedback

    PubMed Central

    Mitsuya, Takashi; MacDonald, Ewen N.; Munhall, Kevin G.

    2014-01-01

    Previous research employing a real-time auditory perturbation paradigm has shown that talkers monitor their own speech attributes such as fundamental frequency, vowel intensity, vowel formants, and fricative noise as part of speech motor control. In the case of vowel formants or fricative noise, what was manipulated is spectral information about the filter function of the vocal tract. However, segments can be contrasted by parameters other than spectral configuration. It is possible that the feedback system monitors phonation timing in the way it does spectral information. This study examined whether talkers exhibit a compensatory behavior when manipulating information about voicing. When talkers received feedback of the cognate of the intended voicing category (saying “tipper” while hearing “dipper” or vice versa), they changed the voice onset time and in some cases the following vowel. PMID:24815278

  16. Temporal control and compensation for perturbed voicing feedback.

    PubMed

    Mitsuya, Takashi; MacDonald, Ewen N; Munhall, Kevin G

    2014-05-01

    Previous research employing a real-time auditory perturbation paradigm has shown that talkers monitor their own speech attributes such as fundamental frequency, vowel intensity, vowel formants, and fricative noise as part of speech motor control. In the case of vowel formants or fricative noise, what was manipulated is spectral information about the filter function of the vocal tract. However, segments can be contrasted by parameters other than spectral configuration. It is possible that the feedback system monitors phonation timing in the way it does spectral information. This study examined whether talkers exhibit a compensatory behavior when manipulating information about voicing. When talkers received feedback of the cognate of the intended voicing category (saying "tipper" while hearing "dipper" or vice versa), they changed the voice onset time and in some cases the following vowel.

  17. Control of birhythmicity: A self-feedback approach.

    PubMed

    Biswas, Debabrata; Banerjee, Tanmoy; Kurths, Jürgen

    2017-06-01

    Birhythmicity occurs in many natural and artificial systems. In this paper, we propose a self-feedback scheme to control birhythmicity. To establish the efficacy and generality of the proposed control scheme, we apply it on three birhythmic oscillators from diverse fields of natural science, namely, an energy harvesting system, the p53-Mdm2 network for protein genesis (the OAK model), and a glycolysis model (modified Decroly-Goldbeter model). Using the harmonic decomposition technique and energy balance method, we derive the analytical conditions for the control of birhythmicity. A detailed numerical bifurcation analysis in the parameter space establishes that the control scheme is capable of eliminating birhythmicity and it can also induce transitions between different forms of bistability. As the proposed control scheme is quite general, it can be applied for control of several real systems, particularly in biochemical and engineering systems.

  18. Control of birhythmicity: A self-feedback approach

    NASA Astrophysics Data System (ADS)

    Biswas, Debabrata; Banerjee, Tanmoy; Kurths, Jürgen

    2017-06-01

    Birhythmicity occurs in many natural and artificial systems. In this paper, we propose a self-feedback scheme to control birhythmicity. To establish the efficacy and generality of the proposed control scheme, we apply it on three birhythmic oscillators from diverse fields of natural science, namely, an energy harvesting system, the p53-Mdm2 network for protein genesis (the OAK model), and a glycolysis model (modified Decroly-Goldbeter model). Using the harmonic decomposition technique and energy balance method, we derive the analytical conditions for the control of birhythmicity. A detailed numerical bifurcation analysis in the parameter space establishes that the control scheme is capable of eliminating birhythmicity and it can also induce transitions between different forms of bistability. As the proposed control scheme is quite general, it can be applied for control of several real systems, particularly in biochemical and engineering systems.

  19. Independent modal space control with positive position feedback

    NASA Technical Reports Server (NTRS)

    Baz, A.; Poh, S.; Fedor, J.

    1989-01-01

    An independent modal space control (IMSC) algorithm is presented, whose modal control forces are generated from a positive position feedback (PPF) strategy. The proposed algorithm combines the attributes of both the IMSC and the PPF, and maintains the simplicity of the IMSC as it designs the controller of a complex structure at the uncoupled modal level. The effectiveness of the algorithm in damping out the vibration of flexible structures is validated experimentally. A simple cantilevered beam is employed as an example of a flexible structure whose multimodes of vibration are controlled by a single actuator. Performance of the active control system is determined in the frequency and the time domains. The experimental results indicate the potential of the proposed methodology as a viable method for controlling the vibration of large flexible structures.

  20. Biomimetic Hybrid Feedback Feedforward Neural-Network Learning Control.

    PubMed

    Pan, Yongping; Yu, Haoyong

    2017-06-01

    This brief presents a biomimetic hybrid feedback feedforward neural-network learning control (NNLC) strategy inspired by the human motor learning control mechanism for a class of uncertain nonlinear systems. The control structure includes a proportional-derivative controller acting as a feedback servo machine and a radial-basis-function (RBF) NN acting as a feedforward predictive machine. Under the sufficient constraints on control parameters, the closed-loop system achieves semiglobal practical exponential stability, such that an accurate NN approximation is guaranteed in a local region along recurrent reference trajectories. Compared with the existing NNLC methods, the novelties of the proposed method include: 1) the implementation of an adaptive NN control to guarantee plant states being recurrent is not needed, since recurrent reference signals rather than plant states are utilized as NN inputs, which greatly simplifies the analysis and synthesis of the NNLC and 2) the domain of NN approximation can be determined a priori by the given reference signals, which leads to an easy construction of the RBF-NNs. Simulation results have verified the effectiveness of this approach.

  1. Biomimetic Hybrid Feedback Feedforward Neural-Network Learning Control.

    PubMed

    Pan, Yongping; Yu, Haoyong

    2016-03-30

    This brief presents a biomimetic hybrid feedback feedforward neural-network learning control (NNLC) strategy inspired by the human motor learning control mechanism for a class of uncertain nonlinear systems. The control structure includes a proportional-derivative controller acting as a feedback servo machine and a radial-basis-function (RBF) NN acting as a feedforward predictive machine. Under the sufficient constraints on control parameters, the closed-loop system achieves semiglobal practical exponential stability, such that an accurate NN approximation is guaranteed in a local region along recurrent reference traj- ectories. Compared with the existing NNLC methods, the novelties of the proposed method include: 1) the implementation of an adaptive NN control to guarantee plant states being recurrent is not needed, since recurrent reference signals rather than plant states are utilized as NN inputs, which greatly simplifies the analysis and synthesis of the NNLC and 2) the domain of NN approximation can be determined a priori by the given reference signals, which leads to an easy construction of the RBF-NNs. Simulation results have verified the effectiveness of this approach.

  2. Regularity of feedback opertors for boundary control of thermal processes

    SciTech Connect

    Burns, J.A.; Rubio, D. |; King, B.B.

    1994-12-31

    This note is concerned with the regularity of functional gains for boundary control of thermal processes. Functional gains are kernel functions in integral representations of feedback operators computed by solving algebraic Riccati equations arising from infinite dimensional LQR control problems. In and, Burns and King showed that distributed parameter systems described by certain parabolic partial differential equations often have a special structure that smooths solutions of the corresponding Riccati equation. When this result is applied to problems with distributed controllers it can be established that the resulting feedback operator is also smooth. However, it is the continuity of the input operator that leads to a positive result in this case. When boundary control is applied, the input operator is unbounded and the analysis in fails. However, for 1D heat flow it is possible to recover because of the special nature of the problem. The problem is still not settled for the 2D and 3D heat equation. In this paper we present numerical evidence to suggest that the functional gains exist and have compact support near the boundary where the control is applied. Both properties are important in addressing sensor and actuator location problems and they have practical implications in the design of reduced order controllers for PDE systems.

  3. Semantically Enhanced Online Configuration of Feedback Control Schemes.

    PubMed

    Milis, Georgios M; Panayiotou, Christos G; Polycarpou, Marios M

    2017-03-31

    Recent progress toward the realization of the ``Internet of Things'' has improved the ability of physical and soft/cyber entities to operate effectively within large-scale, heterogeneous systems. It is important that such capacity be accompanied by feedback control capabilities sufficient to ensure that the overall systems behave according to their specifications and meet their functional objectives. To achieve this, such systems require new architectures that facilitate the online deployment, composition, interoperability, and scalability of control system components. Most current control systems lack scalability and interoperability because their design is based on a fixed configuration of specific components, with knowledge of their individual characteristics only implicitly passed through the design. This paper addresses the need for flexibility when replacing components or installing new components, which might occur when an existing component is upgraded or when a new application requires a new component, without the need to readjust or redesign the overall system. A semantically enhanced feedback control architecture is introduced for a class of systems, aimed at accommodating new components into a closed-loop control framework by exploiting the semantic inference capabilities of an ontology-based knowledge model. This architecture supports continuous operation of the control system, a crucial property for large-scale systems for which interruptions have negative impact on key performance metrics that may include human comfort and welfare or economy costs. A case-study example from the smart buildings domain is used to illustrate the proposed architecture and semantic inference mechanisms.

  4. Non-linear system identification in flow-induced vibration

    SciTech Connect

    Spanos, P.D.; Zeldin, B.A.; Lu, R.

    1996-12-31

    The paper introduces a method of identification of non-linear systems encountered in marine engineering applications. The non-linearity is accounted for by a combination of linear subsystems and known zero-memory non-linear transformations; an equivalent linear multi-input-single-output (MISO) system is developed for the identification problem. The unknown transfer functions of the MISO system are identified by assembling a system of linear equations in the frequency domain. This system is solved by performing the Cholesky decomposition of a related matrix. It is shown that the proposed identification method can be interpreted as a {open_quotes}Gram-Schmidt{close_quotes} type of orthogonal decomposition of the input-output quantities of the equivalent MISO system. A numerical example involving the identification of unknown parameters of flow (ocean wave) induced forces on offshore structures elucidates the applicability of the proposed method.

  5. Noise and non-linearities in high-throughput data

    NASA Astrophysics Data System (ADS)

    Nguyen, Viet-Anh; Koukolíková-Nicola, Zdena; Bagnoli, Franco; Lió, Pietro

    2009-01-01

    High-throughput data analyses are becoming common in biology, communications, economics and sociology. The vast amounts of data are usually represented in the form of matrices and can be considered as knowledge networks. Spectra-based approaches have proved useful in extracting hidden information within such networks and for estimating missing data, but these methods are based essentially on linear assumptions. The physical models of matching, when applicable, often suggest non-linear mechanisms, that may sometimes be identified as noise. The use of non-linear models in data analysis, however, may require the introduction of many parameters, which lowers the statistical weight of the model. According to the quality of data, a simpler linear analysis may be more convenient than more complex approaches. In this paper, we show how a simple non-parametric Bayesian model may be used to explore the role of non-linearities and noise in synthetic and experimental data sets.

  6. Non-Linear Vibration Characteristics of Clamped Laminated Shallow Shells

    NASA Astrophysics Data System (ADS)

    ABE, A.; KOBAYASHI, Y.; YAMADA, G.

    2000-07-01

    This paper examines non-linear free vibration characteristics of first and second vibration modes of laminated shallow shells with rigidly clamped edges. Non-linear equations of motion for the shells based on the first order shear deformation and classical shell theories are derived by means of Hamilton's principle. We apply Galerkin's procedure to the equations of motion in which eigenvectors for first and second modes of linear vibration obtained by the Ritz method are employed as trial functions. Then simultaneous non-linear ordinary differential equations are derived in terms of amplitudes of the first and second vibration modes. Backbone curves for the first and second vibration modes are solved numerically by the Gauss-Legendre integration method and the shooting method respectively. The effects of lamination sequences and transverse shear deformation on the behavior are discussed. It is also shown that the motion of the first vibration mode affects the response for the second vibration mode.

  7. A general non-linear multilevel structural equation mixture model

    PubMed Central

    Kelava, Augustin; Brandt, Holger

    2014-01-01

    In the past 2 decades latent variable modeling has become a standard tool in the social sciences. In the same time period, traditional linear structural equation models have been extended to include non-linear interaction and quadratic effects (e.g., Klein and Moosbrugger, 2000), and multilevel modeling (Rabe-Hesketh et al., 2004). We present a general non-linear multilevel structural equation mixture model (GNM-SEMM) that combines recent semiparametric non-linear structural equation models (Kelava and Nagengast, 2012; Kelava et al., 2014) with multilevel structural equation mixture models (Muthén and Asparouhov, 2009) for clustered and non-normally distributed data. The proposed approach allows for semiparametric relationships at the within and at the between levels. We present examples from the educational science to illustrate different submodels from the general framework. PMID:25101022

  8. Pattern formation due to non-linear vortex diffusion

    NASA Astrophysics Data System (ADS)

    Wijngaarden, Rinke J.; Surdeanu, R.; Huijbregtse, J. M.; Rector, J. H.; Dam, B.; Einfeld, J.; Wördenweber, R.; Griessen, R.

    Penetration of magnetic flux in YBa 2Cu 3O 7 superconducting thin films in an external magnetic field is visualized using a magneto-optic technique. A variety of flux patterns due to non-linear vortex diffusion is observed: (1) Roughening of the flux front with scaling exponents identical to those observed in burning paper including two distinct regimes where respectively spatial disorder and temporal disorder dominate. In the latter regime Kardar-Parisi-Zhang behavior is found. (2) Fractal penetration of flux with Hausdorff dimension depending on the critical current anisotropy. (3) Penetration as ‘flux-rivers’. (4) The occurrence of commensurate and incommensurate channels in films with anti-dots as predicted in numerical simulations by Reichhardt, Olson and Nori. It is shown that most of the observed behavior is related to the non-linear diffusion of vortices by comparison with simulations of the non-linear diffusion equation appropriate for vortices.

  9. Ghost Dark Energy with Non-Linear Interaction Term

    NASA Astrophysics Data System (ADS)

    Ebrahimi, E.

    2016-06-01

    Here we investigate ghost dark energy (GDE) in the presence of a non-linear interaction term between dark matter and dark energy. To this end we take into account a general form for the interaction term. Then we discuss about different features of three choices of the non-linear interacting GDE. In all cases we obtain equation of state parameter, w D = p/ ρ, the deceleration parameter and evolution equation of the dark energy density parameter (Ω D ). We find that in one case, w D cross the phantom line ( w D < -1). However in two other classes w D can not cross the phantom divide. The coincidence problem can be solved in these models completely and there exist good agreement between the models and observational values of w D , q. We study squared sound speed {vs2}, and find that for one case of non-linear interaction term {vs2} can achieves positive values at late time of evolution.

  10. Discretization chaos - Feedback control and transition to chaos

    NASA Technical Reports Server (NTRS)

    Grantham, Walter J.; Athalye, Amit M.

    1990-01-01

    Problems in the design of feedback controllers for chaotic dynamical systems are considered theoretically, focusing on two cases where chaos arises only when a nonchaotic continuous-time system is discretized into a simpler discrete-time systems (exponential discretization and pseudo-Euler integration applied to Lotka-Volterra competition and prey-predator systems). Numerical simulation results are presented in extensive graphs and discussed in detail. It is concluded that care must be taken in applying standard dynamical-systems methods to control systems that may be discontinuous or nondifferentiable.

  11. Discretization chaos - Feedback control and transition to chaos

    NASA Technical Reports Server (NTRS)

    Grantham, Walter J.; Athalye, Amit M.

    1990-01-01

    Problems in the design of feedback controllers for chaotic dynamical systems are considered theoretically, focusing on two cases where chaos arises only when a nonchaotic continuous-time system is discretized into a simpler discrete-time systems (exponential discretization and pseudo-Euler integration applied to Lotka-Volterra competition and prey-predator systems). Numerical simulation results are presented in extensive graphs and discussed in detail. It is concluded that care must be taken in applying standard dynamical-systems methods to control systems that may be discontinuous or nondifferentiable.

  12. Coherent feedback control of multipartite quantum entanglement for optical fields

    SciTech Connect

    Yan, Zhihui; Jia, Xiaojun; Xie, Changde; Peng, Kunchi

    2011-12-15

    Coherent feedback control (CFC) of multipartite optical entangled states produced by a nondegenerate optical parametric amplifier is theoretically studied. The features of the quantum correlations of amplitude and phase quadratures among more than two entangled optical modes can be controlled by tuning the transmissivity of the optical beam splitter in the CFC loop. The physical conditions to enhance continuous variable multipartite entanglement of optical fields utilizing the CFC loop are obtained. The numeric calculations based on feasible physical parameters of realistic systems provide direct references for the design of experimental devices.

  13. Non-linear dynamic modeling of an automobile hydraulic active suspension system

    NASA Astrophysics Data System (ADS)

    Mrad, R. Ben; Levitt, J. A.; Fassois, S. D.

    1994-09-01

    Motived by the strong need for realistically describing the dynamical behaviour of automotive systems through adequate mathematical models, a computer-stimulation-suitable non-linear quarter-car model of a hydraulic active suspension system is developed. Unlike previously available linear models characterised by idealised actuator and component behaviour, the developed model accounts for the dynamics of the main system components, including the suspension bushing, pump, accumulator, power and bypass valves, and hydraulic actuator, while also incorporating preliminary versions of the system controllers. Significant system characteristics, such as non-linear pressure-flow relationships, fluid compressibility, pump and valve non-linearities, leakages, as well as Coulomb friction, are also explicitly accounted for, and the underpinning assumptions are discussed. Simulation results obtained by exercising the model provide insight into the system behavior, illustrate the importance of the actuator/component dynamics and their associated non-linearities and reveal the inadequacy of the idealised linear models in capturing the system behaviour, demonstrate specific effects of valve leakage and fluid bulk modulus, are in qualitative agreement with experimental measurements, and stress the need for proper control law design and tuning. The developed model is particularly suitable for analysis, design, control law optimisation, and diagnostic strategies development.

  14. Adaptive Fuzzy Output-Feedback Stabilization Control for a Class of Switched Nonstrict-Feedback Nonlinear Systems.

    PubMed

    Li, Yongming; Tong, Shaocheng

    2017-04-01

    This paper proposes an fuzzy adaptive output-feedback stabilization control method for nonstrict feedback uncertain switched nonlinear systems. The controlled system contains unmeasured states and unknown nonlinearities. First, a switched state observer is constructed in order to estimate the unmeasured states. Second, a variable separation approach is introduced to solve the problem of nonstrict feedback. Third, fuzzy logic systems are utilized to identify the unknown uncertainties, and an adaptive fuzzy output feedback stabilization controller is set up by exploiting the backstepping design principle. At last, by applying the average dwell time method and Lyapunov stability theory, it is proven that all the signals in the closed-loop switched system are bounded, and the system output converges to a small neighborhood of the origin. Two examples are given to further show the effectiveness of the proposed switched control approach.

  15. Non-linear effects in bunch compressor of TARLA

    NASA Astrophysics Data System (ADS)

    Yildiz, Hüseyin; Aksoy, Avni; Arikan, Pervin

    2016-03-01

    Transport of a beam through an accelerator beamline is affected by high order and non-linear effects such as space charge, coherent synchrotron radiation, wakefield, etc. These effects damage form of the beam, and they lead particle loss, emittance growth, bunch length variation, beam halo formation, etc. One of the known non-linear effects on low energy machine is space charge effect. In this study we focus on space charge effect for Turkish Accelerator and Radiation Laboratory in Ankara (TARLA) machine which is designed to drive InfraRed Free Electron Laser covering the range of 3-250 µm. Moreover, we discuss second order effects on bunch compressor of TARLA.

  16. Non-linear analysis of moderately thick sector plates

    NASA Astrophysics Data System (ADS)

    Nath, Y.; Sharda, H. B.; Sharma, Ashish

    2005-10-01

    Non-linear static analysis of moderately thick sector plates under uniformly distributed loading is presented. Using the first-order shear deformation theory and Von Karman type non-linearity, the governing equations of equilibrium are developed and expressed in terms of displacement components. The Chebyshev polynomial is used for spatial discretization of the differential equations. An iterative incremental approach based on Newton-Raphson method is used for the solution. Convergence study is carried out. Effects of annularity, thickness ratio, sector angle and boundary conditions are investigated. Results are compared with those available from the literature.

  17. Photocrosslinkable copolymers for non-linear optical applications

    SciTech Connect

    Kawatsuki, N.; Pakbaz, K.; Schmidt, H.W.

    1993-12-31

    New photocrosslinkable copolymers have been synthesized and applied as non-linear optical materials. The copolymers are based on methyl methacrylate, a photo-excitable benzophenone monomer, a non-linear optical active 4`-[(2-hydroxyethyl)ethylamino]-4-nitro-azobenzene (disperse red 1) side chain monomer and a crosslinkable 2-butenyl monomer. These copolymers can be crosslinked by UV light at 366 nm in the poled state and show a stable alignment of NLO chromophore by monitoring the adsorption spectra. The crosslinked and poled film did not change its alignment after storing 4 weeks at room temperature.

  18. Non-Linear Finite Element Modeling of THUNDER Piezoelectric Actuators

    NASA Technical Reports Server (NTRS)

    Taleghani, Barmac K.; Campbell, Joel F.

    1999-01-01

    A NASTRAN non-linear finite element model has been developed for predicting the dome heights of THUNDER (THin Layer UNimorph Ferroelectric DrivER) piezoelectric actuators. To analytically validate the finite element model, a comparison was made with a non-linear plate solution using Von Karmen's approximation. A 500 volt input was used to examine the actuator deformation. The NASTRAN finite element model was also compared with experimental results. Four groups of specimens were fabricated and tested. Four different input voltages, which included 120, 160, 200, and 240 Vp-p with a 0 volts offset, were used for this comparison.

  19. Realization of non-linear coherent states by photonic lattices

    SciTech Connect

    Dehdashti, Shahram Li, Rujiang; Chen, Hongsheng; Liu, Jiarui Yu, Faxin

    2015-06-15

    In this paper, first, by introducing Holstein-Primakoff representation of α-deformed algebra, we achieve the associated non-linear coherent states, including su(2) and su(1, 1) coherent states. Second, by using waveguide lattices with specific coupling coefficients between neighbouring channels, we generate these non-linear coherent states. In the case of positive values of α, we indicate that the Hilbert size space is finite; therefore, we construct this coherent state with finite channels of waveguide lattices. Finally, we study the field distribution behaviours of these coherent states, by using Mandel Q parameter.

  20. BEAM-BASED NON-LINEAR OPTICS CORRECTIONS IN COLLIDERS.

    SciTech Connect

    PILAT, R.; LUO, Y.; MALITSKY, N.; PTITSYN, V.

    2005-05-16

    A method has been developed to measure and correct operationally the non-linear effects of the final focusing magnets in colliders, that gives access to the effects of multi-pole errors by applying closed orbit bumps, and analyzing the resulting tune and orbit shifts. This technique has been tested and used during 4 years of RHIC (the Relativistic Heavy Ion Collider at BNL) operations. I will discuss here the theoretical basis of the method, the experimental set-up, the correction results, the present understanding of the machine model, the potential and limitations of the method itself as compared with other non-linear correction techniques.

  1. Ductile compaction of partially molten rocks: the effect of non-linear viscous rheology on instability and segregation

    NASA Astrophysics Data System (ADS)

    Veveakis, E.; Regenauer-Lieb, K.; Weinberg, R. F.

    2015-01-01

    The segregation of melt from a linear viscous matrix is traditionally described by McKenzie's compaction theory. This classical solution overlooks instabilities that arise when non-linear solid matrix behaviour is considered. Here we report a closed form 1-D solution obtained by extending McKenzie's theory to non-linear matrix behaviours. The new solution provides periodic stress singularities, acting as high porosity melt channels, to be the fundamental response of the compacted matrix. The characteristic length controlling the periodicity is still McKenzie's compaction length bar{δ}_c, adjusted for non-linear rheologies.

  2. Effect of delay mismatch in Pyragas feedback control

    NASA Astrophysics Data System (ADS)

    Purewal, A. S.; Postlethwaite, C. M.; Krauskopf, B.

    2014-11-01

    Pyragas time-delayed feedback is a control scheme designed to stabilize unstable periodic orbits, which occur naturally in many nonlinear dynamical systems. It has been successfully implemented in a number of applications, including lasers and chemical systems. The control scheme targets a specific unstable periodic orbit by adding a feedback term with a delay chosen as the period of the unstable periodic orbit. However, in an experimental or industrial environment, obtaining the exact period or setting the delay equal to the exact period of the target periodic orbit may be difficult. This could be due to a number of factors, such as incomplete information on the system or the delay being set by inaccurate equipment. In this paper, we evaluate the effect of Pyragas control on the prototypical generic subcritical Hopf normal form when the delay is close to but not equal to the period of the target periodic orbit. Specifically, we consider two cases: first, a constant, and second, a linear approximation of the period. We compare these two cases to the case where the delay is set exactly to the target period, which serves as the benchmark case. For this comparison, we construct bifurcation diagrams and determine any regions where a stable periodic orbit close to the target is stabilized by the control scheme. In this way, we find that at least a linear approximation of the period is required for successful stabilization by Pyragas control.

  3. Gantry cranes gain scheduling feedback control with friction compensation

    NASA Astrophysics Data System (ADS)

    Omar, Hanafy M.; Nayfeh, Ali H.

    2005-03-01

    We designed a controller based on gain-scheduling feedback to move a load on a gantry crane from point to point within one oscillation cycle and without inducing large swings. The settling time of the system is taken to be equal to the period of oscillation of the load. This criterion enables calculation of the controller feedback gains for varying load weight and cable length. Numerical simulations show that the controller is effective in reducing load oscillations and transferring the load in a reasonable time compared with that of optimal control. To experimentally validate the theory, we had to compensate for friction. To this end, we estimated the friction, and then applied an opposite control action to cancel it. To estimate the friction force, we assumed a mathematical model, and then we estimated the model coefficients using an off-line identification technique, such as the method of least squares (LS). First, the process of identification is applied to a theoretical model of a DC motor with known friction coefficients. From this example, some guidelines and rules are deduced for the choice of the LS parameters. Then, the friction coefficients of the gantry crane model are estimated and validated.

  4. State feedback control of switched linear systems: An LMI approach

    NASA Astrophysics Data System (ADS)

    Montagner, V. F.; Leite, V. J. S.; Oliveira, R. C. L. F.; Peres, P. L. D.

    2006-10-01

    This paper addresses the problem of state feedback control of continuous-time switched linear systems with arbitrary switching rules. A quadratic Lyapunov function with a common matrix is used to derive a stabilizing switching control strategy that guarantees: (i) the assignment of all the eigenvalues of each linear subsystem inside a chosen circle in the left-hand half of the complex plane; (ii) a minimum disturbance attenuation level for the closed-loop switched system. The proposed design conditions are given in terms of linear matrix inequalities that encompass previous results based on quadratic stability conditions with fixed control gains. Although the quadratic stability based on a fixed Lyapunov matrix has been widely used in robust control design, the use of this condition to provide a convex design method for switching feedback gains has not been fully investigated. Numerical examples show that the switching control strategy can cope with more stringent design specifications than the fixed gain strategy, being useful to improve the performance of this class of systems.

  5. A feedback control for the advanced launch system

    NASA Technical Reports Server (NTRS)

    Seywald, Hans; Cliff, Eugene M.

    1991-01-01

    A robust feedback algorithm is presented for a near-minimum-fuel ascent of a two-stage launch vehicle operating in the equatorial plane. The development of the algorithm is based on the ideas of neighboring optimal control and can be derived into three phases. In phase 1, the formalism of optimal control is employed to calculate fuel-optimal ascent trajectories for a simple point-mass model. In phase 2, these trajectories are used to numerically calculate gain functions of time for the control(s), the total flight time, and possibly, for other variables of interest. In phase 3, these gains are used to determine feedback expressions for the controls associated with a more realistic model of a launch vehicle. With the Advanced Launch System in mind, all calculations are performed on a two-stage vehicle with fixed thrust history, but this restriction is by no means important for the approach taken. Performance and robustness of the algorithm is found to be excellent.

  6. A genetic technique for planning a control sequence to navigate the state space with a quasi-minimum-cost output trajectory for a non-linear multi-dimnensional system

    NASA Technical Reports Server (NTRS)

    Hein, C.; Meystel, A.

    1994-01-01

    There are many multi-stage optimization problems that are not easily solved through any known direct method when the stages are coupled. For instance, we have investigated the problem of planning a vehicle's control sequence to negotiate obstacles and reach a goal in minimum time. The vehicle has a known mass, and the controlling forces have finite limits. We have developed a technique that finds admissible control trajectories which tend to minimize the vehicle's transit time through the obstacle field. The immediate applications is that of a space robot which must rapidly traverse around 2-or-3 dimensional structures via application of a rotating thruster or non-rotating on-off for such vehicles is located at the Marshall Space Flight Center in Huntsville Alabama. However, it appears that the development method is applicable to a general set of optimization problems in which the cost function and the multi-dimensional multi-state system can be any nonlinear functions, which are continuous in the operating regions. Other applications included the planning of optimal navigation pathways through a transversability graph; the planning of control input for under-water maneuvering vehicles which have complex control state-space relationships; the planning of control sequences for milling and manufacturing robots; the planning of control and trajectories for automated delivery vehicles; and the optimization and athletic training in slalom sports.

  7. Design of Adaptive Output Feedback Variable Structure Tracking Controllers

    NASA Astrophysics Data System (ADS)

    Cheng, Chih-Chiang; Wen, Chih-Chin; Chen, Shih-Pin

    Based on the Lyapunov stability theorem, an adaptive output feedback variable structure tracking controller is proposed in this paper for a class of multi-input multi-output (MIMO) dynamic systems with mismatched uncertainties and disturbances. With an adaptive mechanism embedded in the proposed control scheme, the controller will automatically adapt the unknown upper bound of perturbations, so that the information of upper bound of perturbations is not required. Once the controlled system reaches the switching hyperplane, the state tracking errors can be driven into a small bounded region whose size can be adjusted through the design parameter. An application of flight control is given for demonstrating the feasibility of the proposed methodology.

  8. Aeroassisted orbital maneuvering using Lyapunov optimal feedback control

    NASA Technical Reports Server (NTRS)

    Grantham, Walter J.; Lee, Byoung-Soo

    1987-01-01

    A Liapunov optimal feedback controller incorporating a preferred direction of motion at each state of the system which is opposite to the gradient of a specified descent function is developed for aeroassisted orbital transfer from high-earth orbit to LEO. The performances of the Liapunov controller and a calculus-of-variations open-loop minimum-fuel controller, both of which are based on the 1962 U.S. Standard Atmosphere, are simulated using both the 1962 U.S. Standard Atmosphere and an atmosphere corresponding to the STS-6 Space Shuttle flight. In the STS-6 atmosphere, the calculus-of-variations open-loop controller fails to exit the atmosphere, while the Liapunov controller achieves the optimal minimum-fuel conditions, despite the + or - 40 percent fluctuations in the STS-6 atmosphere.

  9. Reinforcement learning output feedback NN control using deterministic learning technique.

    PubMed

    Xu, Bin; Yang, Chenguang; Shi, Zhongke

    2014-03-01

    In this brief, a novel adaptive-critic-based neural network (NN) controller is investigated for nonlinear pure-feedback systems. The controller design is based on the transformed predictor form, and the actor-critic NN control architecture includes two NNs, whereas the critic NN is used to approximate the strategic utility function, and the action NN is employed to minimize both the strategic utility function and the tracking error. A deterministic learning technique has been employed to guarantee that the partial persistent excitation condition of internal states is satisfied during tracking control to a periodic reference orbit. The uniformly ultimate boundedness of closed-loop signals is shown via Lyapunov stability analysis. Simulation results are presented to demonstrate the effectiveness of the proposed control.

  10. Auditory feedback control of voice fundamental frequency in school children.

    PubMed

    Liu, Peng; Chen, Zhaocong; Larson, Charles R; Huang, Dongfeng; Liu, Hanjun

    2010-09-01

    The present study was intended to address how the online control of voice fundamental frequency (F(0)) during vocalization develops from school children to young adults. Nineteen school children (7-12 years old) and twenty-one young adults (19-27 years old) participated in this experiment. They were asked to sustain a vowel sound /u/ while their voice pitch feedback was randomly shifted (+/-50, +/-100, +/-200, and +/-500 cents) and fed back to them instantaneously over headphones. Results showed that school children produced significantly larger but slower compensatory responses to voice pitch feedback perturbations than young adults. Response latencies became longer with the increase in pitch perturbation magnitude, but no systematic changes were found as a function of stimulus direction. In addition, the number of responses "following" the stimulus direction across different stimulus magnitudes for school children was greater than for young adults. These findings demonstrate developmental changes of vocal responses to pitch feedback perturbations during vocalization from school children to young adults, and suggest that vocal responses can serve as an objective index of the maturation of the audio-vocal system.

  11. Nonlinear feedback control and trajectory tracking of vehicle

    NASA Astrophysics Data System (ADS)

    Abbassi, Younés; Ait-Amirat, Youcef; Outbib, Rachid

    2015-12-01

    This paper mainly studies nonlinear feedback control applied to the nonlinear vehicle dynamics with varying velocity. The main objective of this study is the stabilisation of longitudinal, lateral and yaw angular vehicle velocities. To this end, a nonlinear vehicle model is developed which takes both the lateral and longitudinal vehicle dynamics into account. Based on this model, a method to build a nonlinear state feedback control is first designed by which the complexity of system structure can be simplified. The obtained system is then synthesised by the combined Lyapunov-LaSalle method. The simulation results show that the proposed control can improve stability and comfort of vehicle driving. Moreover, this paper presents a lemma which ensures the trajectory tracking and path-following problem for vehicle. It can also be exploited simultaneously to solve both the tracking and path-following control problems of the vehicle ride and driving stability. We also show how the results of the lemma can be applied to solve the path-following problem, in which the vehicle converges and follows a designed path. The effectiveness of the proposed lemma for trajectory tracking is clearly demonstrated by simulation results.

  12. Control of cardiac alternans by mechanical and electrical feedback

    NASA Astrophysics Data System (ADS)

    Yapari, Felicia; Deshpande, Dipen; Belhamadia, Youssef; Dubljevic, Stevan

    2014-07-01

    A persistent alternation in the cardiac action potential duration has been linked to the onset of ventricular arrhythmia, which may lead to sudden cardiac death. A coupling between these cardiac alternans and the intracellular calcium dynamics has also been identified in previous studies. In this paper, the system of PDEs describing the small amplitude of alternans and the alternation of peak intracellular Ca2+ are stabilized by optimal boundary and spatially distributed actuation. A simulation study demonstrating the successful annihilation of both alternans on a one-dimensional cable of cardiac cells by utilizing the full-state feedback controller is presented. Complimentary to these studies, a three variable Nash-Panfilov model is used to investigate alternans annihilation via mechanical (or stretch) perturbations. The coupled model includes the active stress which defines the mechanical properties of the tissue and is utilized in the feedback algorithm as an independent input from the pacing based controller realization in alternans annihilation. Simulation studies of both control methods demonstrate that the proposed methods can successfully annihilate alternans in cables that are significantly longer than 1 cm, thus overcoming the limitations of earlier control efforts.

  13. Feedback control of flow alignment in sheared liquid crystals.

    PubMed

    Strehober, David A; Schöll, Eckehard; Klapp, Sabine H L

    2013-12-01

    Based on a continuum theory, we investigate the manipulation of the nonequilibrium behavior of a sheared liquid crystal via closed-loop feedback control. Our goal is to stabilize a specific dynamical state, that is, the stationary "flow alignment," under conditions where the uncontrolled system displays oscillatory director dynamics with in-plane symmetry. To this end we employ time-delayed feedback control (TDFC), where the equation of motion for the ith component q(i)(t) of the order parameter tensor is supplemented by a control term involving the difference q(i)(t)-q(i)(t-τ). In this diagonal scheme, τ is the delay time. We demonstrate that the TDFC method successfully stabilizes flow alignment for suitable values of the control strength K and τ; these values are determined by solving an exact eigenvalue equation. Moreover, our results show that only small values of K are needed when the system is sheared from an isotropic equilibrium state, contrary to the case where the equilibrium state is nematic.

  14. Diamagnetically Levitating Three Phase Motor with Optical Feedback Control

    NASA Astrophysics Data System (ADS)

    Khanna, Shrey; Nhut Ho, Joe; Irwen, Jonathan; Chih Wang, Wei

    2010-11-01

    This article describes a feasibility study of creating a low friction, low maintenance power delivering motor using a diamagnetically stabilized levitating rotor. The planar rotor described in this article uses a triangular configuration of magnets that rotates due to nine electric coils evenly spaced around the rotor. The principle behind levitation of the rotor and the dynamic forces on it are described in detail. An optical encoder feedback system is designed and fabricated that controls the frequency of the levitating rotor. The current input to the coils is given through a driving circuit that amplifies a DC pulse signal generated by a control algorithm designed in LabVIEW. The driving circuit allows current to flow through one phase at a time, which produces a magnetic field strong enough to spin the rotor. Experiments suggest that the optical encoder feedback control system can do reference tracking on the levitating rotor. The designed control algorithm can drive the rotor to specified reference frequencies up to 1.3 Hz using the optical encoder measurements.

  15. Non-linear regimes in mean-field full-sphere dynamo

    NASA Astrophysics Data System (ADS)

    Pipin, V. V.

    2017-04-01

    The mean-field dynamo model is employed to study the non-linear dynamo regimes in a fully convective star of mass 0.3 M⊙ rotating with period of 10 d. For intermediate value of parameter of the turbulent magnetic Prandl number, PmT = 3, we found the oscillating dynamo regimes with period about 40 yr. The higher PmT results to longer dynamo periods. If the large-scale flows is fixed, we find that the dynamo transits from axisymmetric to non-axisymmetric regimes for the overcritical parameter of the α-effect. The change of dynamo regime occurs because of the non-axisymmetric non-linear α-effect. The situation persists in the fully non-linear dynamo models with regards for the magnetic feedback on the angular momentum balance and the heat transport in the star. It is found that the large-scale magnetic field quenches the latitudinal shear in the bulk of the star. However, the strong radial shear operates in the subsurface layer of the star. In the non-linear case, the profile of the angular velocity inside the star become close to the spherical surfaces. This supports the equator-ward migration of the axisymmetric magnetic field dynamo waves. It was found that the magnetic configuration of the star dominates by the regular non-axisymmetric mode m = 1. As a result of the differential rotation, it forms the Yin Yang magnetic polarity pattern with the strong (>500 G) poloidal magnetic field in polar regions.

  16. Decoupling Suspension Controller Based on Magnetic Flux Feedback

    PubMed Central

    Zhang, Wenqing; Li, Jie; Zhang, Kun; Cui, Peng

    2013-01-01

    The suspension module control system model has been established based on MIMO (multiple input and multiple output) state feedback linearization. We have completed decoupling between double suspension points, and the new decoupling method has been applied to CMS04 magnetic suspension vehicle in national mid-low-speed maglev experiment field of Tangshan city in China. Double suspension system model is very accurate for investigating stability property of maglev control system. When magnetic flux signal is taken back to the suspension control system, the suspension module's antijamming capacity for resisting suspension load variety has been proved. Also, the external force interference has been enhanced. As a result, the robustness and stability properties of double-electromagnet suspension control system have been enhanced. PMID:23844415

  17. Multivariable feedback active structural acoustic control using adaptive piezoelectric sensoriactuators.

    PubMed

    Vipperman, J S; Clark, R L

    1999-01-01

    An experimental implementation of a multivariable feedback active structural acoustic control system is demonstrated on a piezostructure plate with pinned boundary conditions. Four adaptive piezoelectric sensoriactuators provide an array of truly colocated actuator/sensor pairs to be used as control transducers. Radiation filters are developed based on the self- and mutual-radiation efficiencies of the structure and are included into the performance cost of an H2 control law which minimizes total radiated sound power. In the cost function, control effort is balanced with reductions in radiated sound power. A similarity transform which produces generalized velocity states that are required as inputs to the radiation filters is presented. Up to 15 dB of attenuation in radiated sound power was observed at the resonant frequencies of the piezostructure.

  18. Output feedback control of a mechanical system using magnetic levitation.

    PubMed

    Beltran-Carbajal, F; Valderrabano-Gonzalez, A; Rosas-Caro, J C; Favela-Contreras, A

    2015-07-01

    This paper presents an application of a nonlinear magnetic levitation system to the problem of efficient active control of mass-spring-damper mechanical systems. An output feedback control scheme is proposed for reference position trajectory tracking tasks on the flexible mechanical system. The electromagnetically actuated system is shown to be a differentially flat nonlinear system. An extended state estimation approach is also proposed to obtain estimates of velocity, acceleration and disturbance signals. The differential flatness structural property of the system is then employed for the synthesis of the controller and the signal estimation approach presented in this work. Some experimental and simulation results are included to show the efficient performance of the control approach and the effective estimation of the unknown signals.

  19. The muscle spindle as a feedback element in muscle control

    NASA Technical Reports Server (NTRS)

    Andrews, L. T.; Iannone, A. M.; Ewing, D. J.

    1973-01-01

    The muscle spindle, the feedback element in the myotatic (stretch) reflex, is a major contributor to muscular control. Therefore, an accurate description of behavior of the muscle spindle during active contraction of the muscle, as well as during passive stretch, is essential to the understanding of muscle control. Animal experiments were performed in order to obtain the data necessary to model the muscle spindle. Spectral density functions were used to identify a linear approximation of the two types of nerve endings from the spindle. A model reference adaptive control system was used on a hybrid computer to optimize the anatomically defined lumped parameter estimate of the spindle. The derived nonlinear model accurately predicts the behavior of the muscle spindle both during active discharge and during its silent period. This model is used to determine the mechanism employed to control muscle movement.

  20. Decoupling suspension controller based on magnetic flux feedback.

    PubMed

    Zhang, Wenqing; Li, Jie; Zhang, Kun; Cui, Peng

    2013-01-01

    The suspension module control system model has been established based on MIMO (multiple input and multiple output) state feedback linearization. We have completed decoupling between double suspension points, and the new decoupling method has been applied to CMS04 magnetic suspension vehicle in national mid-low-speed maglev experiment field of Tangshan city in China. Double suspension system model is very accurate for investigating stability property of maglev control system. When magnetic flux signal is taken back to the suspension control system, the suspension module's antijamming capacity for resisting suspension load variety has been proved. Also, the external force interference has been enhanced. As a result, the robustness and stability properties of double-electromagnet suspension control system have been enhanced.

  1. Proportional feedback control of flow over a hemisphere

    NASA Astrophysics Data System (ADS)

    Lee, Jungil; Yun, Jinhyuk; Son, Donggun

    2016-11-01

    In the present study, a proportional feedback control is applied to laminar flow over a hemisphere at Re = 300 to reduce its lift fluctuations. As a control input, blowing/suction is distributed on the surface of hemisphere before the separation, and its strength is linearly proportional to the transverse velocity at a sensing location in the centerline of the wake. To determine the optimal sensing location, we introduce a correlation function between the lift force and the time derivative of sensing velocity. The optimal proportional gains for the proportional control are obtained for the sensing locations considered. It is shown that the present control successfully attenuates the velocity fluctuations at the sensing location, resulting in the reduction of lift fluctuations of hemisphere. Supported by NRF program (2014R1A1A1002671).

  2. Controller Design for EMA in TVC Incorporating Force Feedback

    NASA Technical Reports Server (NTRS)

    Schinstock, Dale E.; Scott, Douglas A.

    1998-01-01

    The objective of this research was to develop control schemes and control design procedures for electromechanical actuators (EMA) in thrust vector control (TVC) applications. For a variety of reasons, there is a tendency within the aerospace community to use electromechanical actuators in applications where hydraulics have traditionally been employed. TVC of rocket engines is one such application. However, there is considerable research, development, and testing to be done before EMA will be accepted by the community at large for these types of applications. Besides the development of design procedures for the basic position controller, two major concerns are dealt with in this research by incorporating force feedback: 1) the effects of resonance on the performance of EMA-TVC-rocket-engine systems, and 2) the effects of engine start transients on EMA. This report only highlights the major contributions of this research.

  3. Quantised output feedback control via limited capacity communication networks

    NASA Astrophysics Data System (ADS)

    Liu, Qing-Quan; Jin, Fang

    2012-12-01

    This article addresses the output feedback stability problem for single-input single-output (SISO) linear systems with quantised measurements of the plant output, where sensors and controllers are connected via errorless digital channels carrying a finite number of bits per unit time. The main idea here is to present a lower bound of data rates, above which there exists a quantisation, coding and control scheme to guarantee both stability and a prescribed control performance of the unstable plant. A quantisation and coding scheme, which is based on the distribution of measurements and the dynamics of the plant, is proposed. The proof techniques rely on both information-theoretic and control-theoretic tools. An illustrative example is given to demonstrate the effectiveness of the proposed scheme.

  4. Myoelectric hand prosthesis force control through servo motor current feedback.

    PubMed

    Sono, Tálita Saemi Payossim; Menegaldo, Luciano Luporini

    2009-10-01

    This paper presents the prehension force closed-loop control design of a mechanical finger commanded by electromyographic signal (EMG) from a patient's arm. The control scheme was implemented and tested in a mechanical finger prototype with three degrees of freedom and one actuator, driven by arm muscles EMG of normal volunteers. Real-time indirect estimation of prehension force was assessed by measuring the DC servo motor actuator current. A model of the plant comprising finger, motor, and grasped object was proposed. Model parameters were identified experimentally and a classical feedback phase-lead compensator was designed. The controlled mechanical finger was able to provide a more accurate prehension force modulation of a compliant object when compared to open-loop control.

  5. Non-linear Langmuir waves in a warm quantum plasma

    SciTech Connect

    Dubinov, Alexander E. Kitaev, Ilya N.

    2014-10-15

    A non-linear differential equation describing the Langmuir waves in a warm quantum electron-ion plasma has been derived. Its numerical solutions of the equation show that ordinary electronic oscillations, similar to the classical oscillations, occur along with small-scale quantum Langmuir oscillations induced by the Bohm quantum force.

  6. Non-linear duality invariant partially massless models?

    DOE PAGES

    Cherney, D.; Deser, S.; Waldron, A.; ...

    2015-12-15

    We present manifestly duality invariant, non-linear, equations of motion for maximal depth, partially massless higher spins. These are based on a first order, Maxwell-like formulation of the known partially massless systems. Lastly, our models mimic Dirac–Born–Infeld theory but it is unclear whether they are Lagrangian.

  7. Multispectral face recognition using non linear dimensionality reduction

    NASA Astrophysics Data System (ADS)

    Akhloufi, Moulay A.; Bendada, Abdelhakim; Batsale, Jean-Christophe

    2009-05-01

    Face recognition in the infrared spectrum has attracted a lot of interest in recent years. Many of the techniques used in infrared are based on their visible counterpart, especially linear techniques like PCA (Principal Component Analysis) and LDA (Linear Discriminant Analysis). In this work, we introduce non linear dimensionality reduction approaches for multispectral face recognition. For this purpose, the following techniques were developed: global non linear techniques (Kernel-PCA, Kernel-LDA) and local non linear techniques (Local Linear Embedding, Locality Preserving Projection). The performances of these techniques were compared to classical linear techniques for face recognition like PCA and LDA. Two multispectral face recognition databases were used in our experiments: Equinox Face Recognition Database and Laval University Database. Equinox database contains images in the Visible, Short, Mid and Long waves infrared spectrums. Laval database contains images in the Visible, Near, Mid and Long waves infrared spectrums with variations in time and metabolic activity of the subjects. The obtained results are interesting and show the increase in recognition performance using local non linear dimensionality reduction techniques for infrared face recognition, particularly in near and short wave infrared spectrums.

  8. Non-linear dynamic analysis of geared systems, part 2

    NASA Technical Reports Server (NTRS)

    Singh, Rajendra; Houser, Donald R.; Kahraman, Ahmet

    1990-01-01

    A good understanding of the steady state dynamic behavior of a geared system is required in order to design reliable and quiet transmissions. This study focuses on a system containing a spur gear pair with backlash and periodically time-varying mesh stiffness, and rolling element bearings with clearance type non-linearities. A dynamic finite element model of the linear time-invariant (LTI) system is developed. Effects of several system parameters, such as torsional and transverse flexibilities of the shafts and prime mover/load inertias, on free and force vibration characteristics are investigated. Several reduced order LTI models are developed and validated by comparing their eigen solution with the finite element model results. Several key system parameters such as mean load and damping ratio are identified and their effects on the non-linear frequency response are evaluated quantitatively. Other fundamental issues such as the dynamic coupling between non-linear modes, dynamic interactions between component non-linearities and time-varying mesh stiffness, and the existence of subharmonic and chaotic solutions including routes to chaos have also been examined in depth.

  9. Evolution equation for non-linear cosmological perturbations

    SciTech Connect

    Brustein, Ram; Riotto, Antonio E-mail: Antonio.Riotto@cern.ch

    2011-11-01

    We present a novel approach, based entirely on the gravitational potential, for studying the evolution of non-linear cosmological matter perturbations. Starting from the perturbed Einstein equations, we integrate out the non-relativistic degrees of freedom of the cosmic fluid and obtain a single closed equation for the gravitational potential. We then verify the validity of the new equation by comparing its approximate solutions to known results in the theory of non-linear cosmological perturbations. First, we show explicitly that the perturbative solution of our equation matches the standard perturbative solutions. Next, using the mean field approximation to the equation, we show that its solution reproduces in a simple way the exponential suppression of the non-linear propagator on small scales due to the velocity dispersion. Our approach can therefore reproduce the main features of the renormalized perturbation theory and (time)-renormalization group approaches to the study of non-linear cosmological perturbations, with some possibly important differences. We conclude by a preliminary discussion of the nature of the full solutions of the equation and their significance.

  10. Using Non-Linear Statistical Methods with Laboratory Kinetic Data

    NASA Technical Reports Server (NTRS)

    Anicich, Vincent

    1997-01-01

    This paper will demonstrate the usefulness of standard non-linear statistical analysis on ICR and SIFT kinetic data. The specific systems used in the demonstration are the isotopic and change transfer reactions in the system of H2O+/D2O, H30+/D2O, and other permutations.

  11. Modelling human balance using switched systems with linear feedback control

    PubMed Central

    Kowalczyk, Piotr; Glendinning, Paul; Brown, Martin; Medrano-Cerda, Gustavo; Dallali, Houman; Shapiro, Jonathan

    2012-01-01

    We are interested in understanding the mechanisms behind and the character of the sway motion of healthy human subjects during quiet standing. We assume that a human body can be modelled as a single-link inverted pendulum, and the balance is achieved using linear feedback control. Using these assumptions, we derive a switched model which we then investigate. Stable periodic motions (limit cycles) about an upright position are found. The existence of these limit cycles is studied as a function of system parameters. The exploration of the parameter space leads to the detection of multi-stability and homoclinic bifurcations. PMID:21697168

  12. Single-temperature quantum engine without feedback control

    NASA Astrophysics Data System (ADS)

    Yi, Juyeon; Talkner, Peter; Kim, Yong Woon

    2017-08-01

    A cyclically working quantum-mechanical engine that operates at a single temperature is proposed. Its energy input is delivered by a quantum measurement. The functioning of the engine does not require any feedback control. We analyze work, heat, and the efficiency of the engine for the case of a working substance that is governed by the laws of quantum mechanics and that can be adiabatically compressed and expanded. The obtained general expressions are exemplified for a spin in an adiabatically changing magnetic field and a particle moving in a potential with slowly changing shape.

  13. Delayed feedback control experiments on some flexible structures

    NASA Astrophysics Data System (ADS)

    Cai, Guo-Ping; Chen, Long-Xiang

    2010-12-01

    In recent decades, studies on delayed system dynamics have attracted increasing attention and advances have been achieved in stability, nonlinearity, delay identification, delay elimination and application. However, most of the existing work is on the theoretical basis and little is on the experiment. This paper presents our experimental studies on delayed feedback control conducted in recent years with the focus on the discussion of a DSP-based delayed experiment system. Some phenomena in our delay experiments are discussed and a few topics of interest for further research are brought forward.

  14. On Optimal Feedback Control for Stationary Linear Systems

    SciTech Connect

    Russell, David L.

    2010-04-15

    We study linear-quadratic optimal control problems for finite dimensional stationary linear systems AX+BU=Z with output Y=CX+DU from the viewpoint of linear feedback solution. We interpret solutions in relation to system robustness with respect to disturbances Z and relate them to nonlinear matrix equations of Riccati type and eigenvalue-eigenvector problems for the corresponding Hamiltonian system. Examples are included along with an indication of extensions to continuous, i.e., infinite dimensional, systems, primarily of elliptic type.

  15. Single-temperature quantum engine without feedback control.

    PubMed

    Yi, Juyeon; Talkner, Peter; Kim, Yong Woon

    2017-08-01

    A cyclically working quantum-mechanical engine that operates at a single temperature is proposed. Its energy input is delivered by a quantum measurement. The functioning of the engine does not require any feedback control. We analyze work, heat, and the efficiency of the engine for the case of a working substance that is governed by the laws of quantum mechanics and that can be adiabatically compressed and expanded. The obtained general expressions are exemplified for a spin in an adiabatically changing magnetic field and a particle moving in a potential with slowly changing shape.

  16. Effect of vibrotactile feedback on an EMG-based proportional cursor control system.

    PubMed

    Li, Shunchong; Chen, Xingyu; Zhang, Dingguo; Sheng, Xinjun; Zhu, Xiangyang

    2013-01-01

    Surface electromyography (sEMG) has been introduced into the bio-mechatronics systems, however, most of them are lack of the sensory feedback. In this paper, the effect of vibrotactile feedback for a myoelectric cursor control system is investigated quantitatively. Simultaneous and proportional control signals are extracted from EMG using a muscle synergy model. Different types of feedback including vibrotactile feedback and visual feedback are added, assessed and compared with each other. The results show that vibrotactile feedback is capable of improving the performance of EMG-based human machine interface.

  17. Power Assist Control of Robotic Wheelchair Based on Visual Feedback

    NASA Astrophysics Data System (ADS)

    Oda, Naoki; Shimizu, Hiroyuki

    This paper describes a vision based self-velocity estimation and its feedback system under force/torque sensor-less power assisting control of wheelchair robot. In this method, three dimensional information obtained by stereo images, and the optical flow vectors are also used for self-velocity estimation in real-time. The human force is estimated by sensor-less reaction force observer, and the assisting force is calculated by using its estimated force and virtual impedance model. In the paper, the force based assist function is integrated into visual feedback motion controller. This approach using vision and force based assist control makes it possible to facilitate the direct intelligent interactions between human force and environments such as human following assist, obstacle avoidance one and so on. Such assist functions are changeable by the selection of the weighting matrix in the velocity estimation, which is based on weighted least square solutions from optical flow vectors. The validity of the proposed approach is verified by several experimental results.

  18. A lightweight feedback-controlled microdrive for chronic neural recordings.

    PubMed

    Jovalekic, A; Cavé-Lopez, S; Canopoli, A; Ondracek, J M; Nager, A; Vyssotski, A L; Hahnloser, R H R

    2017-04-01

    Chronic neural recordings have provided many insights into the relationship between neural activity and behavior. We set out to develop a miniaturized motorized microdrive that allows precise electrode positioning despite possibly unreliable motors. We designed a feedback-based motor control mechanism. It contains an integrated position readout from an array of magnets and a Hall sensor. Our extremely lightweight (<1 g) motorized microdrive allows remote positioning of both metal electrodes and glass pipettes along one motorized axis. Target locations can be defined with a range of 6 mm and they can be reached within 1 µm precision. The incorporated headstage electronics are capable of both extracellular and intracellular recordings. We include a simple mechanism for repositioning electrodes in three dimensions and for replacing them during operation. We present neural data from different premotor areas of adult and juvenile zebra finches. Our findings show that feedback-based microdrive control requires little extra size and weight, suggesting that such control can be incorporated into more complex multi-electrode designs.

  19. A lightweight feedback-controlled microdrive for chronic neural recordings

    NASA Astrophysics Data System (ADS)

    Jovalekic, A.; Cavé-Lopez, S.; Canopoli, A.; Ondracek, J. M.; Nager, A.; Vyssotski, A. L.; Hahnloser, R. H. R.

    2017-04-01

    Objective. Chronic neural recordings have provided many insights into the relationship between neural activity and behavior. We set out to develop a miniaturized motorized microdrive that allows precise electrode positioning despite possibly unreliable motors. Approach. We designed a feedback-based motor control mechanism. It contains an integrated position readout from an array of magnets and a Hall sensor. Main results. Our extremely lightweight (<1 g) motorized microdrive allows remote positioning of both metal electrodes and glass pipettes along one motorized axis. Target locations can be defined with a range of 6 mm and they can be reached within 1 µm precision. The incorporated headstage electronics are capable of both extracellular and intracellular recordings. We include a simple mechanism for repositioning electrodes in three dimensions and for replacing them during operation. We present neural data from different premotor areas of adult and juvenile zebra finches. Significance. Our findings show that feedback-based microdrive control requires little extra size and weight, suggesting that such control can be incorporated into more complex multi-electrode designs.

  20. Robust ?dynamic output feedback control of networked control systems with congestion control

    NASA Astrophysics Data System (ADS)

    Rasool, Faiz; Kiong Ngaung, Sing

    2015-07-01

    This paper investigates a robust ?dynamic output feedback controller for networked control systems (NCSs) with a simple congestion control scheme. This scheme enables the NCSs design to enjoy advantages of both time-triggered and event-triggered systems. The proposed scheme compares current measurement with last transmitted measurement. If difference between them is less than a prescribed percentage of the current measurements then no measurement is transmitted to controller and the controller always uses the last transmitted measurements to calculate feedback gains. Moreover, this technique is applied to controller output as well. The stability criteria for closed-loop system is formulated using the Lyapunov-Krasovskii functional approach. The sufficient conditions for the controller are given in terms of solvability of bilinear matrix inequalities (BMIs). These BMIs are converted into quasi-convex linear matrix inequalities that are solved using the cone complementarity linearisation algorithm. A simulation example is used to evaluate how effective the simple congestion control scheme is in reducing network bandwidth.