Sample records for observer-based sliding mode

  1. Sliding mode output feedback control based on tracking error observer with disturbance estimator.

    PubMed

    Xiao, Lingfei; Zhu, Yue

    2014-07-01

    For a class of systems who suffers from disturbances, an original output feedback sliding mode control method is presented based on a novel tracking error observer with disturbance estimator. The mathematical models of the systems are not required to be with high accuracy, and the disturbances can be vanishing or nonvanishing, while the bounds of disturbances are unknown. By constructing a differential sliding surface and employing reaching law approach, a sliding mode controller is obtained. On the basis of an extended disturbance estimator, a creative tracking error observer is produced. By using the observation of tracking error and the estimation of disturbance, the sliding mode controller is implementable. It is proved that the disturbance estimation error and tracking observation error are bounded, the sliding surface is reachable and the closed-loop system is robustly stable. The simulations on a servomotor positioning system and a five-degree-of-freedom active magnetic bearings system verify the effect of the proposed method. Copyright © 2014 ISA. Published by Elsevier Ltd. All rights reserved.

  2. Sliding mode disturbance observer-based control of a twin rotor MIMO system.

    PubMed

    Rashad, Ramy; El-Badawy, Ayman; Aboudonia, Ahmed

    2017-07-01

    This work proposes a robust tracking controller for a helicopter laboratory setup known as the twin rotor MIMO system (TRMS) using an integral sliding mode controller. To eliminate the discontinuity in the control signal, the controller is augmented by a sliding mode disturbance observer. The actuator dynamics is handled using a backstepping approach which is applicable due to the continuous chattering-free nature of the command signals generated using the disturbance observer based controller. To avoid the complexity of analytically differentiating the command signals, a first order sliding mode differentiator is used. Stability analysis of the closed loop system and the ultimate boundedness of the tracking error is proved using Lyapunov stability arguments. The proposed controller is validated by several simulation studies and is compared to other schemes in the literature. Experimental results using a hardware-in-the-loop system validate the robustness and effectiveness of the proposed controller. Copyright © 2017 ISA. Published by Elsevier Ltd. All rights reserved.

  3. Anomaly Detection in Test Equipment via Sliding Mode Observers

    NASA Technical Reports Server (NTRS)

    Solano, Wanda M.; Drakunov, Sergey V.

    2012-01-01

    Nonlinear observers were originally developed based on the ideas of variable structure control, and for the purpose of detecting disturbances in complex systems. In this anomaly detection application, these observers were designed for estimating the distributed state of fluid flow in a pipe described by a class of advection equations. The observer algorithm uses collected data in a piping system to estimate the distributed system state (pressure and velocity along a pipe containing liquid gas propellant flow) using only boundary measurements. These estimates are then used to further estimate and localize possible anomalies such as leaks or foreign objects, and instrumentation metering problems such as incorrect flow meter orifice plate size. The observer algorithm has the following parts: a mathematical model of the fluid flow, observer control algorithm, and an anomaly identification algorithm. The main functional operation of the algorithm is in creating the sliding mode in the observer system implemented as software. Once the sliding mode starts in the system, the equivalent value of the discontinuous function in sliding mode can be obtained by filtering out the high-frequency chattering component. In control theory, "observers" are dynamic algorithms for the online estimation of the current state of a dynamic system by measurements of an output of the system. Classical linear observers can provide optimal estimates of a system state in case of uncertainty modeled by white noise. For nonlinear cases, the theory of nonlinear observers has been developed and its success is mainly due to the sliding mode approach. Using the mathematical theory of variable structure systems with sliding modes, the observer algorithm is designed in such a way that it steers the output of the model to the output of the system obtained via a variety of sensors, in spite of possible mismatches between the assumed model and actual system. The unique properties of sliding mode control

  4. Current Sensor Fault Diagnosis Based on a Sliding Mode Observer for PMSM Driven Systems

    PubMed Central

    Huang, Gang; Luo, Yi-Ping; Zhang, Chang-Fan; Huang, Yi-Shan; Zhao, Kai-Hui

    2015-01-01

    This paper proposes a current sensor fault detection method based on a sliding mode observer for the torque closed-loop control system of interior permanent magnet synchronous motors. First, a sliding mode observer based on the extended flux linkage is built to simplify the motor model, which effectively eliminates the phenomenon of salient poles and the dependence on the direct axis inductance parameter, and can also be used for real-time calculation of feedback torque. Then a sliding mode current observer is constructed in αβ coordinates to generate the fault residuals of the phase current sensors. The method can accurately identify abrupt gain faults and slow-variation offset faults in real time in faulty sensors, and the generated residuals of the designed fault detection system are not affected by the unknown input, the structure of the observer, and the theoretical derivation and the stability proof process are concise and simple. The RT-LAB real-time simulation is used to build a simulation model of the hardware in the loop. The simulation and experimental results demonstrate the feasibility and effectiveness of the proposed method. PMID:25970258

  5. Robust passive control for a class of uncertain neutral systems based on sliding mode observer.

    PubMed

    Liu, Zhen; Zhao, Lin; Kao, Yonggui; Gao, Cunchen

    2017-01-01

    The passivity-based sliding mode control (SMC) problem for a class of uncertain neutral systems with unmeasured states is investigated. Firstly, a particular non-fragile state observer is designed to generate the estimations of the system states, based upon which a novel integral-type sliding surface function is established for the control process. Secondly, a new sufficient condition for robust asymptotic stability and passivity of the resultant sliding mode dynamics (SMDs) is obtained in terms of linear matrix inequalities (LMIs). Thirdly, the finite-time reachability of the predesigned sliding surface is ensured by resorting to a novel adaptive SMC law. Finally, the validity and superiority of the scheme are justified via several examples. Copyright © 2016 ISA. Published by Elsevier Ltd. All rights reserved.

  6. Observer-based sliding mode control of Markov jump systems with random sensor delays and partly unknown transition rates

    NASA Astrophysics Data System (ADS)

    Yao, Deyin; Lu, Renquan; Xu, Yong; Ren, Hongru

    2017-10-01

    In this paper, the sliding mode control problem of Markov jump systems (MJSs) with unmeasured state, partly unknown transition rates and random sensor delays is probed. In the practical engineering control, the exact information of transition rates is hard to obtain and the measurement channel is supposed to subject to random sensor delay. Design a Luenberger observer to estimate the unmeasured system state, and an integral sliding mode surface is constructed to ensure the exponential stability of MJSs. A sliding mode controller based on estimator is proposed to drive the system state onto the sliding mode surface and render the sliding mode dynamics exponentially mean-square stable with H∞ performance index. Finally, simulation results are provided to illustrate the effectiveness of the proposed results.

  7. Nonlinear disturbance observer based sliding mode control of a cable-driven rehabilitation robot.

    PubMed

    Niu, Jie; Yang, Qianqian; Chen, Guangtao; Song, Rong

    2017-07-01

    This paper introduces a cable-driven robot for upper-limb rehabilitation. Kinematic and dynamic of this rehabilitation robot is analyzed. A sliding mode controller combined with a nonlinear disturbance observer is proposed to control this robot in the presence of disturbances. Simulation is carried out to prove the effectiveness of the proposed control scheme, and the results of the proposed controller is compared with a PID controller and a traditional sliding mode controller. Results show that the proposed controller can effectively improve the tracking performance as compared with the other two controllers and cause lower chattering as compared with a traditional sliding mode controller.

  8. Observer-based robust finite time H∞ sliding mode control for Markovian switching systems with mode-dependent time-varying delay and incomplete transition rate.

    PubMed

    Gao, Lijun; Jiang, Xiaoxiao; Wang, Dandan

    2016-03-01

    This paper investigates the problem of robust finite time H∞ sliding mode control for a class of Markovian switching systems. The system is subjected to the mode-dependent time-varying delay, partly unknown transition rate and unmeasurable state. The main difficulty is that, a sliding mode surface cannot be designed based on the unknown transition rate and unmeasurable state directly. To overcome this obstacle, the set of modes is firstly divided into two subsets standing for known transition rate subset and unknown one, based on which a state observer is established. A component robust finite-time sliding mode controller is also designed to cope with the effect of partially unknown transition rate. It is illustrated that the reachability, finite-time stability, finite-time boundedness, finite-time H∞ state feedback stabilization of sliding mode dynamics can be ensured despite the unknown transition rate. Finally, the simulation results verify the effectiveness of robust finite time control problem. Copyright © 2015 ISA. Published by Elsevier Ltd. All rights reserved.

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

    NASA Astrophysics Data System (ADS)

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

    2017-05-01

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

  10. Extended observer based on adaptive second order sliding mode control for a fixed wing UAV.

    PubMed

    Castañeda, Herman; Salas-Peña, Oscar S; León-Morales, Jesús de

    2017-01-01

    This paper addresses the design of attitude and airspeed controllers for a fixed wing unmanned aerial vehicle. An adaptive second order sliding mode control is proposed for improving performance under different operating conditions and is robust in presence of external disturbances. Moreover, this control does not require the knowledge of disturbance bounds and avoids overestimation of the control gains. Furthermore, in order to implement this controller, an extended observer is designed to estimate unmeasurable states as well as external disturbances. Additionally, sufficient conditions are given to guarantee the closed-loop stability of the observer based control. Finally, using a full 6 degree of freedom model, simulation results are obtained where the performance of the proposed method is compared against active disturbance rejection based on sliding mode control. Copyright © 2016 ISA. Published by Elsevier Ltd. All rights reserved.

  11. Robust In-Flight Sensor Fault Diagnostics for Aircraft Engine Based on Sliding Mode Observers

    PubMed Central

    Chang, Xiaodong; Huang, Jinquan; Lu, Feng

    2017-01-01

    For a sensor fault diagnostic system of aircraft engines, the health performance degradation is an inevitable interference that cannot be neglected. To address this issue, this paper investigates an integrated on-line sensor fault diagnostic scheme for a commercial aircraft engine based on a sliding mode observer (SMO). In this approach, one sliding mode observer is designed for engine health performance tracking, and another for sensor fault reconstruction. Both observers are employed in in-flight applications. The results of the former SMO are analyzed for post-flight updating the baseline model of the latter. This idea is practical and feasible since the updating process does not require the algorithm to be regulated or redesigned, so that ground-based intervention is avoided, and the update process is implemented in an economical and efficient way. With this setup, the robustness of the proposed scheme to the health degradation is much enhanced and the latter SMO is able to fulfill sensor fault reconstruction over the course of the engine life. The proposed sensor fault diagnostic system is applied to a nonlinear simulation of a commercial aircraft engine, and its effectiveness is evaluated in several fault scenarios. PMID:28398255

  12. Robust In-Flight Sensor Fault Diagnostics for Aircraft Engine Based on Sliding Mode Observers.

    PubMed

    Chang, Xiaodong; Huang, Jinquan; Lu, Feng

    2017-04-11

    For a sensor fault diagnostic system of aircraft engines, the health performance degradation is an inevitable interference that cannot be neglected. To address this issue, this paper investigates an integrated on-line sensor fault diagnostic scheme for a commercial aircraft engine based on a sliding mode observer (SMO). In this approach, one sliding mode observer is designed for engine health performance tracking, and another for sensor fault reconstruction. Both observers are employed in in-flight applications. The results of the former SMO are analyzed for post-flight updating the baseline model of the latter. This idea is practical and feasible since the updating process does not require the algorithm to be regulated or redesigned, so that ground-based intervention is avoided, and the update process is implemented in an economical and efficient way. With this setup, the robustness of the proposed scheme to the health degradation is much enhanced and the latter SMO is able to fulfill sensor fault reconstruction over the course of the engine life. The proposed sensor fault diagnostic system is applied to a nonlinear simulation of a commercial aircraft engine, and its effectiveness is evaluated in several fault scenarios.

  13. Sliding mode control-based linear functional observers for discrete-time stochastic systems

    NASA Astrophysics Data System (ADS)

    Singh, Satnesh; Janardhanan, Sivaramakrishnan

    2017-11-01

    Sliding mode control (SMC) is one of the most popular techniques to stabilise linear discrete-time stochastic systems. However, application of SMC becomes difficult when the system states are not available for feedback. This paper presents a new approach to design a SMC-based functional observer for discrete-time stochastic systems. The functional observer is based on the Kronecker product approach. Existence conditions and stability analysis of the proposed observer are given. The control input is estimated by a novel linear functional observer. This approach leads to a non-switching type of control, thereby eliminating the fundamental cause of chatter. Furthermore, the functional observer is designed in such a way that the effect of process and measurement noise is minimised. Simulation example is given to illustrate and validate the proposed design method.

  14. Disturbance observer-based adaptive sliding mode hybrid projective synchronisation of identical fractional-order financial systems

    NASA Astrophysics Data System (ADS)

    Khan, Ayub; Tyagi, Arti

    2018-05-01

    In this paper, we have studied the hybrid projective synchronisation for incommensurate, integer and commensurate fractional-order financial systems with unknown disturbance. To tackle the problem of unknown bounded disturbance, fractional-order disturbance observer is designed to approximate the unknown disturbance. Further, we have introduced simple sliding mode surface and designed adaptive sliding mode controllers incorporating with the designed fractional-order disturbance observer to achieve a bounded hybrid projective synchronisation between two identical fractional-order financial model with different initial conditions. It is shown that the slave system with disturbance can be synchronised with the projection of the master system generated through state transformation. Simulation results are presented to ensure the validity and effectiveness of the proposed sliding mode control scheme in the presence of external bounded unknown disturbance. Also, synchronisation error for commensurate, integer and incommensurate fractional-order financial systems is studied in numerical simulation.

  15. Sliding mode control for a two-joint coupling nonlinear system based on extended state observer.

    PubMed

    Zhao, Ling; Cheng, Haiyan; Wang, Tao

    2018-02-01

    A two-joint coupling nonlinear system driven by pneumatic artificial muscles is introduced in this paper. A sliding mode controller with extended state observer is proposed to cope with nonlinearities and disturbances for the two-joint coupling nonlinear system. In addition, convergence of the extended state observer is presented and stability analysis of the closed-loop system is also demonstrated with the sliding mode controller. Lastly, some experiments are carried out to show the reality effectiveness of the proposed method. Copyright © 2018 ISA. Published by Elsevier Ltd. All rights reserved.

  16. Flexible Modes Control Using Sliding Mode Observers: Application to Ares I

    NASA Technical Reports Server (NTRS)

    Shtessel, Yuri B.; Hall, Charles E.; Baev, Simon; Orr, Jeb S.

    2010-01-01

    The launch vehicle dynamics affected by bending and sloshing modes are considered. Attitude measurement data that are corrupted by flexible modes could yield instability of the vehicle dynamics. Flexible body and sloshing modes are reconstructed by sliding mode observers. The resultant estimates are used to remove the undesirable dynamics from the measurements, and the direct effects of sloshing and bending modes on the launch vehicle are compensated by means of a controller that is designed without taking the bending and sloshing modes into account. A linearized mathematical model of Ares I launch vehicle was derived based on FRACTAL, a linear model developed by NASA/MSFC. The compensated vehicle dynamics with a simple PID controller were studied for the launch vehicle model that included two bending modes, two slosh modes and actuator dynamics. A simulation study demonstrated stable and accurate performance of the flight control system with the augmented simple PID controller without the use of traditional linear bending filters.

  17. Analysis and Synthesis of Memory-Based Fuzzy Sliding Mode Controllers.

    PubMed

    Zhang, Jinhui; Lin, Yujuan; Feng, Gang

    2015-12-01

    This paper addresses the sliding mode control problem for a class of Takagi-Sugeno fuzzy systems with matched uncertainties. Different from the conventional memoryless sliding surface, a memory-based sliding surface is proposed which consists of not only the current state but also the delayed state. Both robust and adaptive fuzzy sliding mode controllers are designed based on the proposed memory-based sliding surface. It is shown that the sliding surface can be reached and the closed-loop control system is asymptotically stable. Furthermore, to reduce the chattering, some continuous sliding mode controllers are also presented. Finally, the ball and beam system is used to illustrate the advantages and effectiveness of the proposed approaches. It can be seen that, with the proposed control approaches, not only can the stability be guaranteed, but also its transient performance can be improved significantly.

  18. Adaptive Actor-Critic Design-Based Integral Sliding-Mode Control for Partially Unknown Nonlinear Systems With Input Disturbances.

    PubMed

    Fan, Quan-Yong; Yang, Guang-Hong

    2016-01-01

    This paper is concerned with the problem of integral sliding-mode control for a class of nonlinear systems with input disturbances and unknown nonlinear terms through the adaptive actor-critic (AC) control method. The main objective is to design a sliding-mode control methodology based on the adaptive dynamic programming (ADP) method, so that the closed-loop system with time-varying disturbances is stable and the nearly optimal performance of the sliding-mode dynamics can be guaranteed. In the first step, a neural network (NN)-based observer and a disturbance observer are designed to approximate the unknown nonlinear terms and estimate the input disturbances, respectively. Based on the NN approximations and disturbance estimations, the discontinuous part of the sliding-mode control is constructed to eliminate the effect of the disturbances and attain the expected equivalent sliding-mode dynamics. Then, the ADP method with AC structure is presented to learn the optimal control for the sliding-mode dynamics online. Reconstructed tuning laws are developed to guarantee the stability of the sliding-mode dynamics and the convergence of the weights of critic and actor NNs. Finally, the simulation results are presented to illustrate the effectiveness of the proposed method.

  19. Sliding mode based trajectory linearization control for hypersonic reentry vehicle via extended disturbance observer.

    PubMed

    Xingling, Shao; Honglun, Wang

    2014-11-01

    This paper proposes a novel hybrid control framework by combing observer-based sliding mode control (SMC) with trajectory linearization control (TLC) for hypersonic reentry vehicle (HRV) attitude tracking problem. First, fewer control consumption is achieved using nonlinear tracking differentiator (TD) in the attitude loop. Second, a novel SMC that employs extended disturbance observer (EDO) to counteract the effect of uncertainties using a new sliding surface which includes the estimation error is integrated to address the tracking error stabilization issues in the attitude and angular rate loop, respectively. In addition, new results associated with EDO are examined in terms of dynamic response and noise-tolerant performance, as well as estimation accuracy. The key feature of the proposed compound control approach is that chattering free tracking performance with high accuracy can be ensured for HRV in the presence of multiple uncertainties under control constraints. Based on finite time convergence stability theory, the stability of the resulting closed-loop system is well established. Also, comparisons and extensive simulation results are presented to demonstrate the effectiveness of the control strategy. Copyright © 2014 ISA. Published by Elsevier Ltd. All rights reserved.

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

    NASA Astrophysics Data System (ADS)

    Chen, Syuan-Yi; Gong, Sheng-Sian

    2017-09-01

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

  1. Sliding mode control for Mars entry based on extended state observer

    NASA Astrophysics Data System (ADS)

    Lu, Kunfeng; Xia, Yuanqing; Shen, Ganghui; Yu, Chunmei; Zhou, Liuyu; Zhang, Lijun

    2017-11-01

    This paper addresses high-precision Mars entry guidance and control approach via sliding mode control (SMC) and Extended State Observer (ESO). First, differential flatness (DF) approach is applied to the dynamic equations of the entry vehicle to represent the state variables more conveniently. Then, the presented SMC law can guarantee the property of finite-time convergence of tracking error, which requires no information on high uncertainties that are estimated by ESO, and the rigorous proof of tracking error convergence is given. Finally, Monte Carlo simulation results are presented to demonstrate the effectiveness of the suggested approach.

  2. Adaptive twisting sliding mode algorithm for hypersonic reentry vehicle attitude control based on finite-time observer.

    PubMed

    Guo, Zongyi; Chang, Jing; Guo, Jianguo; Zhou, Jun

    2018-06-01

    This paper focuses on the adaptive twisting sliding mode control for the Hypersonic Reentry Vehicles (HRVs) attitude tracking issue. The HRV attitude tracking model is transformed into the error dynamics in matched structure, whereas an unmeasurable state is redefined by lumping the existing unmatched disturbance with the angular rate. Hence, an adaptive finite-time observer is used to estimate the unknown state. Then, an adaptive twisting algorithm is proposed for systems subject to disturbances with unknown bounds. The stability of the proposed observer-based adaptive twisting approach is guaranteed, and the case of noisy measurement is analyzed. Also, the developed control law avoids the aggressive chattering phenomenon of the existing adaptive twisting approaches because the adaptive gains decrease close to the disturbance once the trajectories reach the sliding surface. Finally, numerical simulations on the attitude control of the HRV are conducted to verify the effectiveness and benefit of the proposed approach. Copyright © 2018 ISA. Published by Elsevier Ltd. All rights reserved.

  3. Nonlinear adaptive control based on fuzzy sliding mode technique and fuzzy-based compensator.

    PubMed

    Nguyen, Sy Dzung; Vo, Hoang Duy; Seo, Tae-Il

    2017-09-01

    It is difficult to efficiently control nonlinear systems in the presence of uncertainty and disturbance (UAD). One of the main reasons derives from the negative impact of the unknown features of UAD as well as the response delay of the control system on the accuracy rate in the real time of the control signal. In order to deal with this, we propose a new controller named CO-FSMC for a class of nonlinear control systems subjected to UAD, which is constituted of a fuzzy sliding mode controller (FSMC) and a fuzzy-based compensator (CO). Firstly, the FSMC and CO are designed independently, and then an adaptive fuzzy structure is discovered to combine them. Solutions for avoiding the singular cases of the fuzzy-based function approximation and reducing the calculating cost are proposed. Based on the solutions, fuzzy sliding mode technique, lumped disturbance observer and Lyapunov stability analysis, a closed-loop adaptive control law is formulated. Simulations along with a real application based on a semi-active train-car suspension are performed to fully evaluate the method. The obtained results reflected that vibration of the chassis mass is insensitive to UAD. Compared with the other fuzzy sliding mode control strategies, the CO-FSMC can provide the best control ability to reduce unwanted vibrations. Copyright © 2017 ISA. Published by Elsevier Ltd. All rights reserved.

  4. Projective synchronization of nonidentical fractional-order neural networks based on sliding mode controller.

    PubMed

    Ding, Zhixia; Shen, Yi

    2016-04-01

    This paper investigates global projective synchronization of nonidentical fractional-order neural networks (FNNs) based on sliding mode control technique. We firstly construct a fractional-order integral sliding surface. Then, according to the sliding mode control theory, we design a sliding mode controller to guarantee the occurrence of the sliding motion. Based on fractional Lyapunov direct methods, system trajectories are driven to the proposed sliding surface and remain on it evermore, and some novel criteria are obtained to realize global projective synchronization of nonidentical FNNs. As the special cases, some sufficient conditions are given to ensure projective synchronization of identical FNNs, complete synchronization of nonidentical FNNs and anti-synchronization of nonidentical FNNs. Finally, one numerical example is given to demonstrate the effectiveness of the obtained results. Copyright © 2016 Elsevier Ltd. All rights reserved.

  5. A new fractional-order sliding mode controller via a nonlinear disturbance observer for a class of dynamical systems with mismatched disturbances.

    PubMed

    Pashaei, Shabnam; Badamchizadeh, Mohammadali

    2016-07-01

    This paper investigates the stabilization and disturbance rejection for a class of fractional-order nonlinear dynamical systems with mismatched disturbances. To fulfill this purpose a new fractional-order sliding mode control (FOSMC) based on a nonlinear disturbance observer is proposed. In order to design the suitable fractional-order sliding mode controller, a proper switching surface is introduced. Afterward, by using the sliding mode theory and Lyapunov stability theory, a robust fractional-order control law via a nonlinear disturbance observer is proposed to assure the existence of the sliding motion in finite time. The proposed fractional-order sliding mode controller exposes better control performance, ensures fast and robust stability of the closed-loop system, eliminates the disturbances and diminishes the chattering problem. Finally, the effectiveness of the proposed fractional-order controller is depicted via numerical simulation results of practical example and is compared with some other controllers. Copyright © 2016 ISA. Published by Elsevier Ltd. All rights reserved.

  6. Terminal sliding mode tracking control for a class of SISO uncertain nonlinear systems.

    PubMed

    Chen, Mou; Wu, Qing-Xian; Cui, Rong-Xin

    2013-03-01

    In this paper, the terminal sliding mode tracking control is proposed for the uncertain single-input and single-output (SISO) nonlinear system with unknown external disturbance. For the unmeasured disturbance of nonlinear systems, terminal sliding mode disturbance observer is presented. The developed disturbance observer can guarantee the disturbance approximation error to converge to zero in the finite time. Based on the output of designed disturbance observer, the terminal sliding mode tracking control is presented for uncertain SISO nonlinear systems. Subsequently, terminal sliding mode tracking control is developed using disturbance observer technique for the uncertain SISO nonlinear system with control singularity and unknown non-symmetric input saturation. The effects of the control singularity and unknown input saturation are combined with the external disturbance which is approximated using the disturbance observer. Under the proposed terminal sliding mode tracking control techniques, the finite time convergence of all closed-loop signals are guaranteed via Lyapunov analysis. Numerical simulation results are given to illustrate the effectiveness of the proposed terminal sliding mode tracking control. Copyright © 2012 ISA. Published by Elsevier Ltd. All rights reserved.

  7. Multi-mode sliding mode control for precision linear stage based on fixed or floating stator.

    PubMed

    Fang, Jiwen; Long, Zhili; Wang, Michael Yu; Zhang, Lufan; Dai, Xufei

    2016-02-01

    This paper presents the control performance of a linear motion stage driven by Voice Coil Motor (VCM). Unlike the conventional VCM, the stator of this VCM is regulated, which means it can be adjusted as a floating-stator or fixed-stator. A Multi-Mode Sliding Mode Control (MMSMC), including a conventional Sliding Mode Control (SMC) and an Integral Sliding Mode Control (ISMC), is designed to control the linear motion stage. The control is switched between SMC and IMSC based on the error threshold. To eliminate the chattering, a smooth function is adopted instead of a signum function. The experimental results with the floating stator show that the positioning accuracy and tracking performance of the linear motion stage are improved with the MMSMC approach.

  8. Passivity-based sliding mode control for a polytopic stochastic differential inclusion system.

    PubMed

    Liu, Leipo; Fu, Zhumu; Song, Xiaona

    2013-11-01

    Passivity-based sliding mode control for a polytopic stochastic differential inclusion (PSDI) system is considered. A control law is designed such that the reachability of sliding motion is guaranteed. Moreover, sufficient conditions for mean square asymptotic stability and passivity of sliding mode dynamics are obtained by linear matrix inequalities (LMIs). Finally, two examples are given to illustrate the effectiveness of the proposed method. © 2013 ISA. Published by ISA. All rights reserved.

  9. State observer-based sliding mode control for semi-active hydro-pneumatic suspension

    NASA Astrophysics Data System (ADS)

    Ren, Hongbin; Chen, Sizhong; Zhao, Yuzhuang; Liu, Gang; Yang, Lin

    2016-02-01

    This paper proposes an improved virtual reference model for semi-active suspension to coordinate the vehicle ride comfort and handling stability. The reference model combines the virtues of sky-hook with ground-hook control logic, and the hybrid coefficient is tuned according to the longitudinal and lateral acceleration so as to improve the vehicle stability especially in high-speed condition. Suspension state observer based on unscented Kalman filter is designed. A sliding mode controller (SMC) is developed to track the states of the reference model. The stability of the SMC strategy is proven by means of Lyapunov function taking into account the nonlinear damper characteristics and sprung mass variation of the vehicle. Finally, the performance of the controller is demonstrated under three typical working conditions: the random road excitation, speed bump road and sharp acceleration and braking. The simulation results indicated that, compared with the traditional passive suspension, the proposed control algorithm can offer a better coordination between vehicle ride comfort and handling stability. This approach provides a viable alternative to costlier active suspension control systems for commercial vehicles.

  10. Designing for Damage: Robust Flight Control Design using Sliding Mode Techniques

    NASA Technical Reports Server (NTRS)

    Vetter, T. K.; Wells, S. R.; Hess, Ronald A.; Bacon, Barton (Technical Monitor); Davidson, John (Technical Monitor)

    2002-01-01

    A brief review of sliding model control is undertaken, with particular emphasis upon the effects of neglected parasitic dynamics. Sliding model control design is interpreted in the frequency domain. The inclusion of asymptotic observers and control 'hedging' is shown to reduce the effects of neglected parasitic dynamics. An investigation into the application of observer-based sliding mode control to the robust longitudinal control of a highly unstable is described. The sliding mode controller is shown to exhibit stability and performance robustness superior to that of a classical loop-shaped design when significant changes in vehicle and actuator dynamics are employed to model airframe damage.

  11. Finite time control for MIMO nonlinear system based on higher-order sliding mode.

    PubMed

    Liu, Xiangjie; Han, Yaozhen

    2014-11-01

    Considering a class of MIMO uncertain nonlinear system, a novel finite time stable control algorithm is proposed based on higher-order sliding mode concept. The higher-order sliding mode control problem of MIMO nonlinear system is firstly transformed into finite time stability problem of multivariable system. Then continuous control law, which can guarantee finite time stabilization of nominal integral chain system, is employed. The second-order sliding mode is used to overcome the system uncertainties. High frequency chattering phenomenon of sliding mode is greatly weakened, and the arbitrarily fast convergence is reached. The finite time stability is proved based on the quadratic form Lyapunov function. Examples concerning the triple integral chain system with uncertainty and the hovercraft trajectory tracking are simulated respectively to verify the effectiveness and the robustness of the proposed algorithm. Copyright © 2014 ISA. Published by Elsevier Ltd. All rights reserved.

  12. Sensorless sliding mode observer for a five-phase permanent magnet synchronous motor drive.

    PubMed

    Hosseyni, Anissa; Trabelsi, Ramzi; Mimouni, Med Faouzi; Iqbal, Atif; Alammari, Rashid

    2015-09-01

    This paper deals with the sensorless vector controlled five-phase permanent magnet synchronous motor (PMSM) drive based on a sliding mode observer (SMO). The observer is designed considering the back electromotive force (EMF) of five-phase permanent magnet synchronous motor. The SMO structure and design are illustrated. Stability of the proposed observer is demonstrated using Lyapunov stability criteria. The proposed strategy is asymptotically stable in the context of Lyapunov theory. Simulated results on a five-phase PMSM drive are displayed to validate the feasibility and the effectiveness of the proposed control strategy. Copyright © 2015 ISA. Published by Elsevier Ltd. All rights reserved.

  13. Time-varying sliding-coefficient-based decoupled terminal sliding-mode control for a class of fourth-order systems.

    PubMed

    Bayramoglu, Husnu; Komurcugil, Hasan

    2014-07-01

    A time-varying sliding-coefficient-based decoupled terminal sliding mode control strategy is presented for a class of fourth-order systems. First, the fourth-order system is decoupled into two second-order subsystems. The sliding surface of each subsystem was designed by utilizing time-varying coefficients. Then, the control target of one subsystem to another subsystem was embedded. Thereafter, a terminal sliding mode control method was utilized to make both subsystems converge to their equilibrium points in finite time. The simulation results on the inverted pendulum system demonstrate that the proposed method exhibits a considerable improvement in terms of a faster dynamic response and lower IAE and ITAE values as compared with the existing decoupled control methods. Copyright © 2014 ISA. Published by Elsevier Ltd. All rights reserved.

  14. Sliding mode observers for automotive alternator

    NASA Astrophysics Data System (ADS)

    Chen, De-Shiou

    Estimator development for synchronous rectification of the automotive alternator is a desirable approach for estimating alternator's back electromotive forces (EMFs) without a direct mechanical sensor of the rotor position. Recent theoretical studies show that estimation of the back EMF may be observed based on system's phase current model by sensing electrical variables (AC phase currents and DC bus voltage) of the synchronous rectifier. Observer design of the back EMF estimation has been developed for constant engine speed. In this work, we are interested in nonlinear observer design of the back EMF estimation for the real case of variable engine speed. Initial back EMF estimate can be obtained from a first-order sliding mode observer (SMO) based on the phase current model. A fourth-order nonlinear asymptotic observer (NAO), complemented by the dynamics of the back EMF with time-varying frequency and amplitude, is then incorporated into the observer design for chattering reduction. Since the cost of required phase current sensors may be prohibitive, the most applicable approach in real implementation by measuring DC current of the synchronous rectifier is carried out in the dissertation. It is shown that the DC link current consists of sequential "windows" with partial information of the phase currents, hence, the cascaded NAO is responsible not only for the purpose of chattering reduction but also for necessarily accomplishing the process of estimation. Stability analyses of the proposed estimators are considered for most linear and time-varying cases. The stability of the NAO without speed information is substantiated by both numerical and experimental results. Prospective estimation algorithms for the case of battery current measurements are investigated. Theoretical study indicates that the convergence of the proposed LAO may be provided by high gain inputs. Since the order of the LAO/NAO for the battery current case is one order higher than that of the link

  15. Second-order sliding mode control for DFIG-based wind turbines fault ride-through capability enhancement.

    PubMed

    Benbouzid, Mohamed; Beltran, Brice; Amirat, Yassine; Yao, Gang; Han, Jingang; Mangel, Hervé

    2014-05-01

    This paper deals with the fault ride-through capability assessment of a doubly fed induction generator-based wind turbine using a high-order sliding mode control. Indeed, it has been recently suggested that sliding mode control is a solution of choice to the fault ride-through problem. In this context, this paper proposes a second-order sliding mode as an improved solution that handle the classical sliding mode chattering problem. Indeed, the main and attractive features of high-order sliding modes are robustness against external disturbances, the grids faults in particular, and chattering-free behavior (no extra mechanical stress on the wind turbine drive train). Simulations using the NREL FAST code on a 1.5-MW wind turbine are carried out to evaluate ride-through performance of the proposed high-order sliding mode control strategy in case of grid frequency variations and unbalanced voltage sags. Copyright © 2014 ISA. Published by Elsevier Ltd. All rights reserved.

  16. A comparative study of kalman filtering based observer and sliding mode observer for state of charge estimation

    NASA Astrophysics Data System (ADS)

    Ben Sassi, Hicham; Errahimi, Fatima; Es-Sbai, Najia; Alaoui, Chakib

    2018-05-01

    Nowadays, electric mobility is starting to define society and is becoming more and more irreplaceable and essential to daily activities. Safe and durable battery is of a great significance for this type of mobility, hence the increasing interest of research activity oriented to battery studies, in order to assure safe operating mode and to control the battery in case of any abnormal functioning conditions that could damage the battery if not properly managed. Lithium-ion technology is considered the most suitable existing technology for electrical storage, because of their interesting features such as their relatively long cycle life, lighter weight, their high energy density, However, there is a lot of work that is still needed to be done in order to assure safe operating lithium-ion batteries, starting with their internal status monitoring, cell balancing within a battery pack, and thermal management. Tasks that are accomplished by the battery management system (BMS) which uses the state of charge (SOC) as an indicator of the internal charge level of the battery, in order to avoid unpredicted system interruption. Since the state of charge is an inner state of a the battery which cannot be directly measured, a powerful estimation technique is inevitable, in this paper we investigate the performances of tow estimation strategies; kalman filtering based observers and sliding mode observers, both strategies are compared in terms of accuracy, design requirement, and overall performances.

  17. Application of Sliding Mode Methods to the Design of Reconfigurable Flight Control Systems

    NASA Technical Reports Server (NTRS)

    Wells, Scott R.

    2002-01-01

    Observer-based sliding mode control is investigated for application to aircraft reconfigurable flight control. A comprehensive overview of reconfigurable flight control is given, including, a review of the current state-of-the-art within the subdisciplines of fault detection, parameter identification, adaptive control schemes, and dynamic control allocation. Of the adaptive control methods reviewed, sliding mode control (SMC) appears very promising due its property of invariance to matched uncertainty. An overview of sliding mode control is given and its remarkable properties are demonstrated by example. Sliding mode methods, however, are difficult to implement because unmodeled parasitic dynamics cause immediate and severe instability. This presents a challenge for all practical applications with limited bandwidth actuators. One method to deal with parasitic dynamics is the use of an asymptotic observer in the feedback path. Observer-based SMC is investigated, and a method for selecting observer gains is offered. An additional method for shaping the feedback loop using a filter is also developed. It is shown that this SMC prefilter is equivalent to a form of model reference hedging. A complete design procedure is given which takes advantage of the sliding mode boundary layer to recast the SMC as a linear control law. Frequency domain loop shaping is then used to design the sliding manifold. Finally, three aircraft applications are demonstrated. An F-18/HARV is used to demonstrate a SISO pitch rate tracking controller. It is also used to demonstrate a MIMO lateral-directional roll rate tracking controller. The last application is a full linear six degree-of-freedom advanced tailless fighter model. The observer-based SMC is seen to provide excellent tracking with superior robustness to parameter changes and actuator failures.

  18. A reduced-order nonlinear sliding mode observer for vehicle slip angle and tyre forces

    NASA Astrophysics Data System (ADS)

    Chen, Yuhang; Ji, Yunfeng; Guo, Konghui

    2014-12-01

    In this paper, a reduced-order sliding mode observer (RO-SMO) is developed for vehicle state estimation. Several improvements are achieved in this paper. First, the reference model accuracy is improved by considering vehicle load transfers and using a precise nonlinear tyre model 'UniTire'. Second, without the reference model accuracy degraded, the computing burden of the state observer is decreased by a reduced-order approach. Third, nonlinear system damping is integrated into the SMO to speed convergence and reduce chattering. The proposed RO-SMO is evaluated through simulation and experiments based on an in-wheel motor electric vehicle. The results show that the proposed observer accurately predicts the vehicle states.

  19. Sliding mode control based on Kalman filter dynamic estimation of battery SOC

    NASA Astrophysics Data System (ADS)

    He, Dongmeia; Hou, Enguang; Qiao, Xin; Liu, Guangmin

    2018-06-01

    Lithium-ion battery charge state of the accurate and rapid estimation of battery management system is the key technology. In this paper, an exponentially reaching law sliding-mode variable structure control algorithm based on Kalman filter is proposed to estimate the state of charge of Li-ion battery for the dynamic nonlinear system. The RC equivalent circuit model is established, and the model equation with specific structure is given. The proposed Kalman filter sliding mode structure is used to estimate the state of charge of the battery in the battery model, and the jitter effect can be avoided and the estimation performance can be improved. The simulation results show that the proposed Kalman filter sliding mode control has good accuracy in estimating the state of charge of the battery compared with the ordinary Kalman filter, and the error range is within 3%.

  20. Fuzzy fractional order sliding mode controller for nonlinear systems

    NASA Astrophysics Data System (ADS)

    Delavari, H.; Ghaderi, R.; Ranjbar, A.; Momani, S.

    2010-04-01

    In this paper, an intelligent robust fractional surface sliding mode control for a nonlinear system is studied. At first a sliding PD surface is designed and then, a fractional form of these networks PDα, is proposed. Fast reaching velocity into the switching hyperplane in the hitting phase and little chattering phenomena in the sliding phase is desired. To reduce the chattering phenomenon in sliding mode control (SMC), a fuzzy logic controller is used to replace the discontinuity in the signum function at the reaching phase in the sliding mode control. For the problem of determining and optimizing the parameters of fuzzy sliding mode controller (FSMC), genetic algorithm (GA) is used. Finally, the performance and the significance of the controlled system two case studies (robot manipulator and coupled tanks) are investigated under variation in system parameters and also in presence of an external disturbance. The simulation results signify performance of genetic-based fuzzy fractional sliding mode controller.

  1. Adaptive disturbance compensation finite control set optimal control for PMSM systems based on sliding mode extended state observer

    NASA Astrophysics Data System (ADS)

    Wu, Yun-jie; Li, Guo-fei

    2018-01-01

    Based on sliding mode extended state observer (SMESO) technique, an adaptive disturbance compensation finite control set optimal control (FCS-OC) strategy is proposed for permanent magnet synchronous motor (PMSM) system driven by voltage source inverter (VSI). So as to improve robustness of finite control set optimal control strategy, a SMESO is proposed to estimate the output-effect disturbance. The estimated value is fed back to finite control set optimal controller for implementing disturbance compensation. It is indicated through theoretical analysis that the designed SMESO could converge in finite time. The simulation results illustrate that the proposed adaptive disturbance compensation FCS-OC possesses better dynamical response behavior in the presence of disturbance.

  2. Distributed Adaptive Fuzzy Control for Nonlinear Multiagent Systems Via Sliding Mode Observers.

    PubMed

    Shen, Qikun; Shi, Peng; Shi, Yan

    2016-12-01

    In this paper, the problem of distributed adaptive fuzzy control is investigated for high-order uncertain nonlinear multiagent systems on directed graph with a fixed topology. It is assumed that only the outputs of each follower and its neighbors are available in the design of its distributed controllers. Equivalent output injection sliding mode observers are proposed for each follower to estimate the states of itself and its neighbors, and an observer-based distributed adaptive controller is designed for each follower to guarantee that it asymptotically synchronizes to a leader with tracking errors being semi-globally uniform ultimate bounded, in which fuzzy logic systems are utilized to approximate unknown functions. Based on algebraic graph theory and Lyapunov function approach, using Filippov-framework, the closed-loop system stability analysis is conducted. Finally, numerical simulations are provided to illustrate the effectiveness and potential of the developed design techniques.

  3. Terminal Sliding Mode Tracking Controller Design for Automatic Guided Vehicle

    NASA Astrophysics Data System (ADS)

    Chen, Hongbin

    2018-03-01

    Based on sliding mode variable structure control theory, the path tracking problem of automatic guided vehicle is studied, proposed a controller design method based on the terminal sliding mode. First of all, through analyzing the characteristics of the automatic guided vehicle movement, the kinematics model is presented. Then to improve the traditional expression of terminal sliding mode, design a nonlinear sliding mode which the convergence speed is faster than the former, verified by theoretical analysis, the design of sliding mode is steady and fast convergence in the limited time. Finally combining Lyapunov method to design the tracking control law of automatic guided vehicle, the controller can make the automatic guided vehicle track the desired trajectory in the global sense as well as in finite time. The simulation results verify the correctness and effectiveness of the control law.

  4. Optimal second order sliding mode control for nonlinear uncertain systems.

    PubMed

    Das, Madhulika; Mahanta, Chitralekha

    2014-07-01

    In this paper, a chattering free optimal second order sliding mode control (OSOSMC) method is proposed to stabilize nonlinear systems affected by uncertainties. The nonlinear optimal control strategy is based on the control Lyapunov function (CLF). For ensuring robustness of the optimal controller in the presence of parametric uncertainty and external disturbances, a sliding mode control scheme is realized by combining an integral and a terminal sliding surface. The resulting second order sliding mode can effectively reduce chattering in the control input. Simulation results confirm the supremacy of the proposed optimal second order sliding mode control over some existing sliding mode controllers in controlling nonlinear systems affected by uncertainty. Copyright © 2014 ISA. Published by Elsevier Ltd. All rights reserved.

  5. Sliding Mode Fault Tolerant Control with Adaptive Diagnosis for Aircraft Engines

    NASA Astrophysics Data System (ADS)

    Xiao, Lingfei; Du, Yanbin; Hu, Jixiang; Jiang, Bin

    2018-03-01

    In this paper, a novel sliding mode fault tolerant control method is presented for aircraft engine systems with uncertainties and disturbances on the basis of adaptive diagnostic observer. By taking both sensors faults and actuators faults into account, the general model of aircraft engine control systems which is subjected to uncertainties and disturbances, is considered. Then, the corresponding augmented dynamic model is established in order to facilitate the fault diagnosis and fault tolerant controller design. Next, a suitable detection observer is designed to detect the faults effectively. Through creating an adaptive diagnostic observer and based on sliding mode strategy, the sliding mode fault tolerant controller is constructed. Robust stabilization is discussed and the closed-loop system can be stabilized robustly. It is also proven that the adaptive diagnostic observer output errors and the estimations of faults converge to a set exponentially, and the converge rate greater than some value which can be adjusted by choosing designable parameters properly. The simulation on a twin-shaft aircraft engine verifies the applicability of the proposed fault tolerant control method.

  6. Sliding mode controllers for a tempered glass furnace.

    PubMed

    Almutairi, Naif B; Zribi, Mohamed

    2016-01-01

    This paper investigates the design of two sliding mode controllers (SMCs) applied to a tempered glass furnace system. The main objective of the proposed controllers is to regulate the glass plate temperature, the upper-wall temperature and the lower-wall temperature in the furnace to a common desired temperature. The first controller is a conventional sliding mode controller. The key step in the design of this controller is the introduction of a nonlinear transformation that maps the dynamic model of the tempered glass furnace into the generalized controller canonical form; this step facilitates the design of the sliding mode controller. The second controller is based on a state-dependent coefficient (SDC) factorization of the tempered glass furnace dynamic model. Using an SDC factorization, a simplified sliding mode controller is designed. The simulation results indicate that the two proposed control schemes work very well. Moreover, the robustness of the control schemes to changes in the system's parameters as well as to disturbances is investigated. In addition, a comparison of the proposed control schemes with a fuzzy PID controller is performed; the results show that the proposed SDC-based sliding mode controller gave better results. Copyright © 2015 ISA. Published by Elsevier Ltd. All rights reserved.

  7. A Sliding Mode Controller Using Nonlinear Sliding Surface Improved With Fuzzy Logic: Application to the Coupled Tanks System

    NASA Astrophysics Data System (ADS)

    Boubakir, A.; Boudjema, F.; Boubakir, C.

    2008-06-01

    This paper proposes an approach of hybrid control that is based on the concept of combining fuzzy logic and the methodology of sliding mode control (SMC). In the present works, a first-order nonlinear sliding surface is presented, on which the developed control law is based. Mathematical proof for the stability and convergence of the system is presented. In order to reduce the chattering in sliding mode control, a fixed boundary layer around the switch surface is used. Within the boundary layer, since the fuzzy logic control is applied, the chattering phenomenon, which is inherent in a sliding mode control, is avoided by smoothing the switch signal. Outside the boundary, the sliding mode control is applied to driving the system states into the boundary layer. Experimental studies carried out on a coupled Tanks system indicate that the proposed fuzzy sliding mode control (FSMC) is a good candidate for control applications.

  8. Uncertainty Quantification for Robust Control of Wind Turbines using Sliding Mode Observer

    NASA Astrophysics Data System (ADS)

    Schulte, Horst

    2016-09-01

    A new quantification method of uncertain models for robust wind turbine control using sliding-mode techniques is presented with the objective to improve active load mitigation. This approach is based on the so-called equivalent output injection signal, which corresponds to the average behavior of the discontinuous switching term, establishing and maintaining a motion on a so-called sliding surface. The injection signal is directly evaluated to obtain estimates of the uncertainty bounds of external disturbances and parameter uncertainties. The applicability of the proposed method is illustrated by the quantification of a four degree-of-freedom model of the NREL 5MW reference turbine containing uncertainties.

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

    NASA Astrophysics Data System (ADS)

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

    2018-02-01

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

  10. Smith predictor based-sliding mode controller for integrating processes with elevated deadtime.

    PubMed

    Camacho, Oscar; De la Cruz, Francisco

    2004-04-01

    An approach to control integrating processes with elevated deadtime using a Smith predictor sliding mode controller is presented. A PID sliding surface and an integrating first-order plus deadtime model have been used to synthesize the controller. Since the performance of existing controllers with a Smith predictor decrease in the presence of modeling errors, this paper presents a simple approach to combining the Smith predictor with the sliding mode concept, which is a proven, simple, and robust procedure. The proposed scheme has a set of tuning equations as a function of the characteristic parameters of the model. For implementation of our proposed approach, computer based industrial controllers that execute PID algorithms can be used. The performance and robustness of the proposed controller are compared with the Matausek-Micić scheme for linear systems using simulations.

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

    PubMed

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

    2015-01-01

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

  12. Observer-based higher order sliding mode control of power factor in three-phase AC/DC converter for hybrid electric vehicle applications

    NASA Astrophysics Data System (ADS)

    Liu, Jianxing; Laghrouche, Salah; Wack, Maxime

    2014-06-01

    In this paper, a full-bridge boost power converter topology is studied for power factor control, using output higher order sliding mode control. The AC/DC converters are used for charging the battery and super-capacitor in hybrid electric vehicles from the utility. The proposed control forces the input currents to track the desired values, which can control the output voltage while keeping the power factor close to one. Super-twisting sliding mode observer is employed to estimate the input currents and load resistance only from the measurement of output voltage. Lyapunov analysis shows the asymptotic convergence of the closed-loop system to zero. Multi-rate simulation illustrates the effectiveness and robustness of the proposed controller in the presence of measurement noise.

  13. Optimal second order sliding mode control for linear uncertain systems.

    PubMed

    Das, Madhulika; Mahanta, Chitralekha

    2014-11-01

    In this paper an optimal second order sliding mode controller (OSOSMC) is proposed to track a linear uncertain system. The optimal controller based on the linear quadratic regulator method is designed for the nominal system. An integral sliding mode controller is combined with the optimal controller to ensure robustness of the linear system which is affected by parametric uncertainties and external disturbances. To achieve finite time convergence of the sliding mode, a nonsingular terminal sliding surface is added with the integral sliding surface giving rise to a second order sliding mode controller. The main advantage of the proposed OSOSMC is that the control input is substantially reduced and it becomes chattering free. Simulation results confirm superiority of the proposed OSOSMC over some existing. Copyright © 2014 ISA. Published by Elsevier Ltd. All rights reserved.

  14. 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

    2017-11-01

    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.

  15. Switching PD-based sliding mode control for hovering of a tilting-thruster underwater robot.

    PubMed

    Jin, Sangrok; Bak, Jeongae; Kim, Jongwon; Seo, TaeWon; Kim, Hwa Soo

    2018-01-01

    This paper presents a switching PD-based sliding mode control (PD-SMC) method for the 6-degree-of-freedom (DOF) hovering motion of the underwater robot with tilting thrusters. Four thrusters of robot can be tilted simultaneously in the horizontal and vertical directions, and the 6-DOF motion is achieved by switching between two thruster configurations. Therefore, the tilting speed of thruster becomes the most essential parameter to determine the stability of hovering motion. Even though the previous PD control ensures stable hovering motion within a certain ranges of tilting speed, a PD-SMC is suggested in this paper by combining PD control with sliding mode control in order to achieve acceptable hovering performance even at the much lower tilting speeds. Also, the sign function in the sliding mode control is replaced by a sigmoid function to reduce undesired chattering. Simulations show that while PD control is effective only for tilting duration of 600 ms, the PD-based sliding mode control can guarantee the stable hovering motion of underwater robot even for the tilting duration of up to 1500 ms. Extensive experimental results confirm the hovering performance of the proposed PD-SMC method is much superior to that of PD method for much larger tilting durations.

  16. Sliding mode controller with modified sliding function for DC-DC Buck Converter.

    PubMed

    Naik, B B; Mehta, A J

    2017-09-01

    This article presents design of Sliding Mode Controller with proportional integral type sliding function for DC-DC Buck Converter for the controlled power supply. The converter with conventional sliding mode controller results in a steady state error in load voltage. The proposed modified sliding function improves the steady state and dynamic performance of the Convertor and facilitates better choices of controller tuning parameters. The conditions for existence of sliding modes for proposed control scheme are derived. The stability of the closed loop system with proposed sliding mode control is proved and improvement in steady state performance is exemplified. The idea of adaptive tuning for the proposed controller to compensate load variations is outlined. The comparative study of conventional and proposed control strategy is presented. The efficacy of the proposed strategy is endowed by the simulation and experimental results. Copyright © 2017 ISA. Published by Elsevier Ltd. All rights reserved.

  17. Second-Order Consensus in Multiagent Systems via Distributed Sliding Mode Control.

    PubMed

    Yu, Wenwu; Wang, He; Cheng, Fei; Yu, Xinghuo; Wen, Guanghui

    2016-11-22

    In this paper, the new decoupled distributed sliding-mode control (DSMC) is first proposed for second-order consensus in multiagent systems, which finally solves the fundamental unknown problem for sliding-mode control (SMC) design of coupled networked systems. A distributed full-order sliding-mode surface is designed based on the homogeneity with dilation for reaching second-order consensus in multiagent systems, under which the sliding-mode states are decoupled. Then, the SMC is applied to the decoupled sliding-mode states to reach their origin in finite time, which is the sliding-mode surface. The states of agents can first reach the designed sliding-mode surface in finite time and then move to the second-order consensus state along the surface in finite time as well. The DSMC designed in this paper can eliminate the influence of singularity problems and weaken the influence of chattering, which is still very difficult in the SMC systems. In addition, DSMC proposes a general decoupling framework for designing SMC in networked multiagent systems. Simulations are presented to verify the theoretical results in this paper.

  18. Adaptive integral backstepping sliding mode control for opto-electronic tracking system based on modified LuGre friction model

    NASA Astrophysics Data System (ADS)

    Yue, Fengfa; Li, Xingfei; Chen, Cheng; Tan, Wenbin

    2017-12-01

    In order to improve the control accuracy and stability of opto-electronic tracking system fixed on reef or airport under friction and external disturbance conditions, adaptive integral backstepping sliding mode control approach with friction compensation is developed to achieve accurate and stable tracking for fast moving target. The nonlinear observer and slide mode controller based on modified LuGre model with friction compensation can effectively reduce the influence of nonlinear friction and disturbance of this servo system. The stability of the closed-loop system is guaranteed by Lyapunov theory. The steady-state error of the system is eliminated by integral action. The adaptive integral backstepping sliding mode controller and its performance are validated by a nonlinear modified LuGre dynamic model of the opto-electronic tracking system in simulation and practical experiments. The experiment results demonstrate that the proposed controller can effectively realise the accuracy and stability control of opto-electronic tracking system.

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

    PubMed

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

    2014-12-01

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

  20. Robust Sliding Mode Control of PMSM Based on Rapid Nonlinear Tracking Differentiator and Disturbance Observer

    PubMed Central

    Zhou, Zhanmin; Zhang, Bao; Mao, Dapeng

    2018-01-01

    Torque ripples caused by cogging torque, flux harmonics, and current measurement error seriously restrict the application of a permanent magnet synchronous motor (PMSM), which has been paid more and more attention for the use in inertial stabilized platforms. Sliding mode control (SMC), in parallel with the classical proportional integral (PI) controller, has a high advantage to suppress the torque ripples as its invariance to disturbances. However, since the high switching gain tends to cause chattering and it requires derivative of signals which is not readily obtainable without an acceleration signal sensor. Therefore, this paper proposes a robust SMC scheme based on a rapid nonlinear tracking differentiator (NTD) and a disturbance observer (DOB) to further improve the performance of the SMC. The NTD is employed to providing the derivative of the signal, and the DOB is utilized to estimate the system lumped disturbances, including parameter variations and external disturbances. On the one hand, DOB can compensate the robust SMC speed controller, it can reduce the chattering of SMC on the other hand. Experiments were carried out on an ARM and DSP-based platform. The obtained experimental results demonstrate that the robust SMC scheme has an improved performance with inertia stability and it exhibits a satisfactory anti-disturbance performance compared to the traditional methods. PMID:29596387

  1. Sliding mode controller for a photovoltaic pumping system

    NASA Astrophysics Data System (ADS)

    ElOugli, A.; Miqoi, S.; Boutouba, M.; Tidhaf, B.

    2017-03-01

    In this paper, a sliding mode control scheme (SMC) for maximum power point tracking controller for a photovoltaic pumping system, is proposed. The main goal is to maximize the flow rate for a water pump, by forcing the photovoltaic system to operate in its MPP, to obtain the maximum power that a PV system can deliver.And this, through the intermediary of a sliding mode controller to track and control the MPP by overcoming the power oscillation around the operating point, which appears in most implemented MPPT techniques. The sliding mode control approach is recognized as one of the efficient and powerful tools for nonlinear systems under uncertainty conditions.The proposed controller with photovoltaic pumping system is designed and simulated using MATLAB/SIMULINK environment. In addition, to evaluate its performances, a classical MPPT algorithm using perturb and observe (P&O) has been used for the same system to compare to our controller. Simulation results are shown.

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

    PubMed

    Chi, Wen-Chun; Cheng, Ming-Yang

    2014-03-01

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

  3. Design and analysis of adaptive Super-Twisting sliding mode control for a microgyroscope.

    PubMed

    Feng, Zhilin; Fei, Juntao

    2018-01-01

    This paper proposes a novel adaptive Super-Twisting sliding mode control for a microgyroscope under unknown model uncertainties and external disturbances. In order to improve the convergence rate of reaching the sliding surface and the accuracy of regulating and trajectory tracking, a high order Super-Twisting sliding mode control strategy is employed, which not only can combine the advantages of the traditional sliding mode control with the Super-Twisting sliding mode control, but also guarantee that the designed control system can reach the sliding surface and equilibrium point in a shorter finite time from any initial state and avoid chattering problems. In consideration of unknown parameters of micro gyroscope system, an adaptive algorithm based on Lyapunov stability theory is designed to estimate the unknown parameters and angular velocity of microgyroscope. Finally, the effectiveness of the proposed scheme is demonstrated by simulation results. The comparative study between adaptive Super-Twisting sliding mode control and conventional sliding mode control demonstrate the superiority of the proposed method.

  4. Sliding mode control of magnetic suspensions for precision pointing and tracking applications

    NASA Technical Reports Server (NTRS)

    Misovec, Kathleen M.; Flynn, Frederick J.; Johnson, Bruce G.; Hedrick, J. Karl

    1991-01-01

    A recently developed nonlinear control method, sliding mode control, is examined as a means of advancing the achievable performance of space-based precision pointing and tracking systems that use nonlinear magnetic actuators. Analytic results indicate that sliding mode control improves performance compared to linear control approaches. In order to realize these performance improvements, precise knowledge of the plant is required. Additionally, the interaction of an estimating scheme and the sliding mode controller has not been fully examined in the literature. Estimation schemes were designed for use with this sliding mode controller that do not seriously degrade system performance. The authors designed and built a laboratory testbed to determine the feasibility of utilizing sliding mode control in these types of applications. Using this testbed, experimental verification of the authors' analyses is ongoing.

  5. Second-order sliding mode control with experimental application.

    PubMed

    Eker, Ilyas

    2010-07-01

    In this article, a second-order sliding mode control (2-SMC) is proposed for second-order uncertain plants using equivalent control approach to improve the performance of control systems. A Proportional + Integral + Derivative (PID) sliding surface is used for the sliding mode. The sliding mode control law is derived using direct Lyapunov stability approach and asymptotic stability is proved theoretically. The performance of the closed-loop system is analysed through an experimental application to an electromechanical plant to show the feasibility and effectiveness of the proposed second-order sliding mode control and factors involved in the design. The second-order plant parameters are experimentally determined using input-output measured data. The results of the experimental application are presented to make a quantitative comparison with the traditional (first-order) sliding mode control (SMC) and PID control. It is demonstrated that the proposed 2-SMC system improves the performance of the closed-loop system with better tracking specifications in the case of external disturbances, better behavior of the output and faster convergence of the sliding surface while maintaining the stability. 2010 ISA. Published by Elsevier Ltd. All rights reserved.

  6. Robust Sliding Mode Control of PMSM Based on a Rapid Nonlinear Tracking Differentiator and Disturbance Observer.

    PubMed

    Zhou, Zhanmin; Zhang, Bao; Mao, Dapeng

    2018-03-29

    Torque ripples caused by cogging torque, flux harmonics, and current measurement error seriously restrict the application of a permanent magnet synchronous motor (PMSM), which has been paid more and more attention for the use in inertial stabilized platforms. Sliding mode control (SMC), in parallel with the classical proportional integral (PI) controller, has a high advantage to suppress the torque ripples as its invariance to disturbances. However, since the high switching gain tends to cause chattering and it requires derivative of signals which is not readily obtainable without an acceleration signal sensor. Therefore, this paper proposes a robust SMC scheme based on a rapid nonlinear tracking differentiator (NTD) and a disturbance observer (DOB) to further improve the performance of the SMC. The NTD is employed to providing the derivative of the signal, and the DOB is utilized to estimate the system lumped disturbances, including parameter variations and external disturbances. On the one hand, DOB can compensate the robust SMC speed controller, it can reduce the chattering of SMC on the other hand. Experiments were carried out on an ARM and DSP-based platform. The obtained experimental results demonstrate that the robust SMC scheme has an improved performance with inertia stability and it exhibits a satisfactory anti-disturbance performance compared to the traditional methods.

  7. Sliding mode disturbance observer-enhanced adaptive control for the air-breathing hypersonic flight vehicle

    NASA Astrophysics Data System (ADS)

    An, Hao; Wang, Changhong; Fidan, Baris

    2017-10-01

    This paper presents a backstepping procedure to design an adaptive controller for the air-breathing hypersonic flight vehicle (AHFV) subject to external disturbances and actuator saturations. In each step, a sliding mode exact disturbance observer (SMEDO) is exploited to exactly estimate the lumped disturbance in finite time. Specific dynamics are introduced to handle the possible actuator saturations. Based on SMEDO and introduced dynamics, an adaptive control law is designed, along with the consideration on ;explosion of complexity; in backstepping design. The developed controller is equipped with fast disturbance rejection and great capability to accommodate the saturated actuators, which also lead to a wider application scope. A simulation study is provided to show the effectiveness and superiority of the proposed controller.

  8. Bearing Fault Diagnosis by a Robust Higher-Order Super-Twisting Sliding Mode Observer

    PubMed Central

    Kim, Jong-Myon

    2018-01-01

    An effective bearing fault detection and diagnosis (FDD) model is important for ensuring the normal and safe operation of machines. This paper presents a reliable model-reference observer technique for FDD based on modeling of a bearing’s vibration data by analyzing the dynamic properties of the bearing and a higher-order super-twisting sliding mode observation (HOSTSMO) technique for making diagnostic decisions using these data models. The HOSTSMO technique can adaptively improve the performance of estimating nonlinear failures in rolling element bearings (REBs) over a linear approach by modeling 5 degrees of freedom under normal and faulty conditions. The effectiveness of the proposed technique is evaluated using a vibration dataset provided by Case Western Reserve University, which consists of vibration acceleration signals recorded for REBs with inner, outer, ball, and no faults, i.e., normal. Experimental results indicate that the proposed technique outperforms the ARX-Laguerre proportional integral observation (ALPIO) technique, yielding 18.82%, 16.825%, and 17.44% performance improvements for three levels of crack severity of 0.007, 0.014, and 0.021 inches, respectively. PMID:29642459

  9. Bearing Fault Diagnosis by a Robust Higher-Order Super-Twisting Sliding Mode Observer.

    PubMed

    Piltan, Farzin; Kim, Jong-Myon

    2018-04-07

    An effective bearing fault detection and diagnosis (FDD) model is important for ensuring the normal and safe operation of machines. This paper presents a reliable model-reference observer technique for FDD based on modeling of a bearing's vibration data by analyzing the dynamic properties of the bearing and a higher-order super-twisting sliding mode observation (HOSTSMO) technique for making diagnostic decisions using these data models. The HOSTSMO technique can adaptively improve the performance of estimating nonlinear failures in rolling element bearings (REBs) over a linear approach by modeling 5 degrees of freedom under normal and faulty conditions. The effectiveness of the proposed technique is evaluated using a vibration dataset provided by Case Western Reserve University, which consists of vibration acceleration signals recorded for REBs with inner, outer, ball, and no faults, i.e., normal. Experimental results indicate that the proposed technique outperforms the ARX-Laguerre proportional integral observation (ALPIO) technique, yielding 18.82%, 16.825%, and 17.44% performance improvements for three levels of crack severity of 0.007, 0.014, and 0.021 inches, respectively.

  10. Sliding mode control based impact angle control guidance considering the seeker׳s field-of-view constraint.

    PubMed

    Wang, Xingliang; Zhang, Youan; Wu, Huali

    2016-03-01

    The problem of impact angle control guidance for a field-of-view constrained missile against non-maneuvering or maneuvering targets is solved by using the sliding mode control theory. The existing impact angle control guidance laws with field-of-view constraint are only applicable against stationary targets and most of them suffer abrupt-jumping of guidance command due to the application of additional guidance mode switching logic. In this paper, the field-of-view constraint is handled without using any additional switching logic. In particular, a novel time-varying sliding surface is first designed to achieve zero miss distance and zero impact angle error without violating the field-of-view constraint during the sliding mode phase. Then a control integral barrier Lyapunov function is used to design the reaching law so that the sliding mode can be reached within finite time and the field-of-view constraint is not violated during the reaching phase as well. A nonlinear extended state observer is constructed to estimate the disturbance caused by unknown target maneuver, and the undesirable chattering is alleviated effectively by using the estimation as a compensation item in the guidance law. The performance of the proposed guidance law is illustrated with simulations. Copyright © 2016 ISA. Published by Elsevier Ltd. All rights reserved.

  11. Microgravity Isolation Control System Design Via High-Order Sliding Mode Control

    NASA Technical Reports Server (NTRS)

    Shkolnikov, Ilya; Shtessel, Yuri; Whorton, Mark S.; Jackson, Mark

    2000-01-01

    Vibration isolation control system design for a microgravity experiment mount is considered. The controller design based on dynamic sliding manifold (DSM) technique is proposed to attenuate the accelerations transmitted to an isolated experiment mount either from a vibrating base or directly generated by the experiment, as well as to stabilize the internal dynamics of this nonminimum phase plant. An auxiliary DSM is employed to maintain the high-order sliding mode on the primary sliding manifold in the presence of uncertain actuator dynamics of second order. The primary DSM is designed for the closed-loop system in sliding mode to be a filter with given characteristics with respect to the input external disturbances.

  12. Dynamic boundary layer based neural network quasi-sliding mode control for soft touching down on asteroid

    NASA Astrophysics Data System (ADS)

    Liu, Xiaosong; Shan, Zebiao; Li, Yuanchun

    2017-04-01

    Pinpoint landing is a critical step in some asteroid exploring missions. This paper is concerned with the descent trajectory control for soft touching down on a small irregularly-shaped asteroid. A dynamic boundary layer based neural network quasi-sliding mode control law is proposed to track a desired descending path. The asteroid's gravitational acceleration acting on the spacecraft is described by the polyhedron method. Considering the presence of input constraint and unmodeled acceleration, the dynamic equation of relative motion is presented first. The desired descending path is planned using cubic polynomial method, and a collision detection algorithm is designed. To perform trajectory tracking, a neural network sliding mode control law is given first, where the sliding mode control is used to ensure the convergence of system states. Two radial basis function neural networks (RBFNNs) are respectively used as an approximator for the unmodeled term and a compensator for the difference between the actual control input with magnitude constraint and nominal control. To improve the chattering induced by the traditional sliding mode control and guarantee the reachability of the system, a specific saturation function with dynamic boundary layer is proposed to replace the sign function in the preceding control law. Through the Lyapunov approach, the reachability condition of the control system is given. The improved control law can guarantee the system state move within a gradually shrinking quasi-sliding mode band. Numerical simulation results demonstrate the effectiveness of the proposed control strategy.

  13. Sliding Mode Control Applied to Reconfigurable Flight Control Design

    NASA Technical Reports Server (NTRS)

    Hess, R. A.; Wells, S. R.; Bacon, Barton (Technical Monitor)

    2002-01-01

    Sliding mode control is applied to the design of a flight control system capable of operating with limited bandwidth actuators and in the presence of significant damage to the airframe and/or control effector actuators. Although inherently robust, sliding mode control algorithms have been hampered by their sensitivity to the effects of parasitic unmodeled dynamics, such as those associated with actuators and structural modes. It is known that asymptotic observers can alleviate this sensitivity while still allowing the system to exhibit significant robustness. This approach is demonstrated. The selection of the sliding manifold as well as the interpretation of the linear design that results after introduction of a boundary layer is accomplished in the frequency domain. The design technique is exercised on a pitch-axis controller for a simple short-period model of the High Angle of Attack F-18 vehicle via computer simulation. Stability and performance is compared to that of a system incorporating a controller designed by classical loop-shaping techniques.

  14. Terminal Sliding Mode-Based Consensus Tracking Control for Networked Uncertain Mechanical Systems on Digraphs.

    PubMed

    Chen, Gang; Song, Yongduan; Guan, Yanfeng

    2018-03-01

    This brief investigates the finite-time consensus tracking control problem for networked uncertain mechanical systems on digraphs. A new terminal sliding-mode-based cooperative control scheme is developed to guarantee that the tracking errors converge to an arbitrarily small bound around zero in finite time. All the networked systems can have different dynamics and all the dynamics are unknown. A neural network is used at each node to approximate the local unknown dynamics. The control schemes are implemented in a fully distributed manner. The proposed control method eliminates some limitations in the existing terminal sliding-mode-based consensus control methods and extends the existing analysis methods to the case of directed graphs. Simulation results on networked robot manipulators are provided to show the effectiveness of the proposed control algorithms.

  15. Research on Synthetic Aperture Radar Processing for the Spaceborne Sliding Spotlight Mode.

    PubMed

    Shen, Shijian; Nie, Xin; Zhang, Xinggan

    2018-02-03

    Gaofen-3 (GF-3) is China' first C-band multi-polarization synthetic aperture radar (SAR) satellite, which also provides the sliding spotlight mode for the first time. Sliding-spotlight mode is a novel mode to realize imaging with not only high resolution, but also wide swath. Several key technologies for sliding spotlight mode in spaceborne SAR with high resolution are investigated in this paper, mainly including the imaging parameters, the methods of velocity estimation and ambiguity elimination, and the imaging algorithms. Based on the chosen Convolution BackProjection (CBP) and PFA (Polar Format Algorithm) imaging algorithms, a fast implementation method of CBP and a modified PFA method suitable for sliding spotlight mode are proposed, and the processing flows are derived in detail. Finally, the algorithms are validated by simulations and measured data.

  16. Adaptive sliding mode control for a class of chaotic systems

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

    Farid, R.; Ibrahim, A.; Zalam, B., E-mail: ramy5475@yahoo.com

    2015-03-30

    Chaos control here means to design a controller that is able to mitigating or eliminating the chaos behavior of nonlinear systems that experiencing such phenomenon. In this paper, an Adaptive Sliding Mode Controller (ASMC) is presented based on Lyapunov stability theory. The well known Chua's circuit is chosen to be our case study in this paper. The study shows the effectiveness of the proposed adaptive sliding mode controller.

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

    PubMed

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

    2015-07-01

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

  18. Leader-follower formation control of underactuated surface vehicles based on sliding mode control and parameter estimation.

    PubMed

    Sun, Zhijian; Zhang, Guoqing; Lu, Yu; Zhang, Weidong

    2018-01-01

    This paper studies the leader-follower formation control of underactuated surface vehicles with model uncertainties and environmental disturbances. A parameter estimation and upper bound estimation based sliding mode control scheme is proposed to solve the problem of the unknown plant parameters and environmental disturbances. For each of these leader-follower formation systems, the dynamic equations of position and attitude are analyzed using coordinate transformation with the aid of the backstepping technique. All the variables are guaranteed to be uniformly ultimately bounded stable in the closed-loop system, which is proven by the distribution design Lyapunov function synthesis. The main advantages of this approach are that: first, parameter estimation based sliding mode control can enhance the robustness of the closed-loop system in presence of model uncertainties and environmental disturbances; second, a continuous function is developed to replace the signum function in the design of sliding mode scheme, which devotes to reduce the chattering of the control system. Finally, numerical simulations are given to demonstrate the effectiveness of the proposed method. Copyright © 2017 ISA. Published by Elsevier Ltd. All rights reserved.

  19. Adaptive fractional order sliding mode control for Boost converter in the Battery/Supercapacitor HESS

    PubMed Central

    Xu, Dan; Zhou, Huan; Zhou, Tao

    2018-01-01

    In this paper, an adaptive fractional order sliding mode control (AFSMC) scheme is designed for the current tracking control of the Boost-type converter in a Battery/Supercapacitor hybrid energy storage system (HESS). In order to stabilize the current, the adaptation rules based on state-observer and Lyapunov function are being designed. A fractional order sliding surface function is defined based on the tracking current error and adaptive rules. Furthermore, through fractional order analysis, the stability of the fractional order control system is proven, and the value of the fractional order (λ) is being investigated. In addition, the effectiveness of the proposed AFSMC strategy is being verified by numerical simulations. The advantages of good transient response and robustness to uncertainty are being indicated by this design, when compared with a conventional integer order sliding mode control system. PMID:29702696

  20. Adaptive fractional order sliding mode control for Boost converter in the Battery/Supercapacitor HESS.

    PubMed

    Wang, Jianlin; Xu, Dan; Zhou, Huan; Zhou, Tao

    2018-01-01

    In this paper, an adaptive fractional order sliding mode control (AFSMC) scheme is designed for the current tracking control of the Boost-type converter in a Battery/Supercapacitor hybrid energy storage system (HESS). In order to stabilize the current, the adaptation rules based on state-observer and Lyapunov function are being designed. A fractional order sliding surface function is defined based on the tracking current error and adaptive rules. Furthermore, through fractional order analysis, the stability of the fractional order control system is proven, and the value of the fractional order (λ) is being investigated. In addition, the effectiveness of the proposed AFSMC strategy is being verified by numerical simulations. The advantages of good transient response and robustness to uncertainty are being indicated by this design, when compared with a conventional integer order sliding mode control system.

  1. Least square based sliding mode control for a quad-rotor helicopter and energy saving by chattering reduction

    NASA Astrophysics Data System (ADS)

    Sumantri, Bambang; Uchiyama, Naoki; Sano, Shigenori

    2016-01-01

    In this paper, a new control structure for a quad-rotor helicopter that employs the least squares method is introduced. This proposed algorithm solves the overdetermined problem of the control input for the translational motion of a quad-rotor helicopter. The algorithm allows all six degrees of freedom to be considered to calculate the control input. The sliding mode controller is applied to achieve robust tracking and stabilization. A saturation function is designed around a boundary layer to reduce the chattering phenomenon that is a common problem in sliding mode control. In order to improve the tracking performance, an integral sliding surface is designed. An energy saving effect because of chattering reduction is also evaluated. First, the dynamics of the quad-rotor helicopter is derived by the Newton-Euler formulation for a rigid body. Second, a constant plus proportional reaching law is introduced to increase the reaching rate of the sliding mode controller. Global stability of the proposed control strategy is guaranteed based on the Lyapunov's stability theory. Finally, the robustness and effectiveness of the proposed control system are demonstrated experimentally under wind gusts, and are compared with a regular sliding mode controller, a proportional-differential controller, and a proportional-integral-differential controller.

  2. Fractional order sliding-mode control based on parameters auto-tuning for velocity control of permanent magnet synchronous motor.

    PubMed

    Zhang, BiTao; Pi, YouGuo; Luo, Ying

    2012-09-01

    A fractional order sliding mode control (FROSMC) scheme based on parameters auto-tuning for the velocity control of permanent magnet synchronous motor (PMSM) is proposed in this paper. The control law of the proposed F(R)OSMC scheme is designed according to Lyapunov stability theorem. Based on the property of transferring energy with adjustable type in F(R)OSMC, this paper analyzes the chattering phenomenon in classic sliding mode control (SMC) is attenuated with F(R)OSMC system. A fuzzy logic inference scheme (FLIS) is utilized to obtain the gain of switching control. Simulations and experiments demonstrate that the proposed FROSMC not only achieve better control performance with smaller chatting than that with integer order sliding mode control, but also is robust to external load disturbance and parameter variations. Copyright © 2012 ISA. Published by Elsevier Ltd. All rights reserved.

  3. Sliding Mode Tracking Control of a Wire-Driven Upper-Limb Rehabilitation Robot with Nonlinear Disturbance Observer.

    PubMed

    Niu, Jie; Yang, Qianqian; Wang, Xiaoyun; Song, Rong

    2017-01-01

    Robot-aided rehabilitation has become an important technology to restore and reinforce motor functions of patients with extremity impairment, whereas it can be extremely challenging to achieve satisfactory tracking performance due to uncertainties and disturbances during rehabilitation training. In this paper, a wire-driven rehabilitation robot that can work over a three-dimensional space is designed for upper-limb rehabilitation, and sliding mode control with nonlinear disturbance observer is designed for the robot to deal with the problem of unpredictable disturbances during robot-assisted training. Then, simulation and experiments of trajectory tracking are carried out to evaluate the performance of the system, the position errors, and the output forces of the designed control scheme are compared with those of the traditional sliding mode control (SMC) scheme. The results show that the designed control scheme can effectively reduce the tracking errors and chattering of the output forces as compared with the traditional SMC scheme, which indicates that the nonlinear disturbance observer can reduce the effect of unpredictable disturbances. The designed control scheme for the wire-driven rehabilitation robot has potential to assist patients with stroke in performing repetitive rehabilitation training.

  4. Robust current control-based generalized predictive control with sliding mode disturbance compensation for PMSM drives.

    PubMed

    Liu, Xudong; Zhang, Chenghui; Li, Ke; Zhang, Qi

    2017-11-01

    This paper addresses the current control of permanent magnet synchronous motor (PMSM) for electric drives with model uncertainties and disturbances. A generalized predictive current control method combined with sliding mode disturbance compensation is proposed to satisfy the requirement of fast response and strong robustness. Firstly, according to the generalized predictive control (GPC) theory based on the continuous time model, a predictive current control method is presented without considering the disturbance, which is convenient to be realized in the digital controller. In fact, it's difficult to derive the exact motor model and parameters in the practical system. Thus, a sliding mode disturbance compensation controller is studied to improve the adaptiveness and robustness of the control system. The designed controller attempts to combine the merits of both predictive control and sliding mode control, meanwhile, the controller parameters are easy to be adjusted. Lastly, the proposed controller is tested on an interior PMSM by simulation and experiment, and the results indicate that it has good performance in both current tracking and disturbance rejection. Copyright © 2017 ISA. Published by Elsevier Ltd. All rights reserved.

  5. Implementation of fuzzy-sliding mode based control of a grid connected photovoltaic system.

    PubMed

    Menadi, Abdelkrim; Abdeddaim, Sabrina; Ghamri, Ahmed; Betka, Achour

    2015-09-01

    The present work describes an optimal operation of a small scale photovoltaic system connected to a micro-grid, based on both sliding mode and fuzzy logic control. Real time implementation is done through a dSPACE 1104 single board, controlling a boost chopper on the PV array side and a voltage source inverter (VSI) on the grid side. The sliding mode controller tracks permanently the maximum power of the PV array regardless of atmospheric condition variations, while The fuzzy logic controller (FLC) regulates the DC-link voltage, and ensures via current control of the VSI a quasi-total transit of the extracted PV power to the grid under a unity power factor operation. Simulation results, carried out via Matlab-Simulink package were approved through experiment, showing the effectiveness of the proposed control techniques. Copyright © 2015. Published by Elsevier Ltd.

  6. Time-scaling based sliding mode control for Neuromuscular Electrical Stimulation under uncertain relative degrees.

    PubMed

    Oliveira, Tiago Roux; Costa, Luiz Rennó; Catunda, João Marcos Yamasaki; Pino, Alexandre Visintainer; Barbosa, William; Souza, Márcio Nogueira de

    2017-06-01

    This paper addresses the application of the sliding mode approach to control the arm movements by artificial recruitment of muscles using Neuromuscular Electrical Stimulation (NMES). Such a technique allows the activation of motor nerves using surface electrodes. The goal of the proposed control system is to move the upper limbs of subjects through electrical stimulation to achieve a desired elbow angular displacement. Since the human neuro-motor system has individual characteristics, being time-varying, nonlinear and subject to uncertainties, the use of advanced robust control schemes may represent a better solution than classical Proportional-Integral (PI) controllers and model-based approaches, being simpler than more sophisticated strategies using fuzzy logic or neural networks usually applied in this control problem. The objective is the introduction of a new time-scaling base sliding mode control (SMC) strategy for NMES and its experimental evaluation. The main qualitative advantages of the proposed controller via time-scaling procedure are its independence of the knowledge of the plant relative degree and the design/tuning simplicity. The developed sliding mode strategy allows for chattering alleviation due to the impact of the integrator in smoothing the control signal. In addition, no differentiator is applied to construct the sliding surface. The stability analysis of the closed-loop system is also carried out by using singular perturbation methods. Experimental results are conducted with healthy volunteers as well as stroke patients. Quantitative results show a reduction of 45% in terms of root mean square (RMS) error (from 5.9° to [Formula: see text] ) in comparison with PI control scheme, which is similar to that obtained in the literature. Copyright © 2017 IPEM. Published by Elsevier Ltd. All rights reserved.

  7. Adaptive terminal sliding mode control for hypersonic flight vehicles with strictly lower convex function based nonlinear disturbance observer.

    PubMed

    Wu, Yun-Jie; Zuo, Jing-Xing; Sun, Liang-Hua

    2017-11-01

    In this paper, the altitude and velocity tracking control of a generic hypersonic flight vehicle (HFV) is considered. A novel adaptive terminal sliding mode controller (ATSMC) with strictly lower convex function based nonlinear disturbance observer (SDOB) is proposed for the longitudinal dynamics of HFV in presence of both parametric uncertainties and external disturbances. First, for the sake of enhancing the anti-interference capability, SDOB is presented to estimate and compensate the equivalent disturbances by introducing a strictly lower convex function. Next, the SDOB based ATSMC (SDOB-ATSMC) is proposed to guarantee the system outputs track the reference trajectory. Then, stability of the proposed control scheme is analyzed by the Lyapunov function method. Compared with other HFV control approaches, key novelties of SDOB-ATSMC are that a novel SDOB is proposed and drawn into the (virtual) control laws to compensate the disturbances and that several adaptive laws are used to deal with the differential explosion problem. Finally, it is illustrated by the simulation results that the new method exhibits an excellent robustness and a better disturbance rejection performance than the convention approach. Copyright © 2017 ISA. Published by Elsevier Ltd. All rights reserved.

  8. Decentralized Sliding Mode Observer Based Dual Closed-Loop Fault Tolerant Control for Reconfigurable Manipulator against Actuator Failure.

    PubMed

    Zhao, Bo; Li, Chenghao; Liu, Derong; Li, Yuanchun

    2015-01-01

    This paper considers a decentralized fault tolerant control (DFTC) scheme for reconfigurable manipulators. With the appearance of norm-bounded failure, a dual closed-loop trajectory tracking control algorithm is proposed on the basis of the Lyapunov stability theory. Characterized by the modularization property, the actuator failure is estimated by the proposed decentralized sliding mode observer (DSMO). Moreover, the actuator failure can be treated in view of the local joint information, so its control performance degradation is independent of other normal joints. In addition, the presented DFTC scheme is significantly simplified in terms of the structure of the controller due to its dual closed-loop architecture, and its feasibility is highly reflected in the control of reconfigurable manipulators. Finally, the effectiveness of the proposed DFTC scheme is demonstrated using simulations.

  9. Decentralized Sliding Mode Observer Based Dual Closed-Loop Fault Tolerant Control for Reconfigurable Manipulator against Actuator Failure

    PubMed Central

    Zhao, Bo; Li, Yuanchun

    2015-01-01

    This paper considers a decentralized fault tolerant control (DFTC) scheme for reconfigurable manipulators. With the appearance of norm-bounded failure, a dual closed-loop trajectory tracking control algorithm is proposed on the basis of the Lyapunov stability theory. Characterized by the modularization property, the actuator failure is estimated by the proposed decentralized sliding mode observer (DSMO). Moreover, the actuator failure can be treated in view of the local joint information, so its control performance degradation is independent of other normal joints. In addition, the presented DFTC scheme is significantly simplified in terms of the structure of the controller due to its dual closed-loop architecture, and its feasibility is highly reflected in the control of reconfigurable manipulators. Finally, the effectiveness of the proposed DFTC scheme is demonstrated using simulations. PMID:26181826

  10. Research on the Diesel Engine with Sliding Mode Variable Structure Theory

    NASA Astrophysics Data System (ADS)

    Ma, Zhexuan; Mao, Xiaobing; Cai, Le

    2018-05-01

    This study constructed the nonlinear mathematical model of the diesel engine high-pressure common rail (HPCR) system through two polynomial fitting which was treated as a kind of affine nonlinear system. Based on sliding-mode variable structure control (SMVSC) theory, a sliding-mode controller for affine nonlinear systems was designed for achieving the control of common rail pressure and the diesel engine’s rotational speed. Finally, on the simulation platform of MATLAB, the designed nonlinear HPCR system was simulated. The simulation results demonstrated that sliding-mode variable structure control algorithm shows favourable control performances which are overcoming the shortcomings of traditional PID control in overshoot, parameter adjustment, system precision, adjustment time and ascending time.

  11. Exact docking flight controller for autonomous aerial refueling with back-stepping based high order sliding mode

    NASA Astrophysics Data System (ADS)

    Su, Zikang; Wang, Honglun; Li, Na; Yu, Yue; Wu, Jianfa

    2018-02-01

    Autonomous aerial refueling (AAR) exact docking control has always been an intractable problem due to the strong nonlinearity, the tight coupling of the 6 DOF aircraft model and the complex disturbances of the multiple environment flows. In this paper, the strongly coupled nonlinear 6 DOF model of the receiver aircraft which considers the multiple flow disturbances is established in the affine nonlinear form to facilitate the nonlinear controller design. The items reflecting the influence of the unknown flow disturbances in the receiver dynamics are taken as the components of the "lumped disturbances" together with the items which have no linear correlation with the virtual control variables. These unmeasurable lumped disturbances are estimated and compensated by a specially designed high order sliding mode observer (HOSMO) with excellent estimation property. With the compensation of the estimated lumped disturbances, a back-stepping high order sliding mode based exact docking flight controller is proposed for AAR in the presence of multiple flow disturbances. Extensive simulation results demonstrate the feasibility and superiority of the proposed docking controller.

  12. Chattering-Free Sliding Mode Control with Unmodeled Dynamics

    NASA Technical Reports Server (NTRS)

    Krupp, Don; Shtessel, Yuri B.

    1999-01-01

    Sliding mode control systems are valued for their robust accommodation of uncertainties and their ability to reject disturbances. In this paper, a design methodology is proposed to eliminate the chattering phenomenon affecting sliding mode controlled plants with input unmodeled actuator dynamics of second order or greater. The proposed controller design is based on the relative degrees of the plant and the unmodeled actuator dynamics and the ranges of the uncertainties of the plant and actuator. The controller utilizes the pass filter characteristics of the physical actuating device to provide a smoothing effect on the discontinuous control signal rather than introducing any artificial dynamics into the controller design thus eliminating chattering in the system's output response.

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

    PubMed

    Song, Zhankui; Li, Hongxing; Sun, Kaibiao

    2014-01-01

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

  14. A fuzzy logic sliding mode controlled electronic differential for a direct wheel drive EV

    NASA Astrophysics Data System (ADS)

    Ozkop, Emre; Altas, Ismail H.; Okumus, H. Ibrahim; Sharaf, Adel M.

    2015-11-01

    In this study, a direct wheel drive electric vehicle based on an electronic differential system with a fuzzy logic sliding mode controller (FLSMC) is studied. The conventional sliding surface is modified using a fuzzy rule base to obtain fuzzy dynamic sliding surfaces by changing its slopes using the global error and its derivative in a fuzzy logic inference system. The controller is compared with proportional-integral-derivative (PID) and sliding mode controllers (SMCs), which are usually preferred to be used in industry. The proposed controller provides robustness and flexibility to direct wheel drive electric vehicles. The fuzzy logic sliding mode controller, electronic differential system and the overall electrical vehicle mechanism are modelled and digitally simulated by using the Matlab software. Simulation results show that the system with FLSMC has better efficiency and performance compared to those of PID and SMCs.

  15. Finite-time output feedback control of uncertain switched systems via sliding mode design

    NASA Astrophysics Data System (ADS)

    Zhao, Haijuan; Niu, Yugang; Song, Jun

    2018-04-01

    The problem of sliding mode control (SMC) is investigated for a class of uncertain switched systems subject to unmeasurable state and assigned finite (possible short) time constraint. A key issue is how to ensure the finite-time boundedness (FTB) of system state during reaching phase and sliding motion phase. To this end, a state observer is constructed to estimate the unmeasured states. And then, a state estimate-based SMC law is designed such that the state trajectories can be driven onto the specified integral sliding surface during the assigned finite time interval. By means of partitioning strategy, the corresponding FTB over reaching phase and sliding motion phase are guaranteed and the sufficient conditions are derived via average dwell time technique. Finally, an illustrative example is given to illustrate the proposed method.

  16. A new optimal sliding mode controller design using scalar sign function.

    PubMed

    Singla, Mithun; Shieh, Leang-San; Song, Gangbing; Xie, Linbo; Zhang, Yongpeng

    2014-03-01

    This paper presents a new optimal sliding mode controller using the scalar sign function method. A smooth, continuous-time scalar sign function is used to replace the discontinuous switching function in the design of a sliding mode controller. The proposed sliding mode controller is designed using an optimal Linear Quadratic Regulator (LQR) approach. The sliding surface of the system is designed using stable eigenvectors and the scalar sign function. Controller simulations are compared with another existing optimal sliding mode controller. To test the effectiveness of the proposed controller, the controller is implemented on an aluminum beam with piezoceramic sensor and actuator for vibration control. This paper includes the control design and stability analysis of the new optimal sliding mode controller, followed by simulation and experimental results. The simulation and experimental results show that the proposed approach is very effective. © 2013 ISA. Published by Elsevier Ltd. All rights reserved.

  17. Sliding-Mode Control Applied for Robust Control of a Highly Unstable Aircraft

    NASA Technical Reports Server (NTRS)

    Vetter, Travis Kenneth

    2002-01-01

    An investigation into the application of an observer based sliding mode controller for robust control of a highly unstable aircraft and methods of compensating for actuator dynamics is performed. After a brief overview of some reconfigurable controllers, sliding mode control (SMC) is selected because of its invariance properties and lack of need for parameter identification. SMC is reviewed and issues with parasitic dynamics, which cause system instability, are addressed. Utilizing sliding manifold boundary layers, the nonlinear control is converted to a linear control and sliding manifold design is performed in the frequency domain. An additional feedback form of model reference hedging is employed which is similar to a prefilter and has large benefits to system performance. The effects of inclusion of actuator dynamics into the designed plant is heavily investigated. Multiple Simulink models of the full longitudinal dynamics and wing deflection modes of the forward swept aero elastic vehicle (FSAV) are constructed. Additionally a linear state space models to analyze effects from various system parameters. The FSAV has a pole at +7 rad/sec and is non-minimum phase. The use of 'model actuators' in the feedback path, and varying there design, is heavily investigated for the resulting effects on plant robustness and tolerance to actuator failure. The use of redundant actuators is also explored and improved robustness is shown. All models are simulated with severe failure and excellent tracking, and task dependent handling qualities, and low pilot induced oscillation tendency is shown.

  18. A novel continuous fractional sliding mode control

    NASA Astrophysics Data System (ADS)

    Muñoz-Vázquez, A. J.; Parra-Vega, V.; Sánchez-Orta, A.

    2017-10-01

    A new fractional-order controller is proposed, whose novelty is twofold: (i) it withstands a class of continuous but not necessarily differentiable disturbances as well as uncertainties and unmodelled dynamics, and (ii) based on a principle of dynamic memory resetting of the differintegral operator, it is enforced an invariant sliding mode in finite time. Both (i) and (ii) account for exponential convergence of tracking errors, where such principle is instrumental to demonstrate the closed-loop stability, robustness and a sustained sliding motion, as well as that high frequencies are filtered out from the control signal. The proposed methodology is illustrated with a representative simulation study.

  19. Suboptimal artificial potential function sliding mode control for spacecraft rendezvous with obstacle avoidance

    NASA Astrophysics Data System (ADS)

    Cao, Lu; Qiao, Dong; Xu, Jingwen

    2018-02-01

    Sub-Optimal Artificial Potential Function Sliding Mode Control (SOAPF-SMC) is proposed for the guidance and control of spacecraft rendezvous considering the obstacles avoidance, which is derived based on the theories of artificial potential function (APF), sliding mode control (SMC) and state dependent riccati equation (SDRE) technique. This new methodology designs a new improved APF to describe the potential field. It can guarantee the value of potential function converge to zero at the desired state. Moreover, the nonlinear terminal sliding mode is introduced to design the sliding mode surface with the potential gradient of APF, which offer a wide variety of controller design alternatives with fast and finite time convergence. Based on the above design, the optimal control theory (SDRE) is also employed to optimal the shape parameter of APF, in order to add some degree of optimality in reducing energy consumption. The new methodology is applied to spacecraft rendezvous with the obstacles avoidance problem, which is simulated to compare with the traditional artificial potential function sliding mode control (APF-SMC) and SDRE to evaluate the energy consumption and control precision. It is demonstrated that the presented method can avoiding dynamical obstacles whilst satisfying the requirements of autonomous rendezvous. In addition, it can save more energy than the traditional APF-SMC and also have better control accuracy than the SDRE.

  20. Optimal Guaranteed Cost Sliding Mode Control for Constrained-Input Nonlinear Systems With Matched and Unmatched Disturbances.

    PubMed

    Zhang, Huaguang; Qu, Qiuxia; Xiao, Geyang; Cui, Yang

    2018-06-01

    Based on integral sliding mode and approximate dynamic programming (ADP) theory, a novel optimal guaranteed cost sliding mode control is designed for constrained-input nonlinear systems with matched and unmatched disturbances. When the system moves on the sliding surface, the optimal guaranteed cost control problem of sliding mode dynamics is transformed into the optimal control problem of a reformulated auxiliary system with a modified cost function. The ADP algorithm based on single critic neural network (NN) is applied to obtain the approximate optimal control law for the auxiliary system. Lyapunov techniques are used to demonstrate the convergence of the NN weight errors. In addition, the derived approximate optimal control is verified to guarantee the sliding mode dynamics system to be stable in the sense of uniform ultimate boundedness. Some simulation results are presented to verify the feasibility of the proposed control scheme.

  1. Phase-synchroniser based on gm-C all-pass filter chain with sliding mode control

    NASA Astrophysics Data System (ADS)

    Mitić, Darko B.; Jovanović, Goran S.; Stojčev, Mile K.; Antić, Dragan S.

    2015-03-01

    Phase-synchronisers have many applications in VLSI circuit designs. They are used in CMOS RF circuits including phase (de)modulators, phase recovery circuits, multiphase synthesis, etc. In this article, a phase-synchroniser based on gm-C all-pass filter chain with sliding mode control is presented. The filter chain provides good controllable delay characteristics over the full range of phase and frequency regulation, without deterioration of input signal amplitude and waveform, while the sliding mode control enables us to achieve fast and predetermined finite locking time. IHP 0.25 µm SiGe BiCMOS technology has been used in design and verification processes. The circuit operates in the frequency range from 33 MHz up to 150 MHz. Simulation results indicate that it is possible to achieve very fast synchronisation time period, which is approximately four time intervals of the input signal during normal operation, and 20 time intervals during power-on.

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

    PubMed

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

    2017-09-19

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

  3. Stabilization and tracking control of X-Z inverted pendulum with sliding-mode control.

    PubMed

    Wang, Jia-Jun

    2012-11-01

    X-Z inverted pendulum is a new kind of inverted pendulum which can move with the combination of the vertical and horizontal forces. Through a new transformation, the X-Z inverted pendulum is decomposed into three simple models. Based on the simple models, sliding-mode control is applied to stabilization and tracking control of the inverted pendulum. The performance of the sliding mode control is compared with that of the PID control. Simulation results show that the design scheme of sliding-mode control is effective for the stabilization and tracking control of the X-Z inverted pendulum. Copyright © 2012 ISA. Published by Elsevier Ltd. All rights reserved.

  4. Reusable Launch Vehicle Control in Multiple Time Scale Sliding Modes

    NASA Technical Reports Server (NTRS)

    Shtessel, Yuri

    1999-01-01

    A reusable launch vehicle control problem during ascent is addressed via multiple-time scaled continuous sliding mode control. The proposed sliding mode controller utilizes a two-loop structure and provides robust, de-coupled tracking of both orientation angle command profiles and angular rate command profiles in the presence of bounded external disturbances and plant uncertainties. Sliding mode control causes the angular rate and orientation angle tracking error dynamics to be constrained to linear, de-coupled, homogeneous, and vector valued differential equations with desired eigenvalues placement. The dual-time scale sliding mode controller was designed for the X-33 technology demonstration sub-orbital launch vehicle in the launch mode. 6DOF simulation results show that the designed controller provides robust, accurate, de-coupled tracking of the orientation angle command profiles in presence of external disturbances and vehicle inertia uncertainties. It creates possibility to operate the X-33 vehicle in an aircraft-like mode with reduced pre-launch adjustment of the control system.

  5. Trajectory control method of stratospheric airship based on the sliding mode control and prediction in wind field

    NASA Astrophysics Data System (ADS)

    Zhang, Jia-shi; Yang, Xi-xiang

    2017-11-01

    The stratospheric airship has the characteristics of large inertia, long time delay and large disturbance of wind field , so the trajectory control is very difficult .Build the lateral three degrees of freedom dynamic model which consider the wind interference , the dynamics equation is linearized by the small perturbation theory, propose a trajectory control method Combine with the sliding mode control and prediction, design the trajectory controller , takes the HAA airship as the reference to carry out simulation analysis. Results show that the improved sliding mode control with front-feedback method not only can solve well control problems of airship trajectory in wind field, but also can effectively improve the control accuracy of the traditional sliding mode control method, solved problems that using the traditional sliding mode control to control. It provides a useful reference for dynamic modeling and trajectory control of stratospheric airship.

  6. Integral backstepping sliding mode control for underactuated systems: swing-up and stabilization of the Cart-Pendulum System.

    PubMed

    Adhikary, Nabanita; Mahanta, Chitralekha

    2013-11-01

    In this paper an integral backstepping sliding mode controller is proposed for controlling underactuated systems. A feedback control law is designed based on backstepping algorithm and a sliding surface is introduced in the final stage of the algorithm. The backstepping algorithm makes the controller immune to matched and mismatched uncertainties and the sliding mode control provides robustness. The proposed controller ensures asymptotic stability. The effectiveness of the proposed controller is compared against a coupled sliding mode controller for swing-up and stabilization of the Cart-Pendulum System. Simulation results show that the proposed integral backstepping sliding mode controller is able to reject both matched and mismatched uncertainties with a chattering free control law, while utilizing less control effort than the sliding mode controller. Copyright © 2013 ISA. Published by Elsevier Ltd. All rights reserved.

  7. Sequence-dependent nucleosome sliding in rotation-coupled and uncoupled modes revealed by molecular simulations

    PubMed Central

    Tan, Cheng; Takada, Shoji

    2017-01-01

    While nucleosome positioning on eukaryotic genome play important roles for genetic regulation, molecular mechanisms of nucleosome positioning and sliding along DNA are not well understood. Here we investigated thermally-activated spontaneous nucleosome sliding mechanisms developing and applying a coarse-grained molecular simulation method that incorporates both long-range electrostatic and short-range hydrogen-bond interactions between histone octamer and DNA. The simulations revealed two distinct sliding modes depending on the nucleosomal DNA sequence. A uniform DNA sequence showed frequent sliding with one base pair step in a rotation-coupled manner, akin to screw-like motions. On the contrary, a strong positioning sequence, the so-called 601 sequence, exhibits rare, abrupt transitions of five and ten base pair steps without rotation. Moreover, we evaluated the importance of hydrogen bond interactions on the sliding mode, finding that strong and weak bonds favor respectively the rotation-coupled and -uncoupled sliding movements. PMID:29194442

  8. Nonlinear observation of internal states of fuel cell cathode utilizing a high-order sliding-mode algorithm

    NASA Astrophysics Data System (ADS)

    Xu, Liangfei; Hu, Junming; Cheng, Siliang; Fang, Chuan; Li, Jianqiu; Ouyang, Minggao; Lehnert, Werner

    2017-07-01

    A scheme for designing a second-order sliding-mode (SOSM) observer that estimates critical internal states on the cathode side of a polymer electrolyte membrane (PEM) fuel cell system is presented. A nonlinear, isothermal dynamic model for the cathode side and a membrane electrolyte assembly are first described. A nonlinear observer topology based on an SOSM algorithm is then introduced, and equations for the SOSM observer deduced. Online calculation of the inverse matrix produces numerical errors, so a modified matrix is introduced to eliminate the negative effects of these on the observer. The simulation results indicate that the SOSM observer performs well for the gas partial pressures and air stoichiometry. The estimation results follow the simulated values in the model with relative errors within ± 2% at stable status. Large errors occur during the fast dynamic processes (<1 s). Moreover, the nonlinear observer shows good robustness against variations in the initial values of the internal states, but less robustness against variations in system parameters. The partial pressures are more sensitive than the air stoichiometry to system parameters. Finally, the order of effects of parameter uncertainties on the estimation results is outlined and analyzed.

  9. Robust sliding mode control applied to double Inverted pendulum system

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

    Mahjoub, Sonia; Derbel, Nabil; Mnif, Faical

    A three hierarchical sliding mode control is presented for a class of an underactuated system which can overcome the mismatched perturbations. The considered underactuated system is a double inverted pendulum (DIP), can be modeled by three subsystems. Such structure allows the construction of several designs of hierarchies for the controller. For all hierarchical designs, the asymptotic stability of every layer sliding mode surface and the sliding mode surface of subsystems are proved theoretically by Barbalat's lemma. Simulation results show the validity of these methods.

  10. Chaos synchronization of uncertain chaotic systems using composite nonlinear feedback based integral sliding mode control.

    PubMed

    Mobayen, Saleh

    2018-06-01

    This paper proposes a combination of composite nonlinear feedback and integral sliding mode techniques for fast and accurate chaos synchronization of uncertain chaotic systems with Lipschitz nonlinear functions, time-varying delays and disturbances. The composite nonlinear feedback method allows accurate following of the master chaotic system and the integral sliding mode control provides invariance property which rejects the perturbations and preserves the stability of the closed-loop system. Based on the Lyapunov- Krasovskii stability theory and linear matrix inequalities, a novel sufficient condition is offered for the chaos synchronization of uncertain chaotic systems. This method not only guarantees the robustness against perturbations and time-delays, but also eliminates reaching phase and avoids chattering problem. Simulation results demonstrate that the suggested procedure leads to a great control performance. Copyright © 2018 ISA. Published by Elsevier Ltd. All rights reserved.

  11. A novel guidance law using fast terminal sliding mode control with impact angle constraints.

    PubMed

    Sun, Lianghua; Wang, Weihong; Yi, Ran; Xiong, Shaofeng

    2016-09-01

    This paper is concerned with the question of, for a missile interception with impact angle constraints, how to design a guidance law. Firstly, missile interception with impact angle constraints is modeled; secondly, a novel guidance law using fast terminal sliding mode control based on extended state observer is proposed to optimize the trajectory and time of interception; finally, for stationary targets, constant velocity targets and maneuvering targets, the guidance law and the stability of the closed loop system is analyzed and the stability of the closed loop system is analyzed, respectively. Simulation results show that when missile and target are on a collision course, the novel guidance law using fast terminal sliding mode control with extended state observer has more optimized trajectory and effectively reduces the time of interception which has a great significance in modern warfare. Copyright © 2016 ISA. Published by Elsevier Ltd. All rights reserved.

  12. Vibration suppression in flexible structures via the sliding-mode control approach

    NASA Technical Reports Server (NTRS)

    Drakunov, S.; Oezguener, Uemit

    1994-01-01

    Sliding mode control became very popular recently because it makes the closed loop system highly insensitive to external disturbances and parameter variations. Sliding algorithms for flexible structures have been used previously, but these were based on finite-dimensional models. An extension of this approach for differential-difference systems is obtained. That makes if possible to apply sliding-mode control algorithms to the variety of nondispersive flexible structures which can be described as differential-difference systems. The main idea of using this technique for dispersive structures is to reduce the order of the controlled part of the system by applying an integral transformation. We can say that transformation 'absorbs' the dispersive properties of the flexible structure as the controlled part becomes dispersive.

  13. Sliding Mode Thermal Control System for Space Station Furnace Facility

    NASA Technical Reports Server (NTRS)

    Jackson Mark E.; Shtessel, Yuri B.

    1998-01-01

    The decoupled control of the nonlinear, multiinput-multioutput, and highly coupled space station furnace facility (SSFF) thermal control system is addressed. Sliding mode control theory, a subset of variable-structure control theory, is employed to increase the performance, robustness, and reliability of the SSFF's currently designed control system. This paper presents the nonlinear thermal control system description and develops the sliding mode controllers that cause the interconnected subsystems to operate in their local sliding modes, resulting in control system invariance to plant uncertainties and external and interaction disturbances. The desired decoupled flow-rate tracking is achieved by optimization of the local linear sliding mode equations. The controllers are implemented digitally and extensive simulation results are presented to show the flow-rate tracking robustness and invariance to plant uncertainties, nonlinearities, external disturbances, and variations of the system pressure supplied to the controlled subsystems.

  14. Second order sliding mode control for a quadrotor UAV.

    PubMed

    Zheng, En-Hui; Xiong, Jing-Jing; Luo, Ji-Liang

    2014-07-01

    A method based on second order sliding mode control (2-SMC) is proposed to design controllers for a small quadrotor UAV. For the switching sliding manifold design, the selection of the coefficients of the switching sliding manifold is in general a sophisticated issue because the coefficients are nonlinear. In this work, in order to perform the position and attitude tracking control of the quadrotor perfectly, the dynamical model of the quadrotor is divided into two subsystems, i.e., a fully actuated subsystem and an underactuated subsystem. For the former, a sliding manifold is defined by combining the position and velocity tracking errors of one state variable, i.e., the sliding manifold has two coefficients. For the latter, a sliding manifold is constructed via a linear combination of position and velocity tracking errors of two state variables, i.e., the sliding manifold has four coefficients. In order to further obtain the nonlinear coefficients of the sliding manifold, Hurwitz stability analysis is used to the solving process. In addition, the flight controllers are derived by using Lyapunov theory, which guarantees that all system state trajectories reach and stay on the sliding surfaces. Extensive simulation results are given to illustrate the effectiveness of the proposed control method. Copyright © 2014 ISA. Published by Elsevier Ltd. All rights reserved.

  15. Sliding Mode Observer-Based Current Sensor Fault Reconstruction and Unknown Load Disturbance Estimation for PMSM Driven System.

    PubMed

    Zhao, Kaihui; Li, Peng; Zhang, Changfan; Li, Xiangfei; He, Jing; Lin, Yuliang

    2017-12-06

    This paper proposes a new scheme of reconstructing current sensor faults and estimating unknown load disturbance for a permanent magnet synchronous motor (PMSM)-driven system. First, the original PMSM system is transformed into two subsystems; the first subsystem has unknown system load disturbances, which are unrelated to sensor faults, and the second subsystem has sensor faults, but is free from unknown load disturbances. Introducing a new state variable, the augmented subsystem that has sensor faults can be transformed into having actuator faults. Second, two sliding mode observers (SMOs) are designed: the unknown load disturbance is estimated by the first SMO in the subsystem, which has unknown load disturbance, and the sensor faults can be reconstructed using the second SMO in the augmented subsystem, which has sensor faults. The gains of the proposed SMOs and their stability analysis are developed via the solution of linear matrix inequality (LMI). Finally, the effectiveness of the proposed scheme was verified by simulations and experiments. The results demonstrate that the proposed scheme can reconstruct current sensor faults and estimate unknown load disturbance for the PMSM-driven system.

  16. Smith predictor with sliding mode control for processes with large dead times

    NASA Astrophysics Data System (ADS)

    Mehta, Utkal; Kaya, İbrahim

    2017-11-01

    The paper discusses the Smith Predictor scheme with Sliding Mode Controller (SP-SMC) for processes with large dead times. This technique gives improved load-disturbance rejection with optimum input control signal variations. A power rate reaching law is incorporated in the sporadic part of sliding mode control such that the overall performance recovers meaningfully. The proposed scheme obtains parameter values by satisfying a new performance index which is based on biobjective constraint. In simulation study, the efficiency of the method is evaluated for robustness and transient performance over reported techniques.

  17. Sliding Mode Control of Real-Time PNU Vehicle Driving Simulator and Its Performance Evaluation

    NASA Astrophysics Data System (ADS)

    Lee, Min Cheol; Park, Min Kyu; Yoo, Wan Suk; Son, Kwon; Han, Myung Chul

    This paper introduces an economical and effective full-scale driving simulator for study of human sensibility and development of new vehicle parts and its control. Real-time robust control to accurately reappear a various vehicle motion may be a difficult task because the motion platform is the nonlinear complex system. This study proposes the sliding mode controller with a perturbation compensator using observer-based fuzzy adaptive network (FAN). This control algorithm is designed to solve the chattering problem of a sliding mode control and to select the adequate fuzzy parameters of the perturbation compensator. For evaluating the trajectory control performance of the proposed approach, a tracking control of the developed simulator named PNUVDS is experimentally carried out. And then, the driving performance of the simulator is evaluated by using human perception and sensibility of some drivers in various driving conditions.

  18. Backstepping sliding mode control with functional tuning based on an instantaneous power approach applied to an underwater vehicle

    NASA Astrophysics Data System (ADS)

    Santos, Carlos Henrique Farias dos; Cildoz, Mariana Uzeda; Terra, Marco Henrique; De Pieri, Edson Roberto

    2018-03-01

    In this paper, we present a modified backstepping sliding mode control to deal with Euler-Lagrange systems. The controller is applied in an underwater vehicle in order to show the effectiveness of the approach proposed. Instantaneous power data provided by the propulsion system are used to tune the controller in order to guarantee robust performance and energy saving. Thanks to the combination of an internal Proportional Integral and Derivative (PID) controller, it is possible implement high gains to deal with the influence of disturbances and uncertainties. A comparative study among this backstepping sliding mode controller and standard sliding mode controls is presented.

  19. Reusable Launch Vehicle Control In Multiple Time Scale Sliding Modes

    NASA Technical Reports Server (NTRS)

    Shtessel, Yuri; Hall, Charles; Jackson, Mark

    2000-01-01

    A reusable launch vehicle control problem during ascent is addressed via multiple-time scaled continuous sliding mode control. The proposed sliding mode controller utilizes a two-loop structure and provides robust, de-coupled tracking of both orientation angle command profiles and angular rate command profiles in the presence of bounded external disturbances and plant uncertainties. Sliding mode control causes the angular rate and orientation angle tracking error dynamics to be constrained to linear, de-coupled, homogeneous, and vector valued differential equations with desired eigenvalues placement. Overall stability of a two-loop control system is addressed. An optimal control allocation algorithm is designed that allocates torque commands into end-effector deflection commands, which are executed by the actuators. The dual-time scale sliding mode controller was designed for the X-33 technology demonstration sub-orbital launch vehicle in the launch mode. Simulation results show that the designed controller provides robust, accurate, de-coupled tracking of the orientation angle command profiles in presence of external disturbances and vehicle inertia uncertainties. This is a significant advancement in performance over that achieved with linear, gain scheduled control systems currently being used for launch vehicles.

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

    PubMed

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

    2010-07-01

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

  1. Sliding mode-based lateral vehicle dynamics control using tyre force measurements

    NASA Astrophysics Data System (ADS)

    Kunnappillil Madhusudhanan, Anil; Corno, Matteo; Holweg, Edward

    2015-11-01

    In this work, a lateral vehicle dynamics control based on tyre force measurements is proposed. Most of the lateral vehicle dynamics control schemes are based on yaw rate whereas tyre forces are the most important variables in vehicle dynamics as tyres are the only contact points between the vehicle and road. In the proposed method, active front steering is employed to uniformly distribute the required lateral force among the front left and right tyres. The force distribution is quantified through the tyre utilisation coefficients. In order to address the nonlinearities and uncertainties of the vehicle model, a gain scheduling sliding-mode control technique is used. In addition to stabilising the lateral dynamics, the proposed controller is able to maintain maximum lateral acceleration. The proposed method is tested and validated on a multi-body vehicle simulator.

  2. Finite-time adaptive sliding mode force control for electro-hydraulic load simulator based on improved GMS friction model

    NASA Astrophysics Data System (ADS)

    Kang, Shuo; Yan, Hao; Dong, Lijing; Li, Changchun

    2018-03-01

    This paper addresses the force tracking problem of electro-hydraulic load simulator under the influence of nonlinear friction and uncertain disturbance. A nonlinear system model combined with the improved generalized Maxwell-slip (GMS) friction model is firstly derived to describe the characteristics of load simulator system more accurately. Then, by using particle swarm optimization (PSO) algorithm ​combined with the system hysteresis characteristic analysis, the GMS friction parameters are identified. To compensate for nonlinear friction and uncertain disturbance, a finite-time adaptive sliding mode control method is proposed based on the accurate system model. This controller has the ability to ensure that the system state moves along the nonlinear sliding surface to steady state in a short time as well as good dynamic properties under the influence of parametric uncertainties and disturbance, which further improves the force loading accuracy and rapidity. At the end of this work, simulation and experimental results are employed to demonstrate the effectiveness of the proposed sliding mode control strategy.

  3. Robust adaptive sliding mode control for uncertain systems with unknown time-varying delay input.

    PubMed

    Benamor, Anouar; Messaoud, Hassani

    2018-05-02

    This article focuses on robust adaptive sliding mode control law for uncertain discrete systems with unknown time-varying delay input, where the uncertainty is assumed unknown. The main results of this paper are divided into three phases. In the first phase, we propose a new sliding surface is derived within the Linear Matrix Inequalities (LMIs). In the second phase, using the new sliding surface, the novel Robust Sliding Mode Control (RSMC) is proposed where the upper bound of uncertainty is supposed known. Finally, the novel approach of Robust Adaptive Sliding ModeControl (RASMC) has been defined for this type of systems, where the upper limit of uncertainty which is assumed unknown. In this new approach, we have estimate the upper limit of uncertainties and we have determined the control law based on a sliding surface that will converge to zero. This novel control laws are been validated in simulation on an uncertain numerical system with good results and comparative study. This efficiency is emphasized through the application of the new controls on the two physical systems which are the process trainer PT326 and hydraulic system two tanks. Published by Elsevier Ltd.

  4. Online Fault Detection of Permanent Magnet Demagnetization for IPMSMs by Nonsingular Fast Terminal-Sliding-Mode Observer

    PubMed Central

    Zhao, Kai-Hui; Chen, Te-Fang; Zhang, Chang-Fan; He, Jing; Huang, Gang

    2014-01-01

    To prevent irreversible demagnetization of a permanent magnet (PM) for interior permanent magnet synchronous motors (IPMSMs) by flux-weakening control, a robust PM flux-linkage nonsingular fast terminal-sliding-mode observer (NFTSMO) is proposed to detect demagnetization faults. First, the IPMSM mathematical model of demagnetization is presented. Second, the construction of the NFTSMO to estimate PM demagnetization faults in IPMSM is described, and a proof of observer stability is given. The fault decision criteria and fault-processing method are also presented. Finally, the proposed scheme was simulated using MATLAB/Simulink and implemented on the RT-LAB platform. A number of robustness tests have been carried out. The scheme shows good performance in spite of speed fluctuations, torque ripples and the uncertainties of stator resistance. PMID:25490582

  5. Online fault detection of permanent magnet demagnetization for IPMSMs by nonsingular fast terminal-sliding-mode observer.

    PubMed

    Zhao, Kai-Hui; Chen, Te-Fang; Zhang, Chang-Fan; He, Jing; Huang, Gang

    2014-12-05

    To prevent irreversible demagnetization of a permanent magnet (PM) for interior permanent magnet synchronous motors (IPMSMs) by flux-weakening control, a robust PM flux-linkage nonsingular fast terminal-sliding-mode observer (NFTSMO) is proposed to detect demagnetization faults. First, the IPMSM mathematical model of demagnetization is presented. Second, the construction of the NFTSMO to estimate PM demagnetization faults in IPMSM is described, and a proof of observer stability is given. The fault decision criteria and fault-processing method are also presented. Finally, the proposed scheme was simulated using MATLAB/Simulink and implemented on the RT-LAB platform. A number of robustness tests have been carried out. The scheme shows good performance in spite of speed fluctuations, torque ripples and the uncertainties of stator resistance.

  6. Sliding Mode Control of the X-33 Vehicle in Launch Mode

    NASA Technical Reports Server (NTRS)

    Shtessel, Yuri; Jackson, Mark; Hall, Charles; Krupp, Don; Hendrix, N. Douglas

    1998-01-01

    The "nested" structure of the control system for the X33 vehicle in launch mode is developed. Employing backstopping concepts, the outer loop (guidance) and the Inner loop (rates) continuous sliding mode controllers are designed. Simulations of the 3-DOF model of the X33 launch vehicle showed an accurate, robust, de-coupled tracking performance.

  7. Sliding Mode Observer-Based Current Sensor Fault Reconstruction and Unknown Load Disturbance Estimation for PMSM Driven System

    PubMed Central

    Li, Xiangfei; Lin, Yuliang

    2017-01-01

    This paper proposes a new scheme of reconstructing current sensor faults and estimating unknown load disturbance for a permanent magnet synchronous motor (PMSM)-driven system. First, the original PMSM system is transformed into two subsystems; the first subsystem has unknown system load disturbances, which are unrelated to sensor faults, and the second subsystem has sensor faults, but is free from unknown load disturbances. Introducing a new state variable, the augmented subsystem that has sensor faults can be transformed into having actuator faults. Second, two sliding mode observers (SMOs) are designed: the unknown load disturbance is estimated by the first SMO in the subsystem, which has unknown load disturbance, and the sensor faults can be reconstructed using the second SMO in the augmented subsystem, which has sensor faults. The gains of the proposed SMOs and their stability analysis are developed via the solution of linear matrix inequality (LMI). Finally, the effectiveness of the proposed scheme was verified by simulations and experiments. The results demonstrate that the proposed scheme can reconstruct current sensor faults and estimate unknown load disturbance for the PMSM-driven system. PMID:29211017

  8. Sliding Mode Control for Discrete-Time Systems With Markovian Packet Dropouts.

    PubMed

    Song, Heran; Chen, Shih-Chi; Yam, Yeung

    2017-11-01

    This paper presents the design of a sliding mode controller for networked control systems subject to successive Markovian packet dropouts. This paper adopts the Gilbert-Elliott channel model to describe the temporal correlation among packet losses, and proposes an update scheme to select the assumed available states for use in a sliding mode control law. A technique used in the theory of discrete-time Markov jump linear systems is applied to tackle the effect of the packet losses. This involves introducing a couple of Lyapunov functions dependent on the indicator functions of the instantaneous packet loss, and proving that the sliding mode controller is able to drive the system state trajectories into the neighborhood of the designed integral sliding surface in mean-square sense given that the corresponding Lyapunov inequalities are satisfied. The system is guaranteed thereafter to remain inside the neighborhood of the sliding surface. Simulated case studies are presented to illustrate the effectiveness of the control law.

  9. Sliding mode control of electromagnetic tethered satellite formation

    NASA Astrophysics Data System (ADS)

    Hallaj, Mohammad Amin Alandi; Assadian, Nima

    2016-08-01

    This paper investigates the control of tethered satellite formation actuated by electromagnetic dipoles and reaction wheels using the robust sliding mode control technique. Generating electromagnetic forces and moments by electric current coils provides an attractive control actuation alternative for tethered satellite system due to the advantages of no propellant consumption and no obligatory rotational motion. Based on a dumbbell model of tethered satellite in which the flexibility and mass of the tether is neglected, the equations of motion in Cartesian coordinate are derived. In this model, the J2 perturbation is taken into account. The far-field and mid-field models of electromagnetic forces and moments of two satellites on each other and the effect of the Earth's magnetic field are presented. A robust sliding mode controller is designed for precise trajectory tracking purposes and to deal with the electromagnetic force and moment uncertainties and external disturbances due to the Earth's gravitational and magnetic fields inaccuracy. Numerical simulation results are presented to validate the effectiveness of the developed controller and its superiority over the linear controller.

  10. On decentralized adaptive full-order sliding mode control of multiple UAVs.

    PubMed

    Xiang, Xianbo; Liu, Chao; Su, Housheng; Zhang, Qin

    2017-11-01

    In this study, a novel decentralized adaptive full-order sliding mode control framework is proposed for the robust synchronized formation motion of multiple unmanned aerial vehicles (UAVs) subject to system uncertainty. First, a full-order sliding mode surface in a decentralized manner is designed to incorporate both the individual position tracking error and the synchronized formation error while the UAV group is engaged in building a certain desired geometric pattern in three dimensional space. Second, a decentralized virtual plant controller is constructed which allows the embedded low-pass filter to attain the chattering free property of the sliding mode controller. In addition, robust adaptive technique is integrated in the decentralized chattering free sliding control design in order to handle unknown bounded uncertainties, without requirements for assuming a priori knowledge of bounds on the system uncertainties as stated in conventional chattering free control methods. Subsequently, system robustness as well as stability of the decentralized full-order sliding mode control of multiple UAVs is synthesized. Numerical simulation results illustrate the effectiveness of the proposed control framework to achieve robust 3D formation flight of the multi-UAV system. Copyright © 2017 ISA. Published by Elsevier Ltd. All rights reserved.

  11. Nonlinear integral sliding mode control design of photovoltaic pumping system: Real time implementation.

    PubMed

    Chihi, Asma; Ben Azza, Hechmi; Jemli, Mohamed; Sellami, Anis

    2017-09-01

    The aim of this paper is to provide high performance control of pumping system. The proposed method is designed by an indirect field oriented control based on Sliding Mode (SM) technique. The first contribution of this work is to design modified switching surfaces which presented by adding an integral action to the considered controlled variables. Then, in order to prevent the chattering phenomenon, modified nonlinear component is developed. The SM concept and a Lyapunov function are combined to compute the Sliding Mode Control (SMC) gains. Besides, the motor performance is validated by numeric simulations and real time implementation using a dSpace system with DS1104 controller board. Also, to show the effectiveness of the proposed approach, the obtained results are compared with other techniques such as conventional PI, Proportional Sliding Mode (PSM) and backstepping controls. Copyright © 2017 ISA. Published by Elsevier Ltd. All rights reserved.

  12. Robust fractional order sliding mode control of doubly-fed induction generator (DFIG)-based wind turbines.

    PubMed

    Ebrahimkhani, Sadegh

    2016-07-01

    Wind power plants have nonlinear dynamics and contain many uncertainties such as unknown nonlinear disturbances and parameter uncertainties. Thus, it is a difficult task to design a robust reliable controller for this system. This paper proposes a novel robust fractional-order sliding mode (FOSM) controller for maximum power point tracking (MPPT) control of doubly fed induction generator (DFIG)-based wind energy conversion system. In order to enhance the robustness of the control system, uncertainties and disturbances are estimated using a fractional order uncertainty estimator. In the proposed method a continuous control strategy is developed to achieve the chattering free fractional order sliding-mode control, and also no knowledge of the uncertainties and disturbances or their bound is assumed. The boundedness and convergence properties of the closed-loop signals are proven using Lyapunov׳s stability theory. Simulation results in the presence of various uncertainties were carried out to evaluate the effectiveness and robustness of the proposed control scheme. Copyright © 2016 ISA. Published by Elsevier Ltd. All rights reserved.

  13. Robust stabilization of underactuated nonlinear systems: A fast terminal sliding mode approach.

    PubMed

    Khan, Qudrat; Akmeliawati, Rini; Bhatti, Aamer Iqbal; Khan, Mahmood Ashraf

    2017-01-01

    This paper presents a fast terminal sliding mode based control design strategy for a class of uncertain underactuated nonlinear systems. Strategically, this development encompasses those electro-mechanical underactuated systems which can be transformed into the so-called regular form. The novelty of the proposed technique lies in the hierarchical development of a fast terminal sliding attractor design for the considered class. Having established sliding mode along the designed manifold, the close loop dynamics become finite time stable which, consequently, result in high precision. In addition, the adverse effects of the chattering phenomenon are reduced via strong reachability condition and the robustness of the system against uncertainties is confirmed theoretically. A simulation as well as experimental study of an inverted pendulum is presented to demonstrate the applicability of the proposed technique. Copyright © 2016 ISA. Published by Elsevier Ltd. All rights reserved.

  14. Improved robustness and performance of discrete time sliding mode control systems.

    PubMed

    Chakrabarty, Sohom; Bartoszewicz, Andrzej

    2016-11-01

    This paper presents a theoretical analysis along with simulations to show that increased robustness can be achieved for discrete time sliding mode control systems by choosing the sliding variable, or the output, to be of relative degree two instead of relative degree one. In other words it successfully reduces the ultimate bound of the sliding variable compared to the ultimate bound for standard discrete time sliding mode control systems. It is also found out that for such a selection of relative degree two output of the discrete time system, the reduced order system during sliding becomes finite time stable in absence of disturbance. With disturbance, it becomes finite time ultimately bounded. Copyright © 2016 ISA. Published by Elsevier Ltd. All rights reserved.

  15. Free-flying dynamics and control of an astronaut assistant robot based on fuzzy sliding mode algorithm

    NASA Astrophysics Data System (ADS)

    Gao, Qing; Liu, Jinguo; Tian, Tongtong; Li, Yangmin

    2017-09-01

    Space robots can perform some tasks in harsh environment as assistants of astronauts or substitutions of astronauts. Taking the limited working time and the arduous task of the astronauts in the space station into account, an astronaut assistant robot (AAR-2) applied in the space station is proposed and designed in this paper. The AAR-2 is achieved with some improvements on the basis of AAR-1 which was designed before. It can exploit its position and attitude sensors and control system to free flight or hover in the space cabin. And it also has a definite environmental awareness and artificial intelligence to complete some specified tasks under the control of astronauts or autonomously. In this paper, it mainly analyzes and controls the 6-DOF motion of the AAR-2. Firstly, the system configuration of AAR-2 is specifically described, and the movement principles are analyzed. Secondly, according to the physical model of the AAR-2, the Newton - Euler equation is applied in the preparation of space dynamics model of 6-DOF motion. Then, according to the mathematical model's characteristics which are nonlinear and strong coupling, a dual closed loop position and attitude controller based on fuzzy sliding mode control is proposed and designed. Finally, simulation experiments are appropriate to provide for AAR-2 control system by using Matlab/Simulink. From the simulation results it can be observed that the designed fuzzy sliding mode controller can control the 6-DOF motion of AAR-2 quickly and precisely.

  16. Sliding Mode Approaches for Robust Control, State Estimation, Secure Communication, and Fault Diagnosis in Nuclear Systems

    NASA Astrophysics Data System (ADS)

    Ablay, Gunyaz

    Using traditional control methods for controller design, parameter estimation and fault diagnosis may lead to poor results with nuclear systems in practice because of approximations and uncertainties in the system models used, possibly resulting in unexpected plant unavailability. This experience has led to an interest in development of robust control, estimation and fault diagnosis methods. One particularly robust approach is the sliding mode control methodology. Sliding mode approaches have been of great interest and importance in industry and engineering in the recent decades due to their potential for producing economic, safe and reliable designs. In order to utilize these advantages, sliding mode approaches are implemented for robust control, state estimation, secure communication and fault diagnosis in nuclear plant systems. In addition, a sliding mode output observer is developed for fault diagnosis in dynamical systems. To validate the effectiveness of the methodologies, several nuclear plant system models are considered for applications, including point reactor kinetics, xenon concentration dynamics, an uncertain pressurizer model, a U-tube steam generator model and a coupled nonlinear nuclear reactor model.

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

    PubMed

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

    2017-09-01

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

  18. A multi-mode operation control strategy for flexible microgrid based on sliding-mode direct voltage and hierarchical controls.

    PubMed

    Zhang, Qinjin; Liu, Yancheng; Zhao, Youtao; Wang, Ning

    2016-03-01

    Multi-mode operation and transient stability are two problems that significantly affect flexible microgrid (MG). This paper proposes a multi-mode operation control strategy for flexible MG based on a three-layer hierarchical structure. The proposed structure is composed of autonomous, cooperative, and scheduling controllers. Autonomous controller is utilized to control the performance of the single micro-source inverter. An adaptive sliding-mode direct voltage loop and an improved droop power loop based on virtual negative impedance are presented respectively to enhance the system disturbance-rejection performance and the power sharing accuracy. Cooperative controller, which is composed of secondary voltage/frequency control and phase synchronization control, is designed to eliminate the voltage/frequency deviations produced by the autonomous controller and prepare for grid connection. Scheduling controller manages the power flow between the MG and the grid. The MG with the improved hierarchical control scheme can achieve seamless transitions from islanded to grid-connected mode and have a good transient performance. In addition the presented work can also optimize the power quality issues and improve the load power sharing accuracy between parallel VSIs. Finally, the transient performance and effectiveness of the proposed control scheme are evaluated by theoretical analysis and simulation results. Copyright © 2015 ISA. Published by Elsevier Ltd. All rights reserved.

  19. Advanced Interval Type-2 Fuzzy Sliding Mode Control for Robot Manipulator.

    PubMed

    Hwang, Ji-Hwan; Kang, Young-Chang; Park, Jong-Wook; Kim, Dong W

    2017-01-01

    In this paper, advanced interval type-2 fuzzy sliding mode control (AIT2FSMC) for robot manipulator is proposed. The proposed AIT2FSMC is a combination of interval type-2 fuzzy system and sliding mode control. For resembling a feedback linearization (FL) control law, interval type-2 fuzzy system is designed. For compensating the approximation error between the FL control law and interval type-2 fuzzy system, sliding mode controller is designed, respectively. The tuning algorithms are derived in the sense of Lyapunov stability theorem. Two-link rigid robot manipulator with nonlinearity is used to test and the simulation results are presented to show the effectiveness of the proposed method that can control unknown system well.

  20. Switching sliding mode force tracking control of piezoelectric-hydraulic pump-based friction element actuation systems for automotive transmissions

    NASA Astrophysics Data System (ADS)

    Kim, Gi-Woo; Wang, K. W.

    2009-08-01

    In this study, a nonlinear sliding-mode controller is designed for force tracking of a piezoelectric-hydraulic pump (PHP)-based actuation system, which is developed to replace the current electro-hydraulic actuation systems for automatic transmission (AT) friction elements, such as band brakes or clutches. By utilizing the PHP, one can eliminate the various hydraulic components (oil pump, regulating valve and control valve) in current ATs and achieve a simpler configuration with more efficient operation. With the derived governing equation of motion of the PHP-based actuation system integrated with the friction element (band brake), a switching control law is synthesized based on the sliding-mode theory. To evaluate the effectiveness of the proposed control law, its force tracking performance for the engagement of a friction element during an AT 1\\to 2 up-shift is examined experimentally. It is shown that one can successfully track the desired force trajectory for AT shift control with small tracking error. This study demonstrates the potential of the PHP as a new controllable actuation system for AT friction elements.

  1. Does the Addition of M-Mode to B-Mode Ultrasound Increase the Accuracy of Identification of Lung Sliding in Traumatic Pneumothoraces?

    PubMed

    Avila, Jacob; Smith, Ben; Mead, Therese; Jurma, Duane; Dawson, Matthew; Mallin, Michael; Dugan, Adam

    2018-04-24

    It is unknown whether the addition of M-mode to B-mode ultrasound (US) has any effect on the overall accuracy of interpretation of lung sliding in the evaluation of a pneumothorax by emergency physicians. This study aimed to determine what effect, if any, this addition has on US interpretation by emergency physicians of varying training levels. One hundred forty emergency physicians were randomized via online software to receive a quiz with B-mode clips alone or B-mode with corresponding M-mode images and asked to identify the presence or absence of lung sliding. The sensitivity, specificity, and accuracy of the diagnosis of lung sliding with and without M-mode US were compared. Overall, the sensitivities, specificities, and accuracies of B-mode + M-mode US versus B-mode US alone were 93.1% and 93.2% (P = .8), 96.0% and 89.8% (P < .0001), and 91.5% and 94.5% (P = .0091), respectively. A subgroup analysis showed that in those providers with fewer than 250 total US scans done previously, M-mode US increased accuracy from 88.2% (95% confidence interval, 86.2%-90.2%) to 94.4% (92.8%-96.0%; P = .001) and increased the specificity from 87.0% (84.5%-89.5%) to 97.2% (95.4%-99.0%; P < .0001) compared with B-mode US alone. There was no statistically significant difference observed in the sensitivity, specificity, and accuracy of B-mode + M-mode US compared with B-mode US alone in those with more than 250 scans. The addition of M-mode images to B-mode clips aids in the accurate diagnosis of lung sliding by emergency physicians. The subgroup analysis showed that the benefit of M-mode US disappears after emergency physicians have performed more than 250 US examinations. © 2018 by the American Institute of Ultrasound in Medicine.

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

    NASA Astrophysics Data System (ADS)

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

    2018-03-01

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

  3. Composite fuzzy sliding mode control of nonlinear singularly perturbed systems.

    PubMed

    Nagarale, Ravindrakumar M; Patre, B M

    2014-05-01

    This paper deals with the robust asymptotic stabilization for a class of nonlinear singularly perturbed systems using the fuzzy sliding mode control technique. In the proposed approach the original system is decomposed into two subsystems as slow and fast models by the singularly perturbed method. The composite fuzzy sliding mode controller is designed for stabilizing the full order system by combining separately designed slow and fast fuzzy sliding mode controllers. The two-time scale design approach minimizes the effect of boundary layer system on the full order system. A stability analysis allows us to provide sufficient conditions for the asymptotic stability of the full order closed-loop system. The simulation results show improved system performance of the proposed controller as compared to existing methods. The experimentation results validate the effectiveness of the proposed controller. Copyright © 2014 ISA. Published by Elsevier Ltd. All rights reserved.

  4. Sliding mode control: an approach to regulate nonlinear chemical processes

    PubMed

    Camacho; Smith

    2000-01-01

    A new approach for the design of sliding mode controllers based on a first-order-plus-deadtime model of the process, is developed. This approach results in a fixed structure controller with a set of tuning equations as a function of the characteristic parameters of the model. The controller performance is judged by simulations on two nonlinear chemical processes.

  5. High-performance fractional order terminal sliding mode control strategy for DC-DC Buck converter

    PubMed Central

    Xu, Dan; Zhou, Huan; Bai, Anning; Lu, Wei

    2017-01-01

    This paper presents an adaption of the fractional order terminal sliding mode control (AFTSMC) strategy for DC-DC Buck converter. The following strategy aims to design a novel nonlinear sliding surface function, with a double closed-loop structure of voltage and current. This strategy is a fusion of two characteristics: terminal sliding mode control (TSMC) and fractional order calculation (FOC). In addition, the influence of “the controller parameters” on the “performance of double closed-loop system” is investigated. It is observed that the value of terminal power has to be chosen to make a compromise between start-up and transient response of the converter. Therefore the AFTSMC strategy chooses the value of the terminal power adaptively, and this strategy can lead to the appropriate number of fractional order as well. Furthermore, through the fractional order analysis, the system can reach the sliding mode surface in a finite time. And the theoretical considerations are verified by numerical simulation. The performance of the AFTSMC and TSMC strategies is tested by computer simulations. And the comparison simulation results show that the AFTSMC exhibits a considerable improvement in terms of a faster output voltage response during load changes. Moreover, AFTSMC obtains a faster dynamical response, smaller steady-state error rate and lower overshoot. PMID:29084255

  6. High-performance fractional order terminal sliding mode control strategy for DC-DC Buck converter.

    PubMed

    Wang, Jianlin; Xu, Dan; Zhou, Huan; Bai, Anning; Lu, Wei

    2017-01-01

    This paper presents an adaption of the fractional order terminal sliding mode control (AFTSMC) strategy for DC-DC Buck converter. The following strategy aims to design a novel nonlinear sliding surface function, with a double closed-loop structure of voltage and current. This strategy is a fusion of two characteristics: terminal sliding mode control (TSMC) and fractional order calculation (FOC). In addition, the influence of "the controller parameters" on the "performance of double closed-loop system" is investigated. It is observed that the value of terminal power has to be chosen to make a compromise between start-up and transient response of the converter. Therefore the AFTSMC strategy chooses the value of the terminal power adaptively, and this strategy can lead to the appropriate number of fractional order as well. Furthermore, through the fractional order analysis, the system can reach the sliding mode surface in a finite time. And the theoretical considerations are verified by numerical simulation. The performance of the AFTSMC and TSMC strategies is tested by computer simulations. And the comparison simulation results show that the AFTSMC exhibits a considerable improvement in terms of a faster output voltage response during load changes. Moreover, AFTSMC obtains a faster dynamical response, smaller steady-state error rate and lower overshoot.

  7. Fast smooth second-order sliding mode control for systems with additive colored noises.

    PubMed

    Yang, Pengfei; Fang, Yangwang; Wu, Youli; Liu, Yunxia; Zhang, Danxu

    2017-01-01

    In this paper, a fast smooth second-order sliding mode control is presented for a class of stochastic systems with enumerable Ornstein-Uhlenbeck colored noises. The finite-time mean-square practical stability and finite-time mean-square practical reachability are first introduced. Instead of treating the noise as bounded disturbance, the stochastic control techniques are incorporated into the design of the controller. The finite-time convergence of the prescribed sliding variable dynamics system is proved by using stochastic Lyapunov-like techniques. Then the proposed sliding mode controller is applied to a second-order nonlinear stochastic system. Simulation results are presented comparing with smooth second-order sliding mode control to validate the analysis.

  8. Impedance Control of the Rehabilitation Robot Based on Sliding Mode Control

    NASA Astrophysics Data System (ADS)

    Zhou, Jiawang; Zhou, Zude; Ai, Qingsong

    As an auxiliary treatment, the 6-DOF parallel robot plays an important role in lower limb rehabilitation. In order to improve the efficiency and flexibility of the lower limb rehabilitation training, this paper studies the impedance controller based on the position control. A nonsingular terminal sliding mode control is developed to ensure the trajectory tracking precision and in contrast to traditional PID control strategy in the inner position loop, the system will be more stable. The stability of the system is proved by Lyapunov function to guarantee the convergence of the control errors. Simulation results validate the effectiveness of the target impedance model and show that the parallel robot can adjust gait trajectory online according to the human-machine interaction force to meet the gait request of patients, and changing the impedance parameters can meet the demands of different stages of rehabilitation training.

  9. Global Sliding Mode Control for the Bank-to-Turn of Hypersonic Glide Vehicle

    NASA Astrophysics Data System (ADS)

    Zhang, J.; Yu, Y. F.; Yan, P. P.; Fan, Y. H.; Guo, X. W.

    2017-03-01

    The technology of Bank-to-Turn has been recognized as an attractive direction due to their significance for the control of hypersonic glide vehicle. Strong coupling existing among pitch, yaw and roll channel was a great challenge for banking to turn, and thus a novel global sliding mode controller was designed for hypersonic glider in this paper. Considering the coupling among channels as interference, we can use invariance principle of sliding mode motion to realize the decoupling control. The global sliding mode control system could eliminate the stage of reaching, which can lead to the realization of whole systematic process decoupling control. When the global sliding mode factor was designed, a minimum norm pole assignment method of the sliding mode matrix was introduced to improve the robustness of the system. The method of continuity of symbolic function was adopted to overcome the chatter, which furtherly modify the transient performance of the system. The simulation results show that this method has good performance of three channel decoupling control and guidance command tracking. And it can meet the requirements of the dynamic performance of the system.

  10. Sampled-data design for sliding mode control based on various robust specifications in open quantum system

    NASA Astrophysics Data System (ADS)

    Ji, Yinghua; Ju-Ju, Hu; Jian-Hua, Huang; Qiang, Ke

    Due to the influence of decoherence, the quantum state probably evolves from the initial pure state to the mixed state, resulting in loss of fidelity, coherence and purity, which is deteriorating for quantum information transmission. Thus, in quantum engineering, quantum control should not only realize the transfer and track of quantum states through manipulation of the external electromagnetic field but also enhance the robustness against decoherence. In this paper, we aim to design a control law to steer the system into the sliding mode domain and maintain it in that domain when bounded uncertainties exist in the system Hamiltonian. We first define the required control performance by fidelity, degree of coherence and purity in terms of the uncertainty of the Hamiltonian in Markovian open quantum system. By characterizing the required robustness using a sliding mode domain, a sampled-data design method is introduced for decoherence control in the quantum system. Furthermore, utilizing the sampled data, a control scheme has been designed on the basis of sliding mode control, and the choice of sampling operator and driving of quantum state during the sampling by the Lyapunov control method are discussed.

  11. Sliding Mode Control of the X-33 with an Engine Failure

    NASA Technical Reports Server (NTRS)

    Shtessel, Yuri B.; Hall, Charles E.

    2000-01-01

    Ascent flight control of the X-3 is performed using two XRS-2200 linear aerospike engines. in addition to aerosurfaces. The baseline control algorithms are PID with gain scheduling. Flight control using an innovative method. Sliding Mode Control. is presented for nominal and engine failed modes of flight. An easy to implement, robust controller. requiring no reconfiguration or gain scheduling is demonstrated through high fidelity flight simulations. The proposed sliding mode controller utilizes a two-loop structure and provides robust. de-coupled tracking of both orientation angle command profiles and angular rate command profiles in the presence of engine failure, bounded external disturbances (wind gusts) and uncertain matrix of inertia. Sliding mode control causes the angular rate and orientation angle tracking error dynamics to be constrained to linear, de-coupled, homogeneous, and vector valued differential equations with desired eigenvalues. Conditions that restrict engine failures to robustness domain of the sliding mode controller are derived. Overall stability of a two-loop flight control system is assessed. Simulation results show that the designed controller provides robust, accurate, de-coupled tracking of the orientation angle command profiles in the presence of external disturbances and vehicle inertia uncertainties, as well as the single engine failed case. The designed robust controller will significantly reduce the time and cost associated with flying new trajectory profiles or orbits, with new payloads, and with modified vehicles

  12. Stabilization of a Quadrotor With Uncertain Suspended Load Using Sliding Mode Control

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

    Zhou, Xu; Liu, Rui; Zhang, Jiucai

    2016-08-21

    The stability and trajectory control of a quadrotor carrying a suspended load with a fixed known mass has been extensively studied in recent years. However, the load mass is not always known beforehand in practical applications. This mass uncertainty brings uncertain disturbances to the quadrotor system, causing existing controllers to have a worse performance or to be collapsed. To improve the quadrotor's stability in this situation, we investigate the impacts of the uncertain load mass on the quadrotor. By comparing the simulation results of two controllers -- the proportional-derivative (PD) controller and the sliding mode controller (SMC) driven by amore » sliding mode disturbance of observer (SMDO), the quadrotor's performance is verified to be worse as the uncertainty increases. The simulation results also show a controller with stronger robustness against disturbances is better for practical applications.« less

  13. Instantaneous power control of a high speed permanent magnet synchronous generator based on a sliding mode observer and a phase locked loop

    NASA Astrophysics Data System (ADS)

    Duan, Jiandong; Fan, Shaogui; Wu, Fengjiang; Sun, Li; Wang, Guanglin

    2018-06-01

    This paper proposes an instantaneous power control method for high speed permanent magnet synchronous generators (PMSG), to realize the decoupled control of active power and reactive power, through vector control based on a sliding mode observer (SMO), and a phase locked loop (PLL). Consequently, the high speed PMSG has a high internal power factor, to ensure efficient operation. Vector control and accurate estimation of the instantaneous power require an accurate estimate of the rotor position. The SMO is able to estimate the back electromotive force (EMF). The rotor position and speed can be obtained using a combination of the PLL technique and the phase compensation method. This method has the advantages of robust operation, and being resistant to noise when estimating the position of the rotor. Using instantaneous power theory, the relationship between the output active power, reactive power, and stator current of the PMSG is deduced, and the power constraint condition is analysed for operation at the unit internal power factor. Finally, the accuracy of the rotor position detection, the instantaneous power detection, and the control methods are verified using simulations and experiments.

  14. A sliding mode control proposal for open-loop unstable processes.

    PubMed

    Rojas, Rubén; Camacho, Oscar; González, Luis

    2004-04-01

    This papers presents a sliding mode controller based on a first-order-plus-dead-time model of the process for controlling open-loop unstable systems. The proposed controller has a simple and fixed structure with a set of tuning equations as a function of the desired performance. Both linear and nonlinear models were used to study the controller performance by computer simulations.

  15. Sliding mode control method having terminal convergence in finite time

    NASA Technical Reports Server (NTRS)

    Venkataraman, Subramanian T. (Inventor); Gulati, Sandeep (Inventor)

    1994-01-01

    An object of this invention is to provide robust nonlinear controllers for robotic operations in unstructured environments based upon a new class of closed loop sliding control methods, sometimes denoted terminal sliders, where the new class will enforce closed-loop control convergence to equilibrium in finite time. Improved performance results from the elimination of high frequency control switching previously employed for robustness to parametric uncertainties. Improved performance also results from the dependence of terminal slider stability upon the rate of change of uncertainties over the sliding surface rather than the magnitude of the uncertainty itself for robust control. Terminal sliding mode control also yields improved convergence where convergence time is finite and is to be controlled. A further object is to apply terminal sliders to robot manipulator control and benchmark performance with the traditional computed torque control method and provide for design of control parameters.

  16. Sliding-mode control of single input multiple output DC-DC converter

    NASA Astrophysics Data System (ADS)

    Zhang, Libo; Sun, Yihan; Luo, Tiejian; Wan, Qiyang

    2016-10-01

    Various voltage levels are required in the vehicle mounted power system. A conventional solution is to utilize an independent multiple output DC-DC converter whose cost is high and control scheme is complicated. In this paper, we design a novel SIMO DC-DC converter with sliding mode controller. The proposed converter can boost the voltage of a low-voltage input power source to a controllable high-voltage DC bus and middle-voltage output terminals, which endow the converter with characteristics of simple structure, low cost, and convenient control. In addition, the sliding mode control (SMC) technique applied in our converter can enhance the performances of a certain SIMO DC-DC converter topology. The high-voltage DC bus can be regarded as the main power source to the high-voltage facility of the vehicle mounted power system, and the middle-voltage output terminals can supply power to the low-voltage equipment on an automobile. In the respect of control algorithm, it is the first time to propose the SMC-PID (Proportion Integration Differentiation) control algorithm, in which the SMC algorithm is utilized and the PID control is attended to the conventional SMC algorithm. The PID control increases the dynamic ability of the SMC algorithm by establishing the corresponding SMC surface and introducing the attached integral of voltage error, which endow the sliding-control system with excellent dynamic performance. At last, we established the MATLAB/SIMULINK simulation model, tested performance of the system, and built the hardware prototype based on Digital Signal Processor (DSP). Results show that the sliding mode control is able to track a required trajectory, which has robustness against the uncertainties and disturbances.

  17. Sliding-mode control of single input multiple output DC-DC converter.

    PubMed

    Zhang, Libo; Sun, Yihan; Luo, Tiejian; Wan, Qiyang

    2016-10-01

    Various voltage levels are required in the vehicle mounted power system. A conventional solution is to utilize an independent multiple output DC-DC converter whose cost is high and control scheme is complicated. In this paper, we design a novel SIMO DC-DC converter with sliding mode controller. The proposed converter can boost the voltage of a low-voltage input power source to a controllable high-voltage DC bus and middle-voltage output terminals, which endow the converter with characteristics of simple structure, low cost, and convenient control. In addition, the sliding mode control (SMC) technique applied in our converter can enhance the performances of a certain SIMO DC-DC converter topology. The high-voltage DC bus can be regarded as the main power source to the high-voltage facility of the vehicle mounted power system, and the middle-voltage output terminals can supply power to the low-voltage equipment on an automobile. In the respect of control algorithm, it is the first time to propose the SMC-PID (Proportion Integration Differentiation) control algorithm, in which the SMC algorithm is utilized and the PID control is attended to the conventional SMC algorithm. The PID control increases the dynamic ability of the SMC algorithm by establishing the corresponding SMC surface and introducing the attached integral of voltage error, which endow the sliding-control system with excellent dynamic performance. At last, we established the MATLAB/SIMULINK simulation model, tested performance of the system, and built the hardware prototype based on Digital Signal Processor (DSP). Results show that the sliding mode control is able to track a required trajectory, which has robustness against the uncertainties and disturbances.

  18. Dynamic modeling and Super-Twisting Sliding Mode Control for Tethered Space Robot

    NASA Astrophysics Data System (ADS)

    Zhao, Yakun; Huang, Panfeng; Zhang, Fan

    2018-02-01

    Recent years, tethered space capturing systems have been considered as one of the most promising solutions for active space debris removal due to the increasing threat of space debris to spacecraft and astronauts. In this paper, one of the tethered space capturing systems, Tethered Space Robot (TSR), is investigated. TSR includes a space platform, a space tether, and a gripper as the terminal device. Based on the assumptions that the platform and the gripper are point masses and the tether is rigid, inextensible and remaining straight, the dynamic model of TSR is presented, in which the disturbances from space environment is considered. According to the previous study, the in-plane and out-of-plane angles of the tether oscillate periodically although the tether is released to the desired length. A super-twisting adaptive sliding mode control scheme is designed for TSR to eliminate the vibration of the tether to assure a successful capture in station-keeping phase. Both uncontrolled and controlled situations are simulated. The simulation results show that the proposed controller is effective. Additionally, after comparing with normal sliding mode control algorithm, it is verified that the proposed control scheme can avoid the chattering of normal sliding mode control and is robust for unknown boundary perturbations.

  19. Vision-based stabilization of nonholonomic mobile robots by integrating sliding-mode control and adaptive approach

    NASA Astrophysics Data System (ADS)

    Cao, Zhengcai; Yin, Longjie; Fu, Yili

    2013-01-01

    Vision-based pose stabilization of nonholonomic mobile robots has received extensive attention. At present, most of the solutions of the problem do not take the robot dynamics into account in the controller design, so that these controllers are difficult to realize satisfactory control in practical application. Besides, many of the approaches suffer from the initial speed and torque jump which are not practical in the real world. Considering the kinematics and dynamics, a two-stage visual controller for solving the stabilization problem of a mobile robot is presented, applying the integration of adaptive control, sliding-mode control, and neural dynamics. In the first stage, an adaptive kinematic stabilization controller utilized to generate the command of velocity is developed based on Lyapunov theory. In the second stage, adopting the sliding-mode control approach, a dynamic controller with a variable speed function used to reduce the chattering is designed, which is utilized to generate the command of torque to make the actual velocity of the mobile robot asymptotically reach the desired velocity. Furthermore, to handle the speed and torque jump problems, the neural dynamics model is integrated into the above mentioned controllers. The stability of the proposed control system is analyzed by using Lyapunov theory. Finally, the simulation of the control law is implemented in perturbed case, and the results show that the control scheme can solve the stabilization problem effectively. The proposed control law can solve the speed and torque jump problems, overcome external disturbances, and provide a new solution for the vision-based stabilization of the mobile robot.

  20. A new fuzzy-disturbance observer-enhanced sliding controller for vibration control of a train-car suspension with magneto-rheological dampers

    NASA Astrophysics Data System (ADS)

    Nguyen, Sy Dzung; Choi, Seung-Bok; Nguyen, Quoc Hung

    2018-05-01

    Semi-active train-car suspensions are always impacted negatively by uncertainty and disturbance (UAD). In order to deal with this, we propose a novel optimal fuzzy disturbance observer-enhanced sliding mode controller (FDO-SMC) for magneto-rheological damper (MRD)-based semi-active train-car suspensions subjected to UAD whose variability rate may be high but bounded. The two main parts of the FDO-SMC are an adaptive sliding mode controller (ad-SMC) and an optimal fuzzy disturbance observer (op-FDO). As the first step, the initial structures of the sliding mode controller (SMC) and disturbance observer (DO) are built. Adaptive update laws for the SMC and DO are then set up synchronously via Lyapunov stability analysis. Subsequently, an optimal fuzzy system (op-FS) is designed to fully implement a parameter constraint mechanism so as to guarantee the system stability converging to the desired state even if the UAD variability rate increases in a given range. As a result, both the ad-SMC and op-FDO are formulated. It is shown from the comparative work with existing controllers that the proposed method provides the best vibration control capability with relatively low consumed power.

  1. Control of nonlinear systems using terminal sliding modes

    NASA Technical Reports Server (NTRS)

    Venkataraman, S. T.; Gulati, S.

    1992-01-01

    The development of an approach to control synthesis for robust robot operations in unstructured environments is discussed. To enhance control performance with full model information, the authors introduce the notion of terminal convergence and develop control laws based on a class of sliding modes, denoted as terminal sliders. They demonstrate that terminal sliders provide robustness to parametric uncertainty without having to resort to high-frequency control switching, as in the case of conventional sliders. It is shown that the proposed method leads to greater guaranteed precision in all control cases discussed.

  2. Robust fault tolerant control based on sliding mode method for uncertain linear systems with quantization.

    PubMed

    Hao, Li-Ying; Yang, Guang-Hong

    2013-09-01

    This paper is concerned with the problem of robust fault-tolerant compensation control problem for uncertain linear systems subject to both state and input signal quantization. By incorporating novel matrix full-rank factorization technique with sliding surface design successfully, the total failure of certain actuators can be coped with, under a special actuator redundancy assumption. In order to compensate for quantization errors, an adjustment range of quantization sensitivity for a dynamic uniform quantizer is given through the flexible choices of design parameters. Comparing with the existing results, the derived inequality condition leads to the fault tolerance ability stronger and much wider scope of applicability. With a static adjustment policy of quantization sensitivity, an adaptive sliding mode controller is then designed to maintain the sliding mode, where the gain of the nonlinear unit vector term is updated automatically to compensate for the effects of actuator faults, quantization errors, exogenous disturbances and parameter uncertainties without the need for a fault detection and isolation (FDI) mechanism. Finally, the effectiveness of the proposed design method is illustrated via a model of a rocket fairing structural-acoustic. Copyright © 2013 ISA. Published by Elsevier Ltd. All rights reserved.

  3. Fast smooth second-order sliding mode control for stochastic systems with enumerable coloured noises

    NASA Astrophysics Data System (ADS)

    Yang, Peng-fei; Fang, Yang-wang; Wu, You-li; Zhang, Dan-xu; Xu, Yang

    2018-01-01

    A fast smooth second-order sliding mode control is presented for a class of stochastic systems driven by enumerable Ornstein-Uhlenbeck coloured noises with time-varying coefficients. Instead of treating the noise as bounded disturbance, the stochastic control techniques are incorporated into the design of the control. The finite-time mean-square practical stability and finite-time mean-square practical reachability are first introduced. Then the prescribed sliding variable dynamic is presented. The sufficient condition guaranteeing its finite-time convergence is given and proved using stochastic Lyapunov-like techniques. The proposed sliding mode controller is applied to a second-order nonlinear stochastic system. Simulation results are given comparing with smooth second-order sliding mode control to validate the analysis.

  4. Control of variable speed variable pitch wind turbine based on a disturbance observer

    NASA Astrophysics Data System (ADS)

    Ren, Haijun; Lei, Xin

    2017-11-01

    In this paper, a novel sliding mode controller based on disturbance observer (DOB) to optimize the efficiency of variable speed variable pitch (VSVP) wind turbine is developed and analyzed. Due to the highly nonlinearity of the VSVP system, the model is linearly processed to obtain the state space model of the system. Then, a conventional sliding mode controller is designed and a DOB is added to estimate wind speed. The proposed control strategy can successfully deal with the random nature of wind speed, the nonlinearity of VSVP system, the uncertainty of parameters and external disturbance. Via adding the observer to the sliding mode controller, it can greatly reduce the chattering produced by the sliding mode switching gain. The simulation results show that the proposed control system has the effectiveness and robustness.

  5. Compensation of significant parametric uncertainties using sliding mode online learning

    NASA Astrophysics Data System (ADS)

    Schnetter, Philipp; Kruger, Thomas

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

  6. Finite-time containment control of perturbed multi-agent systems based on sliding-mode control

    NASA Astrophysics Data System (ADS)

    Yu, Di; Ji, Xiang Yang

    2018-01-01

    Aimed at faster convergence rate, this paper investigates finite-time containment control problem for second-order multi-agent systems with norm-bounded non-linear perturbation. When topology between the followers are strongly connected, the nonsingular fast terminal sliding-mode error is defined, corresponding discontinuous control protocol is designed and the appropriate value range of control parameter is obtained by applying finite-time stability analysis, so that the followers converge to and move along the desired trajectories within the convex hull formed by the leaders in finite time. Furthermore, on the basis of the sliding-mode error defined, the corresponding distributed continuous control protocols are investigated with fast exponential reaching law and double exponential reaching law, so as to make the followers move to the small neighbourhoods of their desired locations and keep within the dynamic convex hull formed by the leaders in finite time to achieve practical finite-time containment control. Meanwhile, we develop the faster control scheme according to comparison of the convergence rate of these two different reaching laws. Simulation examples are given to verify the correctness of theoretical results.

  7. A novel adaptive switching function on fault tolerable sliding mode control for uncertain stochastic systems.

    PubMed

    Zahiripour, Seyed Ali; Jalali, Ali Akbar

    2014-09-01

    A novel switching function based on an optimization strategy for the sliding mode control (SMC) method has been provided for uncertain stochastic systems subject to actuator degradation such that the closed-loop system is globally asymptotically stable with probability one. In the previous researches the focus on sliding surface has been on proportional or proportional-integral function of states. In this research, from a degree of freedom that depends on designer choice is used to meet certain objectives. In the design of the switching function, there is a parameter which the designer can regulate for specified objectives. A sliding-mode controller is synthesized to ensure the reachability of the specified switching surface, despite actuator degradation and uncertainties. Finally, the simulation results demonstrate the effectiveness of the proposed method. Copyright © 2014 ISA. Published by Elsevier Ltd. All rights reserved.

  8. MIMO Sliding Mode Control for a Tailless Fighter Aircraft, An Alternative to Reconfigurable Architectures

    NASA Technical Reports Server (NTRS)

    Wells, S. R.; Hess, R. A.

    2002-01-01

    A frequency-domain procedure for the design of sliding mode controllers for multi-input, multi-output (MIMO) systems is presented. The methodology accommodates the effects of parasitic dynamics such as those introduced by unmodeled actuators through the introduction of multiple asymptotic observers and model reference hedging. The design procedure includes a frequency domain approach to specify the sliding manifold, the observer eigenvalues, and the hedge model. The procedure is applied to the development of a flight control system for a linear model of the Innovative Control Effector (ICE) fighter aircraft. The stability and performance robustness of the resulting design is demonstrated through the introduction of significant degradation in the control effector actuators and variation in vehicle dynamics.

  9. Robust Neural Sliding Mode Control of Robot Manipulators

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

    Nguyen Tran Hiep; Pham Thuong Cat

    2009-03-05

    This paper proposes a robust neural sliding mode control method for robot tracking problem to overcome the noises and large uncertainties in robot dynamics. The Lyapunov direct method has been used to prove the stability of the overall system. Simulation results are given to illustrate the applicability of the proposed method.

  10. Analysis and design of second-order sliding-mode algorithms for quadrotor roll and pitch estimation.

    PubMed

    Chang, Jing; Cieslak, Jérôme; Dávila, Jorge; Zolghadri, Ali; Zhou, Jun

    2017-11-01

    The problem addressed in this paper is that of quadrotor roll and pitch estimation without any assumption about the knowledge of perturbation bounds when Inertial Measurement Units (IMU) data or position measurements are available. A Smooth Sliding Mode (SSM) algorithm is first designed to provide reliable estimation under a smooth disturbance assumption. This assumption is next relaxed with the second proposed Adaptive Sliding Mode (ASM) algorithm that deals with disturbances of unknown bounds. In addition, the analysis of the observers are extended to the case where measurements are corrupted by bias and noise. The gains of the proposed algorithms were deduced from the Lyapunov function. Furthermore, some useful guidelines are provided for the selection of the observer turning parameters. The performance of these two approaches is evaluated using a nonlinear simulation model and considering either accelerometer or position measurements. The simulation results demonstrate the benefits of the proposed solutions. Copyright © 2017 ISA. Published by Elsevier Ltd. All rights reserved.

  11. Direct power control of DFIG wind turbine systems based on an intelligent proportional-integral sliding mode control.

    PubMed

    Li, Shanzhi; Wang, Haoping; Tian, Yang; Aitouch, Abdel; Klein, John

    2016-09-01

    This paper presents an intelligent proportional-integral sliding mode control (iPISMC) for direct power control of variable speed-constant frequency wind turbine system. This approach deals with optimal power production (in the maximum power point tracking sense) under several disturbance factors such as turbulent wind. This controller is made of two sub-components: (i) an intelligent proportional-integral module for online disturbance compensation and (ii) a sliding mode module for circumventing disturbance estimation errors. This iPISMC method has been tested on FAST/Simulink platform of a 5MW wind turbine system. The obtained results demonstrate that the proposed iPISMC method outperforms the classical PI and intelligent proportional-integral control (iPI) in terms of both active power and response time. Copyright © 2016 ISA. Published by Elsevier Ltd. All rights reserved.

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

    PubMed

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

    2012-08-01

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

  13. Terminal Sliding Modes In Nonlinear Control Systems

    NASA Technical Reports Server (NTRS)

    Venkataraman, Subramanian T.; Gulati, Sandeep

    1993-01-01

    Control systems of proposed type called "terminal controllers" offers increased precision and stability of robotic operations in presence of unknown and/or changing parameters. Systems include special computer hardware and software implementing novel control laws involving terminal sliding modes of motion: closed-loop combination of robot and terminal controller converge, in finite time, to point of stable equilibrium in abstract space of velocity and/or position coordinates applicable to particular control problem.

  14. Adaptive super-twisting sliding mode control for a three-phase single-stage grid-connected differential boost inverter based photovoltaic system.

    PubMed

    Pati, Akshaya K; Sahoo, N C

    2017-07-01

    This paper presents an adaptive super-twisting sliding mode control (STC) along with double-loop control for voltage tracking performance of three-phase differential boost inverter and DC-link capacitor voltage regulation in grid-connected PV system. The effectiveness of the proposed control strategies are demonstrated under realistic scenarios such as variations in solar insolation, load power demand, grid voltage, and transition from grid-connected to standalone mode etc. Additional supplementary power quality control functions such as harmonic compensation, and reactive power management are also investigated with the proposed control strategy. The results are compared with conventional proportional-integral controller, and PWM sliding mode controller. The system performance is evaluated in simulation and in real-time. Copyright © 2017 ISA. Published by Elsevier Ltd. All rights reserved.

  15. A vehicle stability control strategy with adaptive neural network sliding mode theory based on system uncertainty approximation

    NASA Astrophysics Data System (ADS)

    Ji, Xuewu; He, Xiangkun; Lv, Chen; Liu, Yahui; Wu, Jian

    2018-06-01

    Modelling uncertainty, parameter variation and unknown external disturbance are the major concerns in the development of an advanced controller for vehicle stability at the limits of handling. Sliding mode control (SMC) method has proved to be robust against parameter variation and unknown external disturbance with satisfactory tracking performance. But modelling uncertainty, such as errors caused in model simplification, is inevitable in model-based controller design, resulting in lowered control quality. The adaptive radial basis function network (ARBFN) can effectively improve the control performance against large system uncertainty by learning to approximate arbitrary nonlinear functions and ensure the global asymptotic stability of the closed-loop system. In this paper, a novel vehicle dynamics stability control strategy is proposed using the adaptive radial basis function network sliding mode control (ARBFN-SMC) to learn system uncertainty and eliminate its adverse effects. This strategy adopts a hierarchical control structure which consists of reference model layer, yaw moment control layer, braking torque allocation layer and executive layer. Co-simulation using MATLAB/Simulink and AMESim is conducted on a verified 15-DOF nonlinear vehicle system model with the integrated-electro-hydraulic brake system (I-EHB) actuator in a Sine With Dwell manoeuvre. The simulation results show that ARBFN-SMC scheme exhibits superior stability and tracking performance in different running conditions compared with SMC scheme.

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

    PubMed

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

    2014-09-01

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

  17. Sliding mode stabilisation of networked systems with consecutive data packet dropouts using only accessible information

    NASA Astrophysics Data System (ADS)

    Argha, Ahmadreza; Li, Li; W. Su, Steven

    2017-04-01

    This paper develops a novel stabilising sliding mode for systems involving uncertainties as well as measurement data packet dropouts. In contrast to the existing literature that designs the switching function by using unavailable system states, a novel linear sliding function is constructed by employing only the available communicated system states for the systems involving measurement packet losses. This also equips us with the possibility to build a novel switching component for discrete-time sliding mode control (DSMC) by using only available system states. Finally, using a numerical example, we evaluate the performance of the designed DSMC for networked systems.

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

    PubMed

    Ho, Hung-Jung; Chen, Tien-Chi

    2009-11-01

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

  19. Fractional order uncertainty estimator based hierarchical sliding mode design for a class of fractional order non-holonomic chained system.

    PubMed

    Deepika; Kaur, Sandeep; Narayan, Shiv

    2018-06-01

    This paper proposes a novel fractional order sliding mode control approach to address the issues of stabilization as well as tracking of an N-dimensional extended chained form of fractional order non-holonomic system. Firstly, the hierarchical fractional order terminal sliding manifolds are selected to procure the desired objectives in finite time. Then, a sliding mode control law is formulated which provides robustness against various system uncertainties or external disturbances. In addition, a novel fractional order uncertainty estimator is deduced mathematically to estimate and mitigate the effects of uncertainties, which also excludes the requirement of their upper bounds. Due to the omission of discontinuous control action, the proposed algorithm ensures a chatter-free control input. Moreover, the finite time stability of the closed loop system has been proved analytically through well known Mittag-Leffler and Fractional Lyapunov theorems. Finally, the proposed methodology is validated with MATLAB simulations on two examples including an application of fractional order non-holonomic wheeled mobile robot and its performances are also compared with the existing control approach. Copyright © 2018 ISA. Published by Elsevier Ltd. All rights reserved.

  20. Finite-time synchronization for second-order nonlinear multi-agent system via pinning exponent sliding mode control.

    PubMed

    Hou, Huazhou; Zhang, Qingling

    2016-11-01

    In this paper we investigate the finite-time synchronization for second-order multi-agent system via pinning exponent sliding mode control. Firstly, for the nonlinear multi-agent system, differential mean value theorem is employed to transfer the nonlinear system into linear system, then, by pinning only one node in the system with novel exponent sliding mode control, we can achieve synchronization in finite time. Secondly, considering the 3-DOF helicopter system with nonlinear dynamics and disturbances, the novel exponent sliding mode control protocol is applied to only one node to achieve the synchronization. Finally, the simulation results show the effectiveness and the advantages of the proposed method. Copyright © 2016 ISA. Published by Elsevier Ltd. All rights reserved.

  1. Sliding Mode Control of Fractional-Order Delayed Memristive Chaotic System with Uncertainty and Disturbance

    NASA Astrophysics Data System (ADS)

    Ding, Da-Wei; Liu, Fang-Fang; Chen, Hui; Wang, Nian; Liang, Dong

    2017-12-01

    In this paper, a simplest fractional-order delayed memristive chaotic system is proposed in order to control the chaos behaviors via sliding mode control strategy. Firstly, we design a sliding mode control strategy for the fractional-order system with time delay to make the states of the system asymptotically stable. Then, we obtain theoretical analysis results of the control method using Lyapunov stability theorem which guarantees the asymptotic stability of the non-commensurate order and commensurate order system with and without uncertainty and an external disturbance. Finally, numerical simulations are given to verify that the proposed sliding mode control method can eliminate chaos and stabilize the fractional-order delayed memristive system in a finite time. Supported by the National Nature Science Foundation of China under Grant No. 61201227, Funding of China Scholarship Council, the Natural Science Foundation of Anhui Province under Grant No. 1208085M F93, 211 Innovation Team of Anhui University under Grant Nos. KJTD007A and KJTD001B

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

    NASA Astrophysics Data System (ADS)

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

    2017-11-01

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

  3. A new robust control scheme using second order sliding mode and fuzzy logic of a DFIM supplied by two five-level SVPWM inverters

    NASA Astrophysics Data System (ADS)

    Boudjema, Zinelaabidine; Taleb, Rachid; Bounadja, Elhadj

    2017-02-01

    Traditional filed oriented control strategy including proportional-integral (PI) regulator for the speed drive of the doubly fed induction motor (DFIM) have some drawbacks such as parameter tuning complications, mediocre dynamic performances and reduced robustness. Therefore, based on the analysis of the mathematical model of a DFIM supplied by two five-level SVPWM inverters, this paper proposes a new robust control scheme based on super twisting sliding mode and fuzzy logic. The conventional sliding mode control (SMC) has vast chattering effect on the electromagnetic torque developed by the DFIM. In order to resolve this problem, a second order sliding mode technique based on super twisting algorithm and fuzzy logic functions is employed. The validity of the employed approach was tested by using Matlab/Simulink software. Interesting simulation results were obtained and remarkable advantages of the proposed control scheme were exposed including simple design of the control system, reduced chattering as well as the other advantages.

  4. Robustness and Actuator Bandwidth of MRP-Based Sliding Mode Control for Spacecraft Attitude Control Problems

    NASA Astrophysics Data System (ADS)

    Keum, Jung-Hoon; Ra, Sung-Woong

    2009-12-01

    Nonlinear sliding surface design in variable structure systems for spacecraft attitude control problems is studied. A robustness analysis is performed for regular form of system, and calculation of actuator bandwidth is presented by reviewing sliding surface dynamics. To achieve non-singular attitude description and minimal parameterization, spacecraft attitude control problems are considered based on modified Rodrigues parameters (MRP). It is shown that the derived controller ensures the sliding motion in pre-determined region irrespective of unmodeled effects and disturbances.

  5. Adaptive extended-state observer-based fault tolerant attitude control for spacecraft with reaction wheels

    NASA Astrophysics Data System (ADS)

    Ran, Dechao; Chen, Xiaoqian; de Ruiter, Anton; Xiao, Bing

    2018-04-01

    This study presents an adaptive second-order sliding control scheme to solve the attitude fault tolerant control problem of spacecraft subject to system uncertainties, external disturbances and reaction wheel faults. A novel fast terminal sliding mode is preliminarily designed to guarantee that finite-time convergence of the attitude errors can be achieved globally. Based on this novel sliding mode, an adaptive second-order observer is then designed to reconstruct the system uncertainties and the actuator faults. One feature of the proposed observer is that the design of the observer does not necessitate any priori information of the upper bounds of the system uncertainties and the actuator faults. In view of the reconstructed information supplied by the designed observer, a second-order sliding mode controller is developed to accomplish attitude maneuvers with great robustness and precise tracking accuracy. Theoretical stability analysis proves that the designed fault tolerant control scheme can achieve finite-time stability of the closed-loop system, even in the presence of reaction wheel faults and system uncertainties. Numerical simulations are also presented to demonstrate the effectiveness and superiority of the proposed control scheme over existing methodologies.

  6. Control of equipment isolation system using wavelet-based hybrid sliding mode control

    NASA Astrophysics Data System (ADS)

    Huang, Shieh-Kung; Loh, Chin-Hsiung

    2017-04-01

    Critical non-structural equipment, including life-saving equipment in hospitals, circuit breakers, computers, high technology instrumentations, etc., is vulnerable to strong earthquakes, and on top of that, the failure of the vibration-sensitive equipment will cause severe economic loss. In order to protect vibration-sensitive equipment or machinery against strong earthquakes, various innovative control algorithms are developed to compensate the internal forces that to be applied. These new or improved control strategies, such as the control algorithms based on optimal control theory and sliding mode control (SMC), are also developed for structures engineering as a key element in smart structure technology. The optimal control theory, one of the most common methodologies in feedback control, finds control forces through achieving a certain optimal criterion by minimizing a cost function. For example, the linear-quadratic regulator (LQR) was the most popular control algorithm over the past three decades, and a number of modifications have been proposed to increase the efficiency of classical LQR algorithm. However, except to the advantage of simplicity and ease of implementation, LQR are susceptible to parameter uncertainty and modeling error due to complex nature of civil structures. Different from LQR control, a robust and easy to be implemented control algorithm, SMC has also been studied. SMC is a nonlinear control methodology that forces the structural system to slide along surfaces or boundaries; hence this control algorithm is naturally robust with respect to parametric uncertainties of a structure. Early attempts at protecting vibration-sensitive equipment were based on the use of existing control algorithms as described above. However, in recent years, researchers have tried to renew the existing control algorithms or developing a new control algorithm to adapt the complex nature of civil structures which include the control of both structures and non

  7. Based on interval type-2 fuzzy-neural network direct adaptive sliding mode control for SISO nonlinear systems

    NASA Astrophysics Data System (ADS)

    Lin, Tsung-Chih

    2010-12-01

    In this paper, a novel direct adaptive interval type-2 fuzzy-neural tracking control equipped with sliding mode and Lyapunov synthesis approach is proposed to handle the training data corrupted by noise or rule uncertainties for nonlinear SISO nonlinear systems involving external disturbances. By employing adaptive fuzzy-neural control theory, the update laws will be derived for approximating the uncertain nonlinear dynamical system. In the meantime, the sliding mode control method and the Lyapunov stability criterion are incorporated into the adaptive fuzzy-neural control scheme such that the derived controller is robust with respect to unmodeled dynamics, external disturbance and approximation errors. In comparison with conventional methods, the advocated approach not only guarantees closed-loop stability but also the output tracking error of the overall system will converge to zero asymptotically without prior knowledge on the upper bound of the lumped uncertainty. Furthermore, chattering effect of the control input will be substantially reduced by the proposed technique. To illustrate the performance of the proposed method, finally simulation example will be given.

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

    PubMed Central

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

    2016-01-01

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

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

    PubMed

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

    2016-01-01

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

  10. Tuning the Slide-Roll Motion Mode of Carbon Nanotubes via Hydroxyl Groups

    NASA Astrophysics Data System (ADS)

    Li, Rui; Wang, Shiwei; Peng, Qing

    2018-05-01

    Controlling the motion of carbon nanotubes is critical in manipulating nanodevices, including nanorobots. Herein, we investigate the motion behavior of SWCNT (10,10) on Si substrate utilizing molecular dynamics simulations. We show that hydroxyl groups have sensitive effect on the carbon nanotube's motion mode. When the hydroxyl groups' ratio on carbon nanotube and silicon substrate surfaces is larger than 10 and 20%, respectively, the motion of carbon nanotube transforms from sliding to rolling. When the hydroxyl groups' ratio is smaller, the slide or roll mode can be controlled by the speed of carbon nanotube, which is ultimately determined by the competition between the interface potential energy and kinetic energy. The change of motion mode holds true for different carbon nanotubes with hydroxyl groups. The chirality has little effect on the motion behavior, as opposed to the diameter, attributed to the hydroxyl groups' ratio. Our study suggests a new route to control the motion behavior of carbon nanotube via hydroxyl groups.

  11. Tuning the Slide-Roll Motion Mode of Carbon Nanotubes via Hydroxyl Groups.

    PubMed

    Li, Rui; Wang, Shiwei; Peng, Qing

    2018-05-08

    Controlling the motion of carbon nanotubes is critical in manipulating nanodevices, including nanorobots. Herein, we investigate the motion behavior of SWCNT (10,10) on Si substrate utilizing molecular dynamics simulations. We show that hydroxyl groups have sensitive effect on the carbon nanotube's motion mode. When the hydroxyl groups' ratio on carbon nanotube and silicon substrate surfaces is larger than 10 and 20%, respectively, the motion of carbon nanotube transforms from sliding to rolling. When the hydroxyl groups' ratio is smaller, the slide or roll mode can be controlled by the speed of carbon nanotube, which is ultimately determined by the competition between the interface potential energy and kinetic energy. The change of motion mode holds true for different carbon nanotubes with hydroxyl groups. The chirality has little effect on the motion behavior, as opposed to the diameter, attributed to the hydroxyl groups' ratio. Our study suggests a new route to control the motion behavior of carbon nanotube via hydroxyl groups.

  12. X33 Reusable Launch Vehicle Control on Sliding Modes: Concepts for a Control System Development

    NASA Technical Reports Server (NTRS)

    Shtessel, Yuri B.

    1998-01-01

    Control of the X33 reusable launch vehicle is considered. The launch control problem consists of automatic tracking of the launch trajectory which is assumed to be optimally precalculated. It requires development of a reliable, robust control algorithm that can automatically adjust to some changes in mission specifications (mass of payload, target orbit) and the operating environment (atmospheric perturbations, interconnection perturbations from the other subsystems of the vehicle, thrust deficiencies, failure scenarios). One of the effective control strategies successfully applied in nonlinear systems is the Sliding Mode Control. The main advantage of the Sliding Mode Control is that the system's state response in the sliding surface remains insensitive to certain parameter variations, nonlinearities and disturbances. Employing the time scaling concept, a new two (three)-loop structure of the control system for the X33 launch vehicle was developed. Smoothed sliding mode controllers were designed to robustly enforce the given closed-loop dynamics. Simulations of the 3-DOF model of the X33 launch vehicle with the table-look-up models for Euler angle reference profiles and disturbance torque profiles showed a very accurate, robust tracking performance.

  13. Model-based adaptive sliding mode control of the subcritical boiler-turbine system with uncertainties.

    PubMed

    Tian, Zhen; Yuan, Jingqi; Xu, Liang; Zhang, Xiang; Wang, Jingcheng

    2018-05-25

    As higher requirements are proposed for the load regulation and efficiency enhancement, the control performance of boiler-turbine systems has become much more important. In this paper, a novel robust control approach is proposed to improve the coordinated control performance for subcritical boiler-turbine units. To capture the key features of the boiler-turbine system, a nonlinear control-oriented model is established and validated with the history operation data of a 300 MW unit. To achieve system linearization and decoupling, an adaptive feedback linearization strategy is proposed, which could asymptotically eliminate the linearization error caused by the model uncertainties. Based on the linearized boiler-turbine system, a second-order sliding mode controller is designed with the super-twisting algorithm. Moreover, the closed-loop system is proved robustly stable with respect to uncertainties and disturbances. Simulation results are presented to illustrate the effectiveness of the proposed control scheme, which achieves excellent tracking performance, strong robustness and chattering reduction. Copyright © 2018. Published by Elsevier Ltd.

  14. Sliding Mode Control of Dynamic Voltage Restorer by Using a New Adaptive Reaching Law

    NASA Astrophysics Data System (ADS)

    Pandey, Achala; Agrawal, Rekha; Mandloi, Ravindra S.; Sarkar, Biswaroop

    2017-12-01

    This paper presents a new kind of adaptive reaching law for sliding mode control of Dynamic Voltage Restorer (DVR). Such an adaptive reaching law follows under-damped sinusoidal nature that causes the initial state to reach the sliding regime in extremely less time with negligible chattering. Moreover, it is robust in the sense the trajectory does not deviate from the sliding surface. This new approach is developed and successfully applied to DVR. The simulation results are presented that show its robustness.

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

    NASA Astrophysics Data System (ADS)

    Tamhane, Bhagyashri; Kurode, Shailaja

    2018-05-01

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

  16. A new adjustable gains for second order sliding mode control of saturated DFIG-based wind turbine

    NASA Astrophysics Data System (ADS)

    Bounadja, E.; Djahbar, A.; Taleb, R.; Boudjema, Z.

    2017-02-01

    The control of Doubly-Fed induction generator (DFIG), used in wind energy conversion, has been given a great deal of interest. Frequently, this control has been dealt with ignoring the magnetic saturation effect in the DFIG model. The aim of the present work is twofold: firstly, the magnetic saturation effect is accounted in the control design model; secondly, a new second order sliding mode control scheme using adjustable-gains (AG-SOSMC) is proposed to control the DFIG via its rotor side converter. This scheme allows the independent control of the generated active and reactive power. Conventionally, the second order sliding mode control (SOSMC) applied to the DFIG, utilize the super-twisting algorithm with fixed gains. In the proposed AG-SOSMC, a simple means by which the controller can adjust its behavior is used. For that, a linear function is used to represent the variation in gain as a function of the absolute value of the discrepancy between the reference rotor current and its measured value. The transient DFIG speed response using the aforementioned characteristic is compared with the one determined by using the conventional SOSMC controller with fixed gains. Simulation results show, accurate dynamic performances, quicker transient response and more accurate control are achieved for different operating conditions.

  17. Fault tolerant control based on interval type-2 fuzzy sliding mode controller for coaxial trirotor aircraft.

    PubMed

    Zeghlache, Samir; Kara, Kamel; Saigaa, Djamel

    2015-11-01

    In this paper, a robust controller for a Six Degrees of Freedom (6 DOF) coaxial trirotor helicopter control is proposed in presence of defects in the system. A control strategy based on the coupling of the interval type-2 fuzzy logic control and sliding mode control technique are used to design a controller. The main purpose of this work is to eliminate the chattering phenomenon and guaranteeing the stability and the robustness of the system. In order to achieve this goal, interval type-2 fuzzy logic control has been used to generate the discontinuous control signal. The simulation results have shown that the proposed control strategy can greatly alleviate the chattering effect, and perform good reference tracking in presence of defects in the system. Copyright © 2015 ISA. Published by Elsevier Ltd. All rights reserved.

  18. Space-based pseudo-fixed latitude observation mode based on the characteristics of geosynchronous orbit belt

    NASA Astrophysics Data System (ADS)

    Hu, Yun-peng; Chen, Lei; Huang, Jian-yu

    2017-08-01

    The US Lincoln Laboratory proved that space-based visible (SBV) observation is efficient to observe space objects, especially Geosynchronous Orbit (GEO) objects. After that, SBV observation plays an important role in the space surveillance. In this paper, a novel space-based observation mode is designed to observe all the GEO objects in a relatively short time. A low earth orbit (LEO) satellite, especially a dawn-dusk sun-synchronous orbit satellite, is useful for space-based observation. Thus, the observation mode for GEO objects is based on a dawn-dusk sun-synchronous orbit satellite. It is found that the Pinch Point (PP) regions proposed by the US Lincoln Laboratory are spreading based on the analysis of the evolution principles of GEO objects. As the PP regions becoming more and more widely in the future, many strategies based on it may not be efficient any more. Hence, the key point of the space-based observation strategy design for GEO objects should be emphasized on the whole GEO belt as far as possible. The pseudo-fixed latitude observation mode is proposed in this paper based on the characteristics of GEO belt. Unlike classical space-based observation modes, pseudo-fixed latitude observation mode makes use of the one-dimensional attitude adjustment of the observation satellite. The pseudo-fixed latitude observation mode is more reliable and simple in engineering, compared with the gazing observation mode which needs to adjust the attitude from the two dimensions. It includes two types of attitude adjustment, i.e. daily and continuous attitude adjustment. Therefore, the pseudo-fixed latitude observation mode has two characteristics. In a day, the latitude of the observation region is fixed and the scanning region is about a rectangle, while the latitude of the observation region centre changes each day in a long term based on a daily strategy. The capabilities of a pseudo-fixed latitude observation instrument with a 98° dawn-dusk sun-synchronous orbit are

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

    PubMed

    Song, Zhankui; Sun, Kaibiao

    2014-01-01

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

  20. Flight Control Design for an Autonomous Rotorcraft Using Pseudo-Sliding Mode Control and Waypoint Navigation

    NASA Astrophysics Data System (ADS)

    Mallory, Nicolas Joseph

    The design of robust automated flight control systems for aircraft of varying size and complexity is a topic of continuing interest for both military and civilian industries. By merging the benefits of robustness from sliding mode control (SMC) with the familiarity and transparency of design tradeoff offered by frequency domain approaches, this thesis presents pseudo-sliding mode control as a viable option for designing automated flight control systems for complex six degree-of-freedom aircraft. The infinite frequency control switching of SMC is replaced, by necessity, with control inputs that are continuous in nature. An introduction to SMC theory is presented, followed by a detailed design of a pseudo-sliding mode control and automated flight control system for a six degree-of-freedom model of a Hughes OH6 helicopter. This model is then controlled through three different waypoint missions that demonstrate the stability of the system and the aircraft's ability to follow certain maneuvers despite time delays, large changes in model parameters and vehicle dynamics, actuator dynamics, sensor noise, and atmospheric disturbances.

  1. Analytical impact time and angle guidance via time-varying sliding mode technique.

    PubMed

    Zhao, Yao; Sheng, Yongzhi; Liu, Xiangdong

    2016-05-01

    To concretely provide a feasible solution for homing missiles with the precise impact time and angle, this paper develops a novel guidance law, based on the nonlinear engagement dynamics. The guidance law is firstly designed with the prior assumption of a stationary target, followed by the practical extension to a moving target scenario. The time-varying sliding mode (TVSM) technique is applied to fulfill the terminal constraints, in which a specific TVSM surface is constructed with two unknown coefficients. One is tuned to meet the impact time requirement and the other one is targeted with a global sliding mode, so that the impact angle constraint as well as the zero miss distance can be satisfied. Because the proposed law possesses three guidance gain as design parameters, the intercept trajectory can be shaped according to the operational conditions and missile׳s capability. To improve the tolerance of initial heading errors and broaden the application, a new frame of reference is also introduced. Furthermore, the analytical solutions of the flight trajectory, heading angle and acceleration command can be totally expressed for the prediction and offline parameter selection by solving a first-order linear differential equation. Numerical simulation results for various scenarios validate the effectiveness of the proposed guidance law and demonstrate the accuracy of the analytic solutions. Copyright © 2016 ISA. Published by Elsevier Ltd. All rights reserved.

  2. Adaptive suboptimal second-order sliding mode control for microgrids

    NASA Astrophysics Data System (ADS)

    Incremona, Gian Paolo; Cucuzzella, Michele; Ferrara, Antonella

    2016-09-01

    This paper deals with the design of adaptive suboptimal second-order sliding mode (ASSOSM) control laws for grid-connected microgrids. Due to the presence of the inverter, of unpredicted load changes, of switching among different renewable energy sources, and of electrical parameters variations, the microgrid model is usually affected by uncertain terms which are bounded, but with unknown upper bounds. To theoretically frame the control problem, the class of second-order systems in Brunovsky canonical form, characterised by the presence of matched uncertain terms with unknown bounds, is first considered. Four adaptive strategies are designed, analysed and compared to select the most effective ones to be applied to the microgrid case study. In the first two strategies, the control amplitude is continuously adjusted, so as to arrive at dominating the effect of the uncertainty on the controlled system. When a suitable control amplitude is attained, the origin of the state space of the auxiliary system becomes attractive. In the other two strategies, a suitable blend between two components, one mainly working during the reaching phase, the other being the predominant one in a vicinity of the sliding manifold, is generated, so as to reduce the control amplitude in steady state. The microgrid system in a grid-connected operation mode, controlled via the selected ASSOSM control strategies, exhibits appreciable stability properties, as proved theoretically and shown in simulation.

  3. Smooth adaptive sliding mode vibration control of a flexible parallel manipulator with multiple smart linkages in modal space

    NASA Astrophysics Data System (ADS)

    Zhang, Quan; Li, Chaodong; Zhang, Jiantao; Zhang, Jianhui

    2017-12-01

    This paper addresses the dynamic model and active vibration control of a rigid-flexible parallel manipulator with three smart links actuated by three linear ultrasonic motors. To suppress the vibration of three flexible intermediate links under high speed and acceleration, multiple Lead Zirconium Titanate (PZT) sensors and actuators are collocated mounted on each link, forming a smart structure which can achieve self-sensing and self-actuating. The dynamic characteristics and equations of the flexible link incorporated with the PZT sensors and actuator are analyzed and formulated. The smooth adaptive sliding mode based active vibration control is proposed to suppress the vibration of the smart links, and the first and second modes of the three links are targeted to be suppressed in modal space to avoid the spillover phenomenon. Simulations and experiments are implemented to validate the effectiveness of the smart structures and the proposed control laws. Experimental results show that the vibration of the first mode around 92 Hz and the second mode around 240 Hz of the three smart links are reduced respectively by 64.98%, 59.47%, 62.28%, and 45.80%, 36.79%, 33.33%, which further verify the multi-mode vibration control ability of the smooth adaptive sliding mode control law.

  4. Sliding Mode Control (SMC) of Robot Manipulator via Intelligent Controllers

    NASA Astrophysics Data System (ADS)

    Kapoor, Neha; Ohri, Jyoti

    2017-02-01

    Inspite of so much research, key technical problem, naming chattering of conventional, simple and robust SMC is still a challenge to the researchers and hence limits its practical application. However, newly developed soft computing based techniques can provide solution. In order to have advantages of conventional and heuristic soft computing based control techniques, in this paper various commonly used intelligent techniques, neural network, fuzzy logic and adaptive neuro fuzzy inference system (ANFIS) have been combined with sliding mode controller (SMC). For validation, proposed hybrid control schemes have been implemented for tracking a predefined trajectory by robotic manipulator, incorporating structured and unstructured uncertainties in the system. After reviewing numerous papers, all the commonly occurring uncertainties like continuous disturbance, uniform random white noise, static friction like coulomb friction and viscous friction, dynamic friction like Dhal friction and LuGre friction have been inserted in the system. Various performance indices like norm of tracking error, chattering in control input, norm of input torque, disturbance rejection, chattering rejection have been used. Comparative results show that with almost eliminated chattering the intelligent SMC controllers are found to be more efficient over simple SMC. It has also been observed from results that ANFIS based controller has the best tracking performance with the reduced burden on the system. No paper in the literature has found to have all these structured and unstructured uncertainties together for motion control of robotic manipulator.

  5. Smooth integral sliding mode controller for the position control of Stewart platform.

    PubMed

    Kumar P, Ramesh; Chalanga, Asif; Bandyopadhyay, B

    2015-09-01

    This paper proposes the application of a new algorithm for the position control of a Stewart platform. The conventional integral sliding mode controller is a combination of nominal control and discontinuous feedback control hence the overall control is discontinuous in nature. The discontinuity in the feedback control is undesirable for practical applications due to chattering which causes the wear and tear of the mechanical actuators. In this paper the existing integral sliding mode control law for systems with matched disturbances is modified by replacing the discontinuous part by a continuous modified twisting control. This proposed controller is continuous in nature due to the combinations of two continuous controls. The desired position of the platform has been achieved using the proposed controller even in the presence of matched disturbances. The effectiveness of the proposed controller has been proved with the simulation results. Copyright © 2015 ISA. Published by Elsevier Ltd. All rights reserved.

  6. Positive sliding mode control for blood glucose regulation

    NASA Astrophysics Data System (ADS)

    Menani, Karima; Mohammadridha, Taghreed; Magdelaine, Nicolas; Abdelaziz, Mourad; Moog, Claude H.

    2017-11-01

    Biological systems involving positive variables as concentrations are some examples of so-called positive systems. This is the case of the glycemia-insulinemia system considered in this paper. To cope with these physical constraints, it is shown that a positive sliding mode control (SMC) can be designed for glycemia regulation. The largest positive invariant set (PIS) is obtained for the insulinemia subsystem in open and closed loop. The existence of a positive SMC for glycemia regulation is shown here for the first time. Necessary conditions to design the sliding surface and the discontinuity gain are derived to guarantee a positive SMC for the insulin dynamics. SMC is designed to be positive everywhere in the largest closed-loop PIS of plasma insulin system. Two-stage SMC is employed; the last stage SMC2 block uses the glycemia error to design the desired insulin trajectory. Then the plasma insulin state is forced to track the reference via SMC1. The resulting desired insulin trajectory is the required virtual control input of the glycemia system to eliminate blood glucose (BG) error. The positive control is tested in silico on type-1 diabetic patients model derived from real-life clinical data.

  7. A novel sliding mode guidance law without line-of-sight angular rate information accounting for autopilot lag

    NASA Astrophysics Data System (ADS)

    He, Shaoming; Wang, Jiang; Wang, Wei

    2017-12-01

    This paper proposes a new composite guidance law to intercept manoeuvring targets without line-of-sight (LOS) angular rate information in the presence of autopilot lag. The presented formulation is obtained via a combination of homogeneous theory and sliding mode control approach. Different from some existing observers, the proposed homogeneous observer can estimate the lumped uncertainty and the LOS angular rate in an integrated manner. To reject the mismatched lumped uncertainty in the integrated guidance and autopilot system, a sliding surface, which consists of the system states and the estimated states, is proposed and a robust guidance law is then synthesised. Stability analysis shows that the LOS angular rate can be stabilised in a small region around zero asymptotically and the upper bound can be lowered by appropriate parameter choice. Numerical simulations with some comparisons are carried out to demonstrate the superiority of the proposed method.

  8. Vehicle Hybrid Braking Control Using Sliding Mode Control

    NASA Astrophysics Data System (ADS)

    Kasahara, Misawa; Kanai, Yuki; Shiraki, Ryoko; Mori, Yasuchika

    Anti-lock brake system and brake-by-wire are proposed in the vehicle control using a brake, and the braking power is expected to be improved more than ever. The researches such as an application to the ABS of Siliding mode control which considered a actuator dynamics and a hybrid control of the brake using model reference adaptive control are done so far. However, in the former case, speed following that becomes a target exists physically impossible situation by saturation of tire frictional force because only speed following is done. In the latter, the model error is caused because the simulation model and the controller design model are different. Therefore, there is a problem that an accurate follow cannot be done. In this paper, the braking control is performed using the sliding mode control which has high robustness for disturbance that fulfils matching conditions. In so doing, it aims at the achievement of optimal braking control to switch wheel speed following to slip ratio following.

  9. Sliding Mode Control of a Slewing Flexible Beam

    NASA Technical Reports Server (NTRS)

    Wilson, David G.; Parker, Gordon G.; Starr, Gregory P.; Robinett, Rush D., III

    1997-01-01

    An output feedback sliding mode controller (SMC) is proposed to minimize the effects of vibrations of slewing flexible manipulators. A spline trajectory is used to generate ideal position and velocity commands. Constrained nonlinear optimization techniques are used to both calibrate nonlinear models and determine optimized gains to produce a rest-to-rest, residual vibration-free maneuver. Vibration-free maneuvers are important for current and future NASA space missions. This study required the development of the nonlinear dynamic system equations of motion; robust control law design; numerical implementation; system identification; and verification using the Sandia National Laboratories flexible robot testbed. Results are shown for a slewing flexible beam.

  10. Monolithic quasi-sliding-mode controller for SIDO buck converter with a self-adaptive free-wheeling current level

    NASA Astrophysics Data System (ADS)

    Xiaobo, Wu; Qing, Liu; Menglian, Zhao; Mingyang, Chen

    2013-01-01

    An analog implementation of a novel fixed-frequency quasi-sliding-mode controller for single-inductor dual-output (SIDO) buck converter in pseudo-continuous conduction mode (PCCM) with a self-adaptive freewheeling current level (SFCL) is presented. Both small and large signal variations around the operation point are considered to achieve better transient response so as to reduce the cross-regulation of this SIDO buck converter. Moreover, an internal integral loop is added to suppress the steady-state regulation error introduced by conventional PWM-based sliding mode controllers. Instead of keeping it as a constant value, the free-wheeling current level varies according to the load condition to maintain high power efficiency and less cross-regulation at the same time. To verify the feasibility of the proposed controller, an SIDO buck converter with two regulated output voltages, 1.8 V and 3.3 V, is designed and fabricated in HEJIAN 0.35 μm CMOS process. Simulation and experiment results show that the transient time of this SIDO buck converter drops to 10 μs while the cross-regulation is reduced to 0.057 mV/mA, when its first load changes from 50 to 100 mA.

  11. Direct Torque Control of a Small Wind Turbine with a Sliding-Mode Speed Controller

    NASA Astrophysics Data System (ADS)

    Sri Lal Senanayaka, Jagath; Karimi, Hamid Reza; Robbersmyr, Kjell G.

    2016-09-01

    In this paper. the method of direct torque control in the presence of a sliding-mode speed controller is proposed for a small wind turbine being used in water heating applications. This concept and control system design can be expanded to grid connected or off-grid applications. Direct torque control of electrical machines has shown several advantages including very fast dynamics torque control over field-oriented control. Moreover. the torque and flux controllers in the direct torque control algorithms are based on hvsteretic controllers which are nonlinear. In the presence of a sliding-mode speed control. a nonlinear control system can be constructed which is matched for AC/DC conversion of the converter that gives fast responses with low overshoots. The main control objectives of the proposed small wind turbine can be maximum power point tracking and soft-stall power control. This small wind turbine consists of permanent magnet synchronous generator and external wind speed. and rotor speed measurements are not required for the system. However. a sensor is needed to detect the rated wind speed overpass events to activate proper speed references for the wind turbine. Based on the low-cost design requirement of small wind turbines. an available wind speed sensor can be modified. or a new sensor can be designed to get the required measurement. The simulation results will be provided to illustrate the excellent performance of the closed-loop control system in entire wind speed range (4-25 m/s).

  12. Convergence analysis of sliding mode trajectories in multi-objective neural networks learning.

    PubMed

    Costa, Marcelo Azevedo; Braga, Antonio Padua; de Menezes, Benjamin Rodrigues

    2012-09-01

    The Pareto-optimality concept is used in this paper in order to represent a constrained set of solutions that are able to trade-off the two main objective functions involved in neural networks supervised learning: data-set error and network complexity. The neural network is described as a dynamic system having error and complexity as its state variables and learning is presented as a process of controlling a learning trajectory in the resulting state space. In order to control the trajectories, sliding mode dynamics is imposed to the network. It is shown that arbitrary learning trajectories can be achieved by maintaining the sliding mode gains within their convergence intervals. Formal proofs of convergence conditions are therefore presented. The concept of trajectory learning presented in this paper goes further beyond the selection of a final state in the Pareto set, since it can be reached through different trajectories and states in the trajectory can be assessed individually against an additional objective function. Copyright © 2012 Elsevier Ltd. All rights reserved.

  13. Regulation of Blood Glucose Concentration in Type 1 Diabetics Using Single Order Sliding Mode Control Combined with Fuzzy On-line Tunable Gain, a Simulation Study

    PubMed Central

    Dinani, Soudabeh Taghian; Zekri, Maryam; Kamali, Marzieh

    2015-01-01

    Diabetes is considered as a global affecting disease with an increasing contribution to both mortality rate and cost damage in the society. Therefore, tight control of blood glucose levels has gained significant attention over the decades. This paper proposes a method for blood glucose level regulation in type 1 diabetics. The control strategy is based on combining the fuzzy logic theory and single order sliding mode control (SOSMC) to improve the properties of sliding mode control method and to alleviate its drawbacks. The aim of the proposed controller that is called SOSMC combined with fuzzy on-line tunable gain is to tune the gain of the controller adaptively. This merit causes a less amount of control effort, which is the rate of insulin delivered to the patient body. As a result, this method can decline the risk of hypoglycemia, a lethal phenomenon in regulating blood glucose level in diabetics caused by a low blood glucose level. Moreover, it attenuates the chattering observed in SOSMC significantly. It is worth noting that in this approach, a mathematical model called minimal model is applied instead of the intravenously infused insulin–blood glucose dynamics. The simulation results demonstrate a good performance of the proposed controller in meal disturbance rejection and robustness against parameter changes. In addition, this method is compared to fuzzy high-order sliding mode control (FHOSMC) and the superiority of the new method compared to FHOSMC is shown in the results. PMID:26284169

  14. Regulation of Blood Glucose Concentration in Type 1 Diabetics Using Single Order Sliding Mode Control Combined with Fuzzy On-line Tunable Gain, a Simulation Study.

    PubMed

    Dinani, Soudabeh Taghian; Zekri, Maryam; Kamali, Marzieh

    2015-01-01

    Diabetes is considered as a global affecting disease with an increasing contribution to both mortality rate and cost damage in the society. Therefore, tight control of blood glucose levels has gained significant attention over the decades. This paper proposes a method for blood glucose level regulation in type 1 diabetics. The control strategy is based on combining the fuzzy logic theory and single order sliding mode control (SOSMC) to improve the properties of sliding mode control method and to alleviate its drawbacks. The aim of the proposed controller that is called SOSMC combined with fuzzy on-line tunable gain is to tune the gain of the controller adaptively. This merit causes a less amount of control effort, which is the rate of insulin delivered to the patient body. As a result, this method can decline the risk of hypoglycemia, a lethal phenomenon in regulating blood glucose level in diabetics caused by a low blood glucose level. Moreover, it attenuates the chattering observed in SOSMC significantly. It is worth noting that in this approach, a mathematical model called minimal model is applied instead of the intravenously infused insulin-blood glucose dynamics. The simulation results demonstrate a good performance of the proposed controller in meal disturbance rejection and robustness against parameter changes. In addition, this method is compared to fuzzy high-order sliding mode control (FHOSMC) and the superiority of the new method compared to FHOSMC is shown in the results.

  15. Semi-active sliding mode control of vehicle suspension with magneto-rheological damper

    NASA Astrophysics Data System (ADS)

    Zhang, Hailong; Wang, Enrong; Zhang, Ning; Min, Fuhong; Subash, Rakheja; Su, Chunyi

    2015-01-01

    The vehicle semi-active suspension with magneto-rheological damper(MRD) has been a hot topic since this decade, in which the robust control synthesis considering load variation is a challenging task. In this paper, a new semi-active controller based upon the inverse model and sliding mode control (SMC) strategies is proposed for the quarter-vehicle suspension with the magneto-rheological (MR) damper, wherein an ideal skyhook suspension is employed as the control reference model and the vehicle sprung mass is considered as an uncertain parameter. According to the asymptotical stability of SMC, the dynamic errors between the plant and reference systems are used to derive the control damping force acquired by the MR quarter-vehicle suspension system. The proposed modified Bouc-wen hysteretic force-velocity ( F- v) model and its inverse model of MR damper, as well as the proposed continuous modulation (CM) filtering algorithm without phase shift are employed to convert the control damping force into the direct drive current of the MR damper. Moreover, the proposed semi-active sliding mode controller (SSMC)-based MR quarter-vehicle suspension is systematically evaluated through comparing the time and frequency domain responses of the sprung and unsprung mass displacement accelerations, suspension travel and the tire dynamic force with those of the passive quarter-vehicle suspension, under three kinds of varied amplitude harmonic, rounded pulse and real-road measured random excitations. The evaluation results illustrate that the proposed SSMC can greatly suppress the vehicle suspension vibration due to uncertainty of the load, and thus improve the ride comfort and handling safety. The study establishes a solid theoretical foundation as the universal control scheme for the adaptive semi-active control of the MR full-vehicle suspension decoupled into four MR quarter-vehicle sub-suspension systems.

  16. LQ optimal and reaching law-based sliding modes for inventory management systems

    NASA Astrophysics Data System (ADS)

    Ignaciuk, Przemysław; Bartoszewicz, Andrzej

    2012-01-01

    In this article, the theory of discrete sliding-mode control is used to design new supply strategies for periodic-review inventory systems. In the considered systems, the stock used to fulfil an unknown, time-varying demand can be replenished from a single supply source or from multiple suppliers procuring orders with different delays. The proposed strategies guarantee that demand is always entirely satisfied from the on-hand stock (yielding the maximum service level), and the warehouse capacity is not exceeded (which eliminates the cost of emergency storage). In contrast to the classical, stochastic approaches, in this article, we focus on optimising the inventory system dynamics. The parameters of the first control strategy are selected by minimising a quadratic cost functional. Next, it is shown how the system dynamical performance can be improved by applying the concept of a reaching law with the appropriately adjusted reaching phase. The stable, nonoscillatory behaviour of the closed-loop system is demonstrated and the properties of the designed controllers are discussed and strictly proved.

  17. Variable speed wind turbine control by discrete-time sliding mode approach.

    PubMed

    Torchani, Borhen; Sellami, Anis; Garcia, Germain

    2016-05-01

    The aim of this paper is to propose a new design variable speed wind turbine control by discrete-time sliding mode approach. This methodology is designed for linear saturated system. The saturation constraint is reported on inputs vector. To this end, the back stepping design procedure is followed to construct a suitable sliding manifold that guarantees the attainment of a stabilization control objective. It is well known that the mechanisms are investigated in term of the most proposed assumptions to deal with the damping, shaft stiffness and inertia effect of the gear. The objectives are to synthesize robust controllers that maximize the energy extracted from wind, while reducing mechanical loads and rotor speed tracking combined with an electromagnetic torque. Simulation results of the proposed scheme are presented. Copyright © 2016 ISA. Published by Elsevier Ltd. All rights reserved.

  18. Finite-Time Attitude Tracking Control for Spacecraft Using Terminal Sliding Mode and Chebyshev Neural Network.

    PubMed

    An-Min Zou; Kumar, K D; Zeng-Guang Hou; Xi Liu

    2011-08-01

    A finite-time attitude tracking control scheme is proposed for spacecraft using terminal sliding mode and Chebyshev neural network (NN) (CNN). The four-parameter representations (quaternion) are used to describe the spacecraft attitude for global representation without singularities. The attitude state (i.e., attitude and velocity) error dynamics is transformed to a double integrator dynamics with a constraint on the spacecraft attitude. With consideration of this constraint, a novel terminal sliding manifold is proposed for the spacecraft. In order to guarantee that the output of the NN used in the controller is bounded by the corresponding bound of the approximated unknown function, a switch function is applied to generate a switching between the adaptive NN control and the robust controller. Meanwhile, a CNN, whose basis functions are implemented using only desired signals, is introduced to approximate the desired nonlinear function and bounded external disturbances online, and the robust term based on the hyperbolic tangent function is applied to counteract NN approximation errors in the adaptive neural control scheme. Most importantly, the finite-time stability in both the reaching phase and the sliding phase can be guaranteed by a Lyapunov-based approach. Finally, numerical simulations on the attitude tracking control of spacecraft in the presence of an unknown mass moment of inertia matrix, bounded external disturbances, and control input constraints are presented to demonstrate the performance of the proposed controller.

  19. Sliding Mode Control of a Thermal Mixing Process

    NASA Technical Reports Server (NTRS)

    Richter, Hanz; Figueroa, Fernando

    2004-01-01

    In this paper we consider the robust control of a thermal mixer using multivariable Sliding Mode Control (SMC). The mixer consists of a mixing chamber, hot and cold fluid valves, and an exit valve. The commanded positions of the three valves are the available control inputs, while the controlled variables are total mass flow rate, chamber pressure and the density of the mixture inside the chamber. Unsteady thermodynamics and linear valve models are used in deriving a 5th order nonlinear system with three inputs and three outputs, An SMC controller is designed to achieve robust output tracking in the presence of unknown energy losses between the chamber and the environment. The usefulness of the technique is illustrated with a simulation.

  20. Adaptive-gain fast super-twisting sliding mode fault tolerant control for a reusable launch vehicle in reentry phase.

    PubMed

    Zhang, Yao; Tang, Shengjing; Guo, Jie

    2017-11-01

    In this paper, a novel adaptive-gain fast super-twisting (AGFST) sliding mode attitude control synthesis is carried out for a reusable launch vehicle subject to actuator faults and unknown disturbances. According to the fast nonsingular terminal sliding mode surface (FNTSMS) and adaptive-gain fast super-twisting algorithm, an adaptive fault tolerant control law for the attitude stabilization is derived to protect against the actuator faults and unknown uncertainties. Firstly, a second-order nonlinear control-oriented model for the RLV is established by feedback linearization method. And on the basis a fast nonsingular terminal sliding mode (FNTSM) manifold is designed, which provides fast finite-time global convergence and avoids singularity problem as well as chattering phenomenon. Based on the merits of the standard super-twisting (ST) algorithm and fast reaching law with adaption, a novel adaptive-gain fast super-twisting (AGFST) algorithm is proposed for the finite-time fault tolerant attitude control problem of the RLV without any knowledge of the bounds of uncertainties and actuator faults. The important feature of the AGFST algorithm includes non-overestimating the values of the control gains and faster convergence speed than the standard ST algorithm. A formal proof of the finite-time stability of the closed-loop system is derived using the Lyapunov function technique. An estimation of the convergence time and accurate expression of convergence region are also provided. Finally, simulations are presented to illustrate the effectiveness and superiority of the proposed control scheme. Copyright © 2017 ISA. Published by Elsevier Ltd. All rights reserved.

  1. Hybrid force-velocity sliding mode control of a prosthetic hand.

    PubMed

    Engeberg, Erik D; Meek, Sanford G; Minor, Mark A

    2008-05-01

    Four different methods of hand prosthesis control are developed and examined experimentally. Open-loop control is shown to offer the least sensitivity when manipulating objects. Force feedback substantially improves upon open-loop control. However, it is shown that the inclusion of velocity and/or position feedback in a hybrid force-velocity control scheme can further improve the functionality of hand prostheses. Experimental results indicate that the sliding mode controller with force, position, and velocity feedback is less prone to unwanted force overshoot when initially grasping objects than the other controllers.

  2. RTDS implementation of an improved sliding mode based inverter controller for PV system.

    PubMed

    Islam, Gazi; Muyeen, S M; Al-Durra, Ahmed; Hasanien, Hany M

    2016-05-01

    This paper proposes a novel approach for testing dynamics and control aspects of a large scale photovoltaic (PV) system in real time along with resolving design hindrances of controller parameters using Real Time Digital Simulator (RTDS). In general, the harmonic profile of a fast controller has wide distribution due to the large bandwidth of the controller. The major contribution of this paper is that the proposed control strategy gives an improved voltage harmonic profile and distribute it more around the switching frequency along with fast transient response; filter design, thus, becomes easier. The implementation of a control strategy with high bandwidth in small time steps of Real Time Digital Simulator (RTDS) is not straight forward. This paper shows a good methodology for the practitioners to implement such control scheme in RTDS. As a part of the industrial process, the controller parameters are optimized using particle swarm optimization (PSO) technique to improve the low voltage ride through (LVRT) performance under network disturbance. The response surface methodology (RSM) is well adapted to build analytical models for recovery time (Rt), maximum percentage overshoot (MPOS), settling time (Ts), and steady state error (Ess) of the voltage profile immediate after inverter under disturbance. A systematic approach of controller parameter optimization is detailed. The transient performance of the PSO based optimization method applied to the proposed sliding mode controlled PV inverter is compared with the results from genetic algorithm (GA) based optimization technique. The reported real time implementation challenges and controller optimization procedure are applicable to other control applications in the field of renewable and distributed generation systems. Copyright © 2015 ISA. Published by Elsevier Ltd. All rights reserved.

  3. Sliding-mode control combined with improved adaptive feedforward for wafer scanner

    NASA Astrophysics Data System (ADS)

    Li, Xiaojie; Wang, Yiguang

    2018-03-01

    In this paper, a sliding-mode control method combined with improved adaptive feedforward is proposed for wafer scanner to improve the tracking performance of the closed-loop system. Particularly, In addition to the inverse model, the nonlinear force ripple effect which may degrade the tracking accuracy of permanent magnet linear motor (PMLM) is considered in the proposed method. The dominant position periodicity of force ripple is determined by using the Fast Fourier Transform (FFT) analysis for experimental data and the improved feedforward control is achieved by the online recursive least-squares (RLS) estimation of the inverse model and the force ripple. The improved adaptive feedforward is given in a general form of nth-order model with force ripple effect. This proposed method is motivated by the motion controller design of the long-stroke PMLM and short-stroke voice coil motor for wafer scanner. The stability of the closed-loop control system and the convergence of the motion tracking are guaranteed by the proposed sliding-mode feedback and adaptive feedforward methods theoretically. Comparative experiments on a precision linear motion platform can verify the correctness and effectiveness of the proposed method. The experimental results show that comparing to traditional method the proposed one has better performance of rapidity and robustness, especially for high speed motion trajectory. And, the improvements on both tracking accuracy and settling time can be achieved.

  4. Dynamic Analysis and Adaptive Sliding Mode Controller for a Chaotic Fractional Incommensurate Order Financial System

    NASA Astrophysics Data System (ADS)

    Hajipour, Ahmad; Tavakoli, Hamidreza

    2017-12-01

    In this study, the dynamic behavior and chaos control of a chaotic fractional incommensurate-order financial system are investigated. Using well-known tools of nonlinear theory, i.e. Lyapunov exponents, phase diagrams and bifurcation diagrams, we observe some interesting phenomena, e.g. antimonotonicity, crisis phenomena and route to chaos through a period doubling sequence. Adopting largest Lyapunov exponent criteria, we find that the system yields chaos at the lowest order of 2.15. Next, in order to globally stabilize the chaotic fractional incommensurate order financial system with uncertain dynamics, an adaptive fractional sliding mode controller is designed. Numerical simulations are used to demonstrate the effectiveness of the proposed control method.

  5. Toward Modular Soft Robotics: Proprioceptive Curvature Sensing and Sliding-Mode Control of Soft Bidirectional Bending Modules.

    PubMed

    Luo, Ming; Skorina, Erik H; Tao, Weijia; Chen, Fuchen; Ozel, Selim; Sun, Yinan; Onal, Cagdas D

    2017-06-01

    Real-world environments are complex, unstructured, and often fragile. Soft robotics offers a solution for robots to safely interact with the environment and human coworkers, but suffers from a host of challenges in sensing and control of continuously deformable bodies. To overcome these challenges, this article considers a modular soft robotic architecture that offers proprioceptive sensing of pressure-operated bending actuation modules. We present integrated custom magnetic curvature sensors embedded in the neutral axis of bidirectional bending actuators. We describe our recent advances in the design and fabrication of these modules to improve the reliability of proprioceptive curvature feedback over our prior work. In particular, we study the effect of dimensional parameters on improving the linearity of curvature measurements. In addition, we present a sliding-mode controller formulation that drives the binary solenoid valve states directly, giving the control system the ability to hold the actuator steady without continuous pressurization and depressurization. In comparison to other methods, this control approach does not rely on pulse width modulation and hence offers superior dynamic performance (i.e., faster response rates). Our experimental results indicate that the proposed soft robotic modules offer a large range of bending angles with monotonic and more linear embedded curvature measurements, and that the direct sliding-mode control system exhibits improved bandwidth and a notable reduction in binary valve actuation operations compared to our earlier iterative sliding-mode controller.

  6. Model-free adaptive sliding mode controller design for generalized projective synchronization of the fractional-order chaotic system via radial basis function neural networks

    NASA Astrophysics Data System (ADS)

    Wang, L. M.

    2017-09-01

    A novel model-free adaptive sliding mode strategy is proposed for a generalized projective synchronization (GPS) between two entirely unknown fractional-order chaotic systems subject to the external disturbances. To solve the difficulties from the little knowledge about the master-slave system and to overcome the bad effects of the external disturbances on the generalized projective synchronization, the radial basis function neural networks are used to approach the packaged unknown master system and the packaged unknown slave system (including the external disturbances). Consequently, based on the slide mode technology and the neural network theory, a model-free adaptive sliding mode controller is designed to guarantee asymptotic stability of the generalized projective synchronization error. The main contribution of this paper is that a control strategy is provided for the generalized projective synchronization between two entirely unknown fractional-order chaotic systems subject to the unknown external disturbances, and the proposed control strategy only requires that the master system has the same fractional orders as the slave system. Moreover, the proposed method allows us to achieve all kinds of generalized projective chaos synchronizations by turning the user-defined parameters onto the desired values. Simulation results show the effectiveness of the proposed method and the robustness of the controlled system.

  7. Global fast dynamic terminal sliding mode control for a quadrotor UAV.

    PubMed

    Xiong, Jing-Jing; Zhang, Guo-Bao

    2017-01-01

    A control method based on global fast dynamic terminal sliding mode control (TSMC) technique is proposed to design the flight controller for performing the finite-time position and attitude tracking control of a small quadrotor UAV. Firstly, the dynamic model of the quadrotor is divided into two subsystems, i.e., a fully actuated subsystem and an underactuated subsystem. Secondly, the dynamic flight controllers of the quadrotor are formulated based on global fast dynamic TSMC, which is able to guarantee that the position and velocity tracking errors of all system state variables converge to zero in finite-time. Moreover, the global fast dynamic TSMC is also able to eliminate the chattering phenomenon caused by the switching control action and realize the high precision performance. In addition, the stabilities of two subsystems are demonstrated by Lyapunov theory, respectively. Lastly, the simulation results are given to illustrate the effectiveness and robustness of the proposed control method in the presence of external disturbances. Copyright © 2016 ISA. Published by Elsevier Ltd. All rights reserved.

  8. Fuzzy model-based observers for fault detection in CSTR.

    PubMed

    Ballesteros-Moncada, Hazael; Herrera-López, Enrique J; Anzurez-Marín, Juan

    2015-11-01

    Under the vast variety of fuzzy model-based observers reported in the literature, what would be the properone to be used for fault detection in a class of chemical reactor? In this study four fuzzy model-based observers for sensor fault detection of a Continuous Stirred Tank Reactor were designed and compared. The designs include (i) a Luenberger fuzzy observer, (ii) a Luenberger fuzzy observer with sliding modes, (iii) a Walcott-Zak fuzzy observer, and (iv) an Utkin fuzzy observer. A negative, an oscillating fault signal, and a bounded random noise signal with a maximum value of ±0.4 were used to evaluate and compare the performance of the fuzzy observers. The Utkin fuzzy observer showed the best performance under the tested conditions. Copyright © 2015 ISA. Published by Elsevier Ltd. All rights reserved.

  9. A new fuzzy sliding mode controller for vibration control systems using integrated-structure smart dampers

    NASA Astrophysics Data System (ADS)

    Dzung Nguyen, Sy; Kim, Wanho; Park, Jhinha; Choi, Seung-Bok

    2017-04-01

    Vibration control systems using smart dampers (SmDs) such as magnetorheological and electrorheological dampers (MRD and ERD), which are classified as the integrated structure-SmD control systems (ISSmDCSs), have been actively researched and widely used. This work proposes a new controller for a class of ISSmDCSs in which high accuracy of SmD models as well as increment of control ability to deal with uncertainty and time delay are to be expected. In order to achieve this goal, two formualtion steps are required; a non-parametric SmD model based on an adaptive neuro-fuzzy inference system (ANFIS) and a novel fuzzy sliding mode controller (FSMC) which can weaken the model error of the ISSmDCSs and hence provide enhanced vibration control performances. As for the formulation of the proposed controller, first, an ANFIS controller is desgned to identify SmDs using the improved control algorithm named improved establishing neuro-fuzzy system (establishing neuro-fuzzy system). Second, a new control law for the FSMC is designed via Lyapunov stability analysis. An application to a semi-active MRD vehicle suspension system is then undertaken to illustrate and evaluate the effectiveness of the proposed control method. It is demonstrated through an experimental realization that the FSMC proposed in this work shows superior vibration control performance of the vehicle suspension compared to other surveyed controller which have similar structures to the FSMC, such as fuzzy logic and sliding mode control.

  10. Vibration control of a ship engine system using high-load magnetorheological mounts associated with a new indirect fuzzy sliding mode controller

    NASA Astrophysics Data System (ADS)

    Phu, Do Xuan; Choi, Seung-Bok

    2015-02-01

    In this work, a new high-load magnetorheological (MR) fluid mount system is devised and applied to control vibration in a ship engine. In the investigation of vibration-control performance, a new modified indirect fuzzy sliding mode controller is formulated and realized. The design of the proposed MR mount is based on the flow mode of MR fluid, and it includes two separated coils for generating a magnetic field. An optimization process is carried out to achieve maximal damping force under certain design constraints, such as the allowable height of the mount. As an actuating smart fluid, a new plate-like iron-particle-based MR fluid is used, instead of the conventional spherical iron-particle-based MR fluid. After evaluating the field-dependent yield stress of the MR fluid, the field-dependent damping force required to control unwanted vibration in the ship engine is determined. Subsequently, an appropriate-sized MR mount is manufactured and its damping characteristics are evaluated. After confirming the sufficient damping force level of the manufactured MR mount, a medium-sized ship engine mount system consisting of eight MR mounts is established, and its dynamic governing equations are derived. A new modified indirect fuzzy sliding mode controller is then formulated and applied to the engine mount system. The displacement and velocity responses show that the unwanted vibrations of the ship engine system can be effectively controlled in both the axial and radial directions by applying the proposed control methodology.

  11. SU-F-J-10: Sliding Mode Control of a SMA Actuated Active Flexible Needle for Medical Procedures

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

    Podder, T

    Purpose: In medical interventional procedures such as brachytherapy, ablative therapies and biopsy precise steering and accurate placement of needles are very important for anatomical obstacle avoidance and accurate targeting. This study presents the efficacy of a sliding mode controller for Shape Memory Alloy (SMA) actuated flexible needle for medical procedures. Methods: Second order system dynamics of the SMA actuated active flexible needle was used for deriving the sliding mode control equations. Both proportional-integral-derivative (PID) and adaptive PID sliding mode control (APIDSMC) algorithms were developed and implemented. The flexible needle was attached at the end of a 6 DOF robotic system.more » Through LabView programming environment, the control commands were generated using the PID and APIDSMC algorithms. Experiments with artificial tissue mimicking phantom were performed to evaluate the performance of the controller. The actual needle tip position was obtained using an electromagnetic (EM) tracking sensor (Aurora, NDI, waterloo, Canada) at a sampling period of 1ms. During experiment, external disturbances were created applying force and thermal shock to investigate the robustness of the controllers. Results: The root mean square error (RMSE) values for APIDSMC and PID controllers were 0.75 mm and 0.92 mm, respectively, for sinusoidal reference input. In the presence of external disturbances, the APIDSMC controller showed much smoother and less overshooting response compared to that of the PID controller. Conclusion: Performance of the APIDSMC was superior to the PID controller. The APIDSMC was proved to be more effective controller in compensating the SMA uncertainties and external disturbances with clinically acceptable thresholds.« less

  12. Effect of Deformation Mode on the Wear Behavior of NiTi Shape Memory Alloys

    NASA Astrophysics Data System (ADS)

    Yan, Lina; Liu, Yong

    2016-06-01

    Owing to good biocompatibility, good fatigue resistance, and excellent superelasticity, various types of bio-medical devices based on NiTi shape memory alloy (SMA) have been developed. Due to the complexity in deformation mode in service, for example NiTi implants, accurate assessment/prediction of the surface wear process is difficult. This study aims at providing a further insight into the effect of deformation mode on the wear behavior of NiTi SMA. In the present study, two types of wear testing modes were used, namely sliding wear mode and reciprocating wear mode, to investigate the effect of deformation mode on the wear behavior of NiTi SMA in both martensitic and austenitic states. It was found that, when in martensitic state and under high applied loads, sliding wear mode resulted in more surface damage as compared to that under reciprocating wear mode. When in austenitic state, although similar trends in the coefficient of friction were observed, the coefficient of friction and surface damage in general is less under reciprocating mode than under sliding mode. These observations were further discussed in terms of different deformation mechanisms involved in the wear tests, in particular, the reversibility of martensite variant reorientation and stress-induced phase transformation, respectively.

  13. An investigation on dry sliding wear behaviour of AA6061-AlNp composite

    NASA Astrophysics Data System (ADS)

    Mahesh Naidu, K.; Mohan Reddy, Chandra

    2018-03-01

    This paper studies the effect of load, sliding distance, reinforcement percentage and temperature on dry sliding wear behaviour of Al-AlNp composites by using pin on disc machine. The wear test was conducted at different loads (1,2,3 & 4 Kg), temperatures (30°C, 100°C, 170°C & 240°C) and sliding distances (500m,1000m,1500m and 2000m). Increase in wear rate has been observed by increasing the load and sliding distance, at the same time it has been decreased by increasing the reinforcement percentage and temperature. At the higher loads, temperatures and sliding distances adhesive wear, abrasive wear and oxidation wear are observed to be dominant modes of wear mechanisms in the composite.

  14. Sliding mode observer for proton exchange membrane fuel cell: automotive application

    NASA Astrophysics Data System (ADS)

    Piffard, Maxime; Gerard, Mathias; Fonseca, Ramon Da; Massioni, Paolo; Bideaux, Eric

    2018-06-01

    This work proposes a state observer as a tool to manage cost and durability issues for PEMFC (Proton Exchange Membrane Fuel Cell) in automotive applications. Based on a dead-end anode architecture, the observer estimates the nitrogen build-up in the anode side, as well as relative humidities in the channels. These estimated parameters can then be used at fuel cell management level to enhance the durability of the stack. This observer is based on transport equations through the membrane and it reconstructs the behavior of the water and nitrogen inside the channels without the need of additional humidity sensors to correct the estimate. The convergence of the output variables is proved with Lyapunov theory for dynamic operating conditions. The validation is made with a high-fidelity model running a WLTC (Worldwide harmonized Light vehicles Test Cycle). This observer provides the average values of nitrogen and relative humidities with sufficient precision to be used in a global real-time control scheme.

  15. Enhancing our Understanding of Snowfall Modes with Ground-Based Observations

    NASA Astrophysics Data System (ADS)

    Pettersen, C.; Kulie, M.; Petersen, W. A.; Bliven, L. F.; Wood, N.

    2016-12-01

    Snowfall can be broadly categorized into deep and shallow events based on the vertical distribution of the precipitating ice. Remotely sensed data refine these precipitation categories and aid in discerning the underlying macro- and microphysical mechanisms. The unique patterns in the remotely sensed instruments observations can potentially connect distinct modes of snowfall to specific processes. Though satellites can observe and recognize these patterns in snowfall, these measurements are limited - particularly in cases of shallow and light precipitation, as the snow may be too close to the surface or below the detection limits of the instrumentation. By enhancing satellite measurements with ground-based instrumentation, whether with limited-term field campaigns or long-term strategic sites, we can further our understanding and assumptions about different snowfall modes and how they are measured from spaceborne instruments. Presented are three years of data from a ground-based instrument suite consisting of a MicroRain Radar (MRR; optimized for snow events) and a Precipitation Imaging Package (PIP). These instruments are located at the Marquette, Michigan National Weather Service Weather Forecast Office to: a) use coincident meteorological measurements and observations to enhance our understanding of the thermodynamic drivers and b) showcase these instruments in an operational setting to enhance forecasts of shallow snow events. Three winters of MRR and PIP measurements are partitioned, based on meteorological surface observations, into two-dimensional histograms of reflectivity and particle size distribution data. These statistics improve our interpretation of deep versus shallow precipitation. Additionally, these statistical techniques are applied to similar datasets from Global Precipitation Measurement field campaigns for further insight into cloud and precipitation macro- and microphysical processes.

  16. Functional Based Adaptive and Fuzzy Sliding Controller for Non-Autonomous Active Suspension System

    NASA Astrophysics Data System (ADS)

    Huang, Shiuh-Jer; Chen, Hung-Yi

    In this paper, an adaptive sliding controller is developed for controlling a vehicle active suspension system. The functional approximation technique is employed to substitute the unknown non-autonomous functions of the suspension system and release the model-based requirement of sliding mode control algorithm. In order to improve the control performance and reduce the implementation problem, a fuzzy strategy with online learning ability is added to compensate the functional approximation error. The update laws of the functional approximation coefficients and the fuzzy tuning parameters are derived from the Lyapunov theorem to guarantee the system stability. The proposed controller is implemented on a quarter-car hydraulic actuating active suspension system test-rig. The experimental results show that the proposed controller suppresses the oscillation amplitude of the suspension system effectively.

  17. Rotor Current Control of DFIG for Improving Fault Ride - Through Using a Novel Sliding Mode Control Approach

    NASA Astrophysics Data System (ADS)

    Cai, Guowei; Liu, Cheng; Yang, Deyou

    2013-11-01

    The doubly fed induction generators (DFIG) have been recognized as the dominant technology used in wind power generation systems with the rapid development of wind power. However, continuous operation of DFIG may cause a serious wind turbine generators tripping accident, due to destructive over-current in the rotor winding which is caused by the power system fault or inefficient fault ride-through (FRT) strategy. A new rotor current control scheme in the rotor-side converter (RSC) ispresented to enhance FRT capacities of grid-connected DFIG. Due to the strongly nonlinear nature of DFIG and insensitive to DFIG parameter's variations, a novel sliding mode controller was designed. The controller combines extended state observer (ESO) with sliding model variable structure control theory. The simulation is carried out to verify the effectiveness of the proposed control approach under various types of grid disturbances. It is shown that the proposed controller provides enhanced transient features than the classic proportional-integral control. The proposed control method can effectively reduce over-current in the RSC, and the transient pulse value of electromagnetic torque is too large under power grid fault.

  18. Sliding mode control of outbreaks of emerging infectious diseases.

    PubMed

    Xiao, Yanni; Xu, Xiaxia; Tang, Sanyi

    2012-10-01

    This paper proposes and analyzes a mathematical model of an infectious disease system with a piecewise control function concerning threshold policy for disease management strategy. The proposed models extend the classic models by including a piecewise incidence rate to represent control or precautionary measures being triggered once the number of infected individuals exceeds a threshold level. The long-term behaviour of the proposed non-smooth system under this strategy consists of the so-called sliding motion-a very rapid switching between application and interruption of the control action. Model solutions ultimately approach either one of two endemic states for two structures or the sliding equilibrium on the switching surface, depending on the threshold level. Our findings suggest that proper combinations of threshold densities and control intensities based on threshold policy can either preclude outbreaks or lead the number of infected to a previously chosen level.

  19. Tunable deformation modes shape contractility in active biopolymer networks

    NASA Astrophysics Data System (ADS)

    Stam, Samantha; Banerjee, Shiladitya; Weirich, Kim; Freedman, Simon; Dinner, Aaron; Gardel, Margaret

    Biological polymer-based materials remodel under active, molecular motor-driven forces to perform diverse physiological roles, such as force transmission and spatial self-organization. Critical to understanding these biomaterials is elucidating the role of microscopic polymer deformations, such as stretching, bending, buckling, and relative sliding, on material remodeling. Here, we report that the shape of motor-driven deformations can be used to identify microscopic deformation modes and determine how they propagate to longer length scales. In cross-linked actin networks with sufficiently low densities of the motor protein myosin II, microscopic network deformations are predominantly uniaxial, or dominated by sliding. However, longer-wavelength modes are mostly biaxial, or dominated by bending and buckling, indicating that deformations with uniaxial shapes do not propagate across length scales significantly larger than that of individual polymers. As the density of myosin II is increased, biaxial modes dominate on all length scales we examine due to buildup of sufficient stress to produce smaller-wavelength buckling. In contrast, when we construct networks from unipolar, rigid actin bundles, we observe uniaxial, sliding-based contractions on 1 to 100 μm length scales. Our results demonstrate the biopolymer mechanics can be used to tune deformation modes which, in turn, control shape changes in active materials.

  20. Maximum power point tracking algorithm based on sliding mode and fuzzy logic for photovoltaic sources under variable environmental conditions

    NASA Astrophysics Data System (ADS)

    Atik, L.; Petit, P.; Sawicki, J. P.; Ternifi, Z. T.; Bachir, G.; Della, M.; Aillerie, M.

    2017-02-01

    Solar panels have a nonlinear voltage-current characteristic, with a distinct maximum power point (MPP), which depends on the environmental factors, such as temperature and irradiation. In order to continuously harvest maximum power from the solar panels, they have to operate at their MPP despite the inevitable changes in the environment. Various methods for maximum power point tracking (MPPT) were developed and finally implemented in solar power electronic controllers to increase the efficiency in the electricity production originate from renewables. In this paper we compare using Matlab tools Simulink, two different MPP tracking methods, which are, fuzzy logic control (FL) and sliding mode control (SMC), considering their efficiency in solar energy production.

  1. A new continuous sliding mode control approach with actuator saturation for control of 2-DOF helicopter system.

    PubMed

    Sadala, S P; Patre, B M

    2018-03-01

    The 2-degree of freedom (DOF) helicopter system is a typical higher-order, multi-variable, nonlinear and strong coupled control system. The helicopter dynamics also includes parametric uncertainties and is subject to unknown external disturbances. Such complicated system requires designing a sophisticated control algorithm that can handle these difficulties. This paper presents a new robust control algorithm which is a combination of two continuous control techniques, composite nonlinear feedback (CNF) and super-twisting control (STC) methods. In the existing integral sliding mode (ISM) based CNF control law, the discontinuous term exhibits chattering which is not desirable for many practical applications. As the continuity of well known STC reduces chattering in the system, the proposed strategy is beneficial over the current ISM based CNF control law which has a discontinuous term. Two controllers with integral sliding surface are designed to control the position of the pitch and the yaw angles of the 2- DOF helicopter. The adequacy of this specific combination has been exhibited through general analysis, simulation and experimental results of 2-DOF helicopter setup. The acquired results demonstrate the good execution of the proposed controller regarding stabilization, following reference input without overshoot against actuator saturation and robustness concerning to the limited matched disturbances. Copyright © 2018 ISA. Published by Elsevier Ltd. All rights reserved.

  2. Model reference, sliding mode adaptive control for flexible structures

    NASA Technical Reports Server (NTRS)

    Yurkovich, S.; Ozguner, U.; Al-Abbass, F.

    1988-01-01

    A decentralized model reference adaptive approach using a variable-structure sliding model control has been developed for the vibration suppression of large flexible structures. Local models are derived based upon the desired damping and response time in a model-following scheme, and variable structure controllers are then designed which employ colocated angular rate and position feedback. Numerical simulations have been performed using NASA's flexible grid experimental apparatus.

  3. Sliding mode control of direct coupled interleaved boost converter for fuel cell

    NASA Astrophysics Data System (ADS)

    Wang, W. Y.; Ding, Y. H.; Ke, X.; Ma, X.

    2017-12-01

    A three phase direct coupled interleaved boost converter (TP-DIBC) was recommended in this paper. This converter has a small unbalance current sharing among the branches of TP-DIBC. An adaptive control law sliding mode control (SMC) is designed for the TP-DIBC. The aim is to 1) reduce ripple output voltage, inductor current and regulate output voltage tightly 2) The total current carried by direct coupled interleaved boost converter (DIBC) must be equally shared between different parallel branches. The efficacy and robustness of the proposed TP-DIBC and adaptive SMC is confirmed via computer simulations using Matlab SimPower System Tools. The simulation result is in line with the expectation.

  4. Reusable Launch Vehicle Attitude Control Using a Time-Varying Sliding Mode Control Technique

    NASA Technical Reports Server (NTRS)

    Shtessel, Yuri B.; Zhu, J. Jim; Daniels, Dan; Jackson, Scott (Technical Monitor)

    2002-01-01

    In this paper we present a time-varying sliding mode control (TVSMC) technique for reusable launch vehicle (RLV) attitude control in ascent and entry flight phases. In ascent flight the guidance commands Euler roll, pitch and yaw angles, and in entry flight it commands the aerodynamic angles of bank, attack and sideslip. The controller employs a body rate inner loop and the attitude outer loop, which are separated in time-scale by the singular perturbation principle. The novelty of the TVSMC is that both the sliding surface and the boundary layer dynamics can be varied in real time using the PD-eigenvalue assignment technique. This salient feature is used to cope with control command saturation and integrator windup in the presence of severe disturbance or control effector failure, which enhances the robustness and fault tolerance of the controller. The TV-SMC ascent and descent designs are currently being tested with high fidelity, 6-DOF dispersion simulations. The test results will be presented in the final version of this paper.

  5. The dynamic behaviour of data-driven Δ-M and ΔΣ-M in sliding mode control

    NASA Astrophysics Data System (ADS)

    Almakhles, Dhafer; Swain, Akshya K.; Nasiri, Alireza

    2017-11-01

    In recent years, delta (Δ-M) and delta-sigma modulators (ΔΣ-M) are increasingly being used as efficient data converters due to numerous advantages they offer. This paper investigates various dynamical features of these modulators/systems (both in continuous and discrete time domain) and derives their stability conditions using the theory of sliding mode. The upper bound of the hitting time (step) has been estimated. The equivalent mode conditions, i.e. where the outputs of the modulators are equivalent to the inputs, are established. The results of the analysis are validated through simulations considering a numerical example.

  6. An Adaptive B-Spline Neural Network and Its Application in Terminal Sliding Mode Control for a Mobile Satcom Antenna Inertially Stabilized Platform.

    PubMed

    Zhang, Xiaolei; Zhao, Yan; Guo, Kai; Li, Gaoliang; Deng, Nianmao

    2017-04-28

    The mobile satcom antenna (MSA) enables a moving vehicle to communicate with a geostationary Earth orbit satellite. To realize continuous communication, the MSA should be aligned with the satellite in both sight and polarization all the time. Because of coupling effects, unknown disturbances, sensor noises and unmodeled dynamics existing in the system, the control system should have a strong adaptability. The significant features of terminal sliding mode control method are robustness and finite time convergence, but the robustness is related to the large switching control gain which is determined by uncertain issues and can lead to chattering phenomena. Neural networks can reduce the chattering and approximate nonlinear issues. In this work, a novel B-spline curve-based B-spline neural network (BSNN) is developed. The improved BSNN has the capability of shape changing and self-adaption. In addition, the output of the proposed BSNN is applied to approximate the nonlinear function in the system. The results of simulations and experiments are also compared with those of PID method, non-singularity fast terminal sliding mode (NFTSM) control and radial basis function (RBF) neural network-based NFTSM. It is shown that the proposed method has the best performance, with reliable control precision.

  7. Emulating DC constant power load: a robust sliding mode control approach

    NASA Astrophysics Data System (ADS)

    Singh, Suresh; Fulwani, Deepak; Kumar, Vinod

    2017-09-01

    This article presents emulation of a programmable power electronic, constant power load (CPL) using a dc/dc step-up (boost) converter. The converter is controlled by a robust sliding mode controller (SMC). A novel switching surface is proposed to ensure a required power sunk by the converter. The proposed dc CPL is simple in design, has fast dynamic response and high accuracy, and offers an inexpensive alternative to study converters for cascaded dc distribution power system applications. Furthermore, the proposed CPL is sufficiently robust against the input voltage variations. A laboratory prototype of the proposed dc CPL has been developed and validated with SMC realised through OPAL-RT platform. The capability of the proposed dc CPL is confirmed via experimentations in varied scenarios.

  8. Plastic strain arrangement in copper single crystals in sliding

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

    Chumaevskii, Andrey V., E-mail: tch7av@gmail.com; Lychagin, Dmitry V., E-mail: dvl-tomsk@mail.ru; Tarasov, Sergei Yu., E-mail: tsy@ispms.tsc.ru

    2014-11-14

    Deformation of tribologically loaded contact zone is one of the wear mechanisms in spite of the fact that no mass loss may occur during this process. Generation of optimal crystallographic orientations of the grains in a polycrystalline materials (texturing) may cause hardening and reducing the deformation wear. To reveal the orientation dependence of an individual gain and simplify the task we use copper single crystals with the orientations of the compression axis along [111] and [110]. The plastic deformation was investigated by means of optical, scanning electron microscopy and EBSD techniques. It was established that at least four different zonesmore » were generated in the course of sliding test, such as non-deformed base metal, plastic deformation layer sliding, crystalline lattice reorientation layer and subsurface grain structure layer. The maximum plastic strain penetration depth was observed on [110]-single crystals. The minimum stability of [111]-crystals with respect to rotation deformation mode as well as activation of shear in the sliding contact plane provide for rotation deformation localization below the worn surface. The high-rate accumulation of misorientations and less strain penetration depth was observed on [111]-crystals as compared to those of [110]-oriented ones.« less

  9. Bifurcations, chaos and adaptive backstepping sliding mode control of a power system with excitation limitation

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

    Min, Fuhong, E-mail: minfuhong@njnu.edu.cn; Wang, Yaoda; Peng, Guangya

    2016-08-15

    The bifurcation and Lyapunov exponent for a single-machine-infinite bus system with excitation model are carried out by varying the mechanical power, generator damping factor and the exciter gain, from which periodic motions, chaos and the divergence of system are observed respectively. From given parameters and different initial conditions, the coexisting motions are developed in power system. The dynamic behaviors in power system may switch freely between the coexisting motions, which will bring huge security menace to protection operation. Especially, the angle divergences due to the break of stable chaotic oscillation are found which causes the instability of power system. Finally,more » a new adaptive backstepping sliding mode controller is designed which aims to eliminate the angle divergences and make the power system run in stable orbits. Numerical simulations are illustrated to verify the effectivity of the proposed method.« less

  10. Adaptive Sliding Mode Control of Dynamic Systems Using Double Loop Recurrent Neural Network Structure.

    PubMed

    Fei, Juntao; Lu, Cheng

    2018-04-01

    In this paper, an adaptive sliding mode control system using a double loop recurrent neural network (DLRNN) structure is proposed for a class of nonlinear dynamic systems. A new three-layer RNN is proposed to approximate unknown dynamics with two different kinds of feedback loops where the firing weights and output signal calculated in the last step are stored and used as the feedback signals in each feedback loop. Since the new structure has combined the advantages of internal feedback NN and external feedback NN, it can acquire the internal state information while the output signal is also captured, thus the new designed DLRNN can achieve better approximation performance compared with the regular NNs without feedback loops or the regular RNNs with a single feedback loop. The new proposed DLRNN structure is employed in an equivalent controller to approximate the unknown nonlinear system dynamics, and the parameters of the DLRNN are updated online by adaptive laws to get favorable approximation performance. To investigate the effectiveness of the proposed controller, the designed adaptive sliding mode controller with the DLRNN is applied to a -axis microelectromechanical system gyroscope to control the vibrating dynamics of the proof mass. Simulation results demonstrate that the proposed methodology can achieve good tracking property, and the comparisons of the approximation performance between radial basis function NN, RNN, and DLRNN show that the DLRNN can accurately estimate the unknown dynamics with a fast speed while the internal states of DLRNN are more stable.

  11. Sliding mode fault tolerant control dealing with modeling uncertainties and actuator faults.

    PubMed

    Wang, Tao; Xie, Wenfang; Zhang, Youmin

    2012-05-01

    In this paper, two sliding mode control algorithms are developed for nonlinear systems with both modeling uncertainties and actuator faults. The first algorithm is developed under an assumption that the uncertainty bounds are known. Different design parameters are utilized to deal with modeling uncertainties and actuator faults, respectively. The second algorithm is an adaptive version of the first one, which is developed to accommodate uncertainties and faults without utilizing exact bounds information. The stability of the overall control systems is proved by using a Lyapunov function. The effectiveness of the developed algorithms have been verified on a nonlinear longitudinal model of Boeing 747-100/200. Copyright © 2012 ISA. Published by Elsevier Ltd. All rights reserved.

  12. Freestanding triboelectric-layer-based nanogenerators for harvesting energy from a moving object or human motion in contact and non-contact modes.

    PubMed

    Wang, Sihong; Xie, Yannan; Niu, Simiao; Lin, Long; Wang, Zhong Lin

    2014-05-01

    For versatile mechanical energy harvesting from arbitrary moving objects such as humans, a new mode of triboelectric nanogenerator is developed based on the sliding of a freestanding triboelectric-layer between two stationary electrodes on the same plane. With two electrodes alternatively approached by the tribo-charges on the sliding layer, electricity is effectively generated due to electrostatic induction. A unique feature of this nanogenerator is that it can operate in non-contact sliding mode, which greatly increases the lifetime and the efficiency of such devices. © 2014 WILEY-VCH Verlag GmbH & Co. KGaA, Weinheim.

  13. High-order sliding-mode control for blood glucose regulation in the presence of uncertain dynamics.

    PubMed

    Hernández, Ana Gabriela Gallardo; Fridman, Leonid; Leder, Ron; Andrade, Sergio Islas; Monsalve, Cristina Revilla; Shtessel, Yuri; Levant, Arie

    2011-01-01

    The success of blood glucose automatic regulation depends on the robustness of the control algorithm used. It is a difficult task to perform due to the complexity of the glucose-insulin regulation system. The variety of model existing reflects the great amount of phenomena involved in the process, and the inter-patient variability of the parameters represent another challenge. In this research a High-Order Sliding-Mode Control is proposed. It is applied to two well known models, Bergman Minimal Model, and Sorensen Model, to test its robustness with respect to uncertain dynamics, and patients' parameter variability. The controller designed based on the simulations is tested with the specific Bergman Minimal Model of a diabetic patient whose parameters were identified from an in vivo assay. To minimize the insulin infusion rate, and avoid the hypoglycemia risk, the glucose target is a dynamical profile.

  14. Intelligent nonsingular terminal sliding-mode control using MIMO Elman neural network for piezo-flexural nanopositioning stage.

    PubMed

    Lin, Faa-Jeng; Lee, Shih-Yang; Chou, Po-Huan

    2012-12-01

    The objective of this study is to develop an intelligent nonsingular terminal sliding-mode control (INTSMC) system using an Elman neural network (ENN) for the threedimensional motion control of a piezo-flexural nanopositioning stage (PFNS). First, the dynamic model of the PFNS is derived in detail. Then, to achieve robust, accurate trajectory-tracking performance, a nonsingular terminal sliding-mode control (NTSMC) system is proposed for the tracking of the reference contours. The steady-state response of the control system can be improved effectively because of the addition of the nonsingularity in the NTSMC. Moreover, to relax the requirements of the bounds and discard the switching function in NTSMC, an INTSMC system using a multi-input-multioutput (MIMO) ENN estimator is proposed to improve the control performance and robustness of the PFNS. The ENN estimator is proposed to estimate the hysteresis phenomenon and lumped uncertainty, including the system parameters and external disturbance of the PFNS online. Furthermore, the adaptive learning algorithms for the training of the parameters of the ENN online are derived using the Lyapunov stability theorem. In addition, two robust compensators are proposed to confront the minimum reconstructed errors in INTSMC. Finally, some experimental results for the tracking of various contours are given to demonstrate the validity of the proposed INTSMC system for PFNS.

  15. Real-time networked control of an industrial robot manipulator via discrete-time second-order sliding modes

    NASA Astrophysics Data System (ADS)

    Massimiliano Capisani, Luca; Facchinetti, Tullio; Ferrara, Antonella

    2010-08-01

    This article presents the networked control of a robotic anthropomorphic manipulator based on a second-order sliding mode technique, where the control objective is to track a desired trajectory for the manipulator. The adopted control scheme allows an easy and effective distribution of the control algorithm over two networked machines. While the predictability of real-time tasks execution is achieved by the Soft Hard Real-Time Kernel (S.Ha.R.K.) real-time operating system, the communication is established via a standard Ethernet network. The performances of the control system are evaluated under different experimental system configurations using, to perform the experiments, a COMAU SMART3-S2 industrial robot, and the results are analysed to put into evidence the robustness of the proposed approach against possible network delays, packet losses and unmodelled effects.

  16. Sliding mode control for generalized robust synchronization of mismatched fractional order dynamical systems and its application to secure transmission of voice messages.

    PubMed

    Muthukumar, P; Balasubramaniam, P; Ratnavelu, K

    2017-07-26

    This paper proposes a generalized robust synchronization method for different dimensional fractional order dynamical systems with mismatched fractional derivatives in the presence of function uncertainty and external disturbance by a designing sliding mode controller. Based on the proposed theory of generalized robust synchronization criterion, a novel audio cryptosystem is proposed for sending or sharing voice messages secretly via insecure channel. Numerical examples are given to verify the potency of the proposed theories. Copyright © 2017 ISA. Published by Elsevier Ltd. All rights reserved.

  17. Effects of ridge cracking and interface sliding on morphological symmetry breaking in straight-sided blisters

    NASA Astrophysics Data System (ADS)

    Li, Shi-Chen; Yu, Sen-Jiang; He, Linghui; Ni, Yong

    2018-03-01

    Complex surface patterns generated by nonlinear buckling originate from various symmetry-breaking instabilities. Identifying possible key factors that regulate the instability modes is critical to reveal the mechanism of the surface pattern selection. In this paper, how another two factors (ridge cracking and interface sliding) including Poisson's ratio influence the morphological symmetry breaking in straight-sided blisters are systematically studied. Morphology diagrams from stability analysis show that ridge cracking and low Poisson's ratio promote symmetric instability mode and favor bubble-like blisters while interface sliding and high Poisson's ratio facilitate antisymmetric instability mode and result in telephone cord buckles. The analytical predictions are evidenced by experimental observations on annealed silicon nitride films on glass substrates and confirmed by nonlinear numerical simulations. This study explains how and why the rarely observed bubble-like blisters in accompany with ridge crack can appear in brittle thin films in comparison with the ubiquitously observed telephone cord buckles that usually form as the development of an antisymmetric instability mode when straight-sided blisters undergo the super-critical isotropic compression.

  18. Tailoring plasmonic properties of nanobeam composites by the sliding disorder

    NASA Astrophysics Data System (ADS)

    Gric, Tatjana; Hess, Ortwin

    2017-11-01

    Nanobeam composites are important for designing sensing, nonlinear, and emission functionalities. Here, we describe a method for tuning the plasmonic properties of a silver nanobeam-based metamaterial. Such metamaterials open the wide avenues for a variety of applications in the fields of bio- and chemical sensing, nonlinearity enhancement, and fluorescence control. Specifically, we present the boundary between two nanobeam composites stacked together and exhibiting the sliding disorder. The modes are tunable. We simulated the solutions of surface plasmon polaritons (SPP) modes and their propagations. The configuration proposed here makes a breakthrough of the conventional configuration allowing for optimizations of SPP properties and making SPP application more flexible in practices. The wide plasmonic tuning range of nanobeam composites makes them promising in metamaterial-based optoelectronic devices. The plasma frequency is found to be tailored by the sliding disorder.

  19. On the adaptive sliding mode controller for a hyperchaotic fractional-order financial system

    NASA Astrophysics Data System (ADS)

    Hajipour, Ahamad; Hajipour, Mojtaba; Baleanu, Dumitru

    2018-05-01

    This manuscript mainly focuses on the construction, dynamic analysis and control of a new fractional-order financial system. The basic dynamical behaviors of the proposed system are studied such as the equilibrium points and their stability, Lyapunov exponents, bifurcation diagrams, phase portraits of state variables and the intervals of system parameters. It is shown that the system exhibits hyperchaotic behavior for a number of system parameters and fractional-order values. To stabilize the proposed hyperchaotic fractional system with uncertain dynamics and disturbances, an efficient adaptive sliding mode controller technique is developed. Using the proposed technique, two hyperchaotic fractional-order financial systems are also synchronized. Numerical simulations are presented to verify the successful performance of the designed controllers.

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

    PubMed

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

    2018-02-01

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

  1. Robust control of electrostatic torsional micromirrors using adaptive sliding-mode control

    NASA Astrophysics Data System (ADS)

    Sane, Harshad S.; Yazdi, Navid; Mastrangelo, Carlos H.

    2005-01-01

    This paper presents high-resolution control of torsional electrostatic micromirrors beyond their inherent pull-in instability using robust sliding-mode control (SMC). The objectives of this paper are two-fold - firstly, to demonstrate the applicability of SMC for MEMS devices; secondly - to present a modified SMC algorithm that yields improved control accuracy. SMC enables compact realization of a robust controller tolerant of device characteristic variations and nonlinearities. Robustness of the control loop is demonstrated through extensive simulations and measurements on MEMS with a wide range in their characteristics. Control of two-axis gimbaled micromirrors beyond their pull-in instability with overall 10-bit pointing accuracy is confirmed experimentally. In addition, this paper presents an analysis of the sources of errors in discrete-time implementation of the control algorithm. To minimize these errors, we present an adaptive version of the SMC algorithm that yields substantial performance improvement without considerably increasing implementation complexity.

  2. Continuous stacking computational approach based automated microscope slide scanner

    NASA Astrophysics Data System (ADS)

    Murali, Swetha; Adhikari, Jayesh Vasudeva; Jagannadh, Veerendra Kalyan; Gorthi, Sai Siva

    2018-02-01

    Cost-effective and automated acquisition of whole slide images is a bottleneck for wide-scale deployment of digital pathology. In this article, a computation augmented approach for the development of an automated microscope slide scanner is presented. The realization of a prototype device built using inexpensive off-the-shelf optical components and motors is detailed. The applicability of the developed prototype to clinical diagnostic testing is demonstrated by generating good quality digital images of malaria-infected blood smears. Further, the acquired slide images have been processed to identify and count the number of malaria-infected red blood cells and thereby perform quantitative parasitemia level estimation. The presented prototype would enable cost-effective deployment of slide-based cyto-diagnostic testing in endemic areas.

  3. Design and Experimental Evaluation of a Robust Position Controller for an Electrohydrostatic Actuator Using Adaptive Antiwindup Sliding Mode Scheme

    PubMed Central

    Lee, Ji Min; Park, Sung Hwan; Kim, Jong Shik

    2013-01-01

    A robust control scheme is proposed for the position control of the electrohydrostatic actuator (EHA) when considering hardware saturation, load disturbance, and lumped system uncertainties and nonlinearities. To reduce overshoot due to a saturation of electric motor and to realize robustness against load disturbance and lumped system uncertainties such as varying parameters and modeling error, this paper proposes an adaptive antiwindup PID sliding mode scheme as a robust position controller for the EHA system. An optimal PID controller and an optimal anti-windup PID controller are also designed to compare control performance. An EHA prototype is developed, carrying out system modeling and parameter identification in designing the position controller. The simply identified linear model serves as the basis for the design of the position controllers, while the robustness of the control systems is compared by experiments. The adaptive anti-windup PID sliding mode controller has been found to have the desired performance and become robust against hardware saturation, load disturbance, and lumped system uncertainties and nonlinearities. PMID:23983640

  4. Suppression of the noise-induced effects in an electrostatic micro-plate using an adaptive back-stepping sliding mode control.

    PubMed

    Nwagoum Tuwa, Peguy Roussel; Woafo, P

    2018-01-01

    In this work, an adaptive backstepping sliding mode control approach is applied through the piezoelectric layer in order to control and to stabilize an electrostatic micro-plate. The mathematical model of the system by taking into account the small fluctuations in the gap considered as bounded noise is carried out. The accuracy of the proposed modal equation is proven using the method of lines. By using both approaches, the effects of noise are presented. It is found that they lead to pull-in instability as well as to random chaos. A suitable backstepping approach to improve the tracking performance is integrated to the adaptive sliding mode control in order to eliminate chattering phenomena and reinforce the robustness of the system in presence of uncertainties and external random disturbances. It is proved that all the variables of the closed-loop system are bounded and the system can follow the given reference signals as close as possible. Numerical simulations are provided to show the effectiveness of proposed controller. Copyright © 2017 ISA. Published by Elsevier Ltd. All rights reserved.

  5. Buckling of a Flexible Strip Sliding on a Frictional Base

    NASA Astrophysics Data System (ADS)

    Huynen, Alexandre; Marck, Julien; Denoel, Vincent; Detournay, Emmanuel

    2013-03-01

    The main motivation for this contribution is the buckling of a drillstring sliding on the bottom of the horizontal section of borehole. The open questions that remain today are related to the determination of the onset of instability, and to the conditions under which different modes of constrained buckling occur. In this presentation, we are concerned by a two-dimensional version of this problem; namely, the sliding of a flexible strip being fed inside a conduit. The ribbon, which has a flexural rigidity EI and a weight per unit length w, is treated as an inextensible elastica of negligible thickness. The contact between the ribbon and the wall of the conduit is characterized by a friction coefficient μ. First, we report the result of a stability analysis that aims at determining the critical inserted length of the ribbon l* (μ) (scaled by the characteristic length λ =(EI / w) 1 / 3) at which there is separation between the strip and the conduit bottom, as well as the buckling mode. Next, the relationship between the feeding force F and the inserted length l after bifurcation is computed. Finally, the results of a ``kitchen table'' experiment involving a strip of silicon rubber being pushed on a plank are reported and compared with predictions.

  6. Optimal tracking and second order sliding power control of the DFIG wind turbine

    NASA Astrophysics Data System (ADS)

    Abdeddaim, S.; Betka, A.; Charrouf, O.

    2017-02-01

    In the present paper, an optimal operation of a grid-connected variable speed wind turbine equipped with a Doubly Fed Induction Generator (DFIG) is presented. The proposed cascaded nonlinear controller is designed to perform two main objectives. In the outer loop, a maximum power point tracking (MPPT) algorithm based on fuzzy logic theory is designed to permanently extract the optimal aerodynamic energy, whereas in the inner loop, a second order sliding mode control (2-SM) is applied to achieve smooth regulation of both stator active and reactive powers quantities. The obtained simulation results show a permanent track of the MPP point regardless of the turbine power-speed slope moreover the proposed sliding mode control strategy presents attractive features such as chattering-free, compared to the conventional first order sliding technique (1-SM).

  7. On synchronisation of a class of complex chaotic systems with complex unknown parameters via integral sliding mode control

    NASA Astrophysics Data System (ADS)

    Tirandaz, Hamed; Karami-Mollaee, Ali

    2018-06-01

    Chaotic systems demonstrate complex behaviour in their state variables and their parameters, which generate some challenges and consequences. This paper presents a new synchronisation scheme based on integral sliding mode control (ISMC) method on a class of complex chaotic systems with complex unknown parameters. Synchronisation between corresponding states of a class of complex chaotic systems and also convergence of the errors of the system parameters to zero point are studied. The designed feedback control vector and complex unknown parameter vector are analytically achieved based on the Lyapunov stability theory. Moreover, the effectiveness of the proposed methodology is verified by synchronisation of the Chen complex system and the Lorenz complex systems as the leader and the follower chaotic systems, respectively. In conclusion, some numerical simulations related to the synchronisation methodology is given to illustrate the effectiveness of the theoretical discussions.

  8. Wall Area of Influence and Growing Wall Heat Transfer due to Sliding Bubbles in Subcooled Boiling Flow

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

    Yoo, Junsoo; Estrada-Perez, Carlos E.; Hassan, Yassin A.

    A variety of dynamical features of sliding bubbles and their impact on wall heat transfer were observed at subcooled flow boiling conditions in a vertical square test channel. Among the wide range of parameters observed, we particularly focus in this paper on (i) the sliding bubbles’ effect on wall heat transfer (supplemantry discussion to the authors’ previous work in Yoo et al. (2016a,b)) and (ii) the wall area influenced by sliding bubbles in subcooled boiling flow. At first, this study reveals that the degree of wall heat transfer improvement due to sliding bubbles depended less on the wall superheat conditionmore » as the mass flux increased. Also, the sliding bubble trajectory was found to be one of the critical factors in order to properly describe the wall heat transfer associated with sliding bubbles. In particular, the wall area influenced by sliding bubbles depended strongly on both sliding bubble trajectory and sliding bubble size; the sliding bubble trajectory was also observed to be closely related to the sliding bubble size. Importantly, these results indicate the limitation of current approach in CFD analyses especially for the wall area of bubble influence. In addition, the analyses on the temporal fraction of bubbles’ residence (FR) along the heated wall show that the sliding bubbles typically travel through narrow path with high frequency while the opposite was observed downstream. That is, both FR and sliding bubble trajectory depended substantially on the distance from nucleation site, which is expected to be similar for the quenching heat transfer mode induced by sliding bubbles.« less

  9. Seismic analysis and design of bridge abutments considering sliding and rotation

    DOT National Transportation Integrated Search

    1997-09-15

    Current displacement based seismic design of gravity retaining walls utilizes a sliding block idealization, and considers only a translation mode of deformation. Authors update and extend the coupled equations of motion that appear in the literature....

  10. Multi-Objective Sliding Mode Control on Vehicle Cornering Stability with Variable Gear Ratio Actuator-Based Active Front Steering Systems.

    PubMed

    Ma, Xinbo; Wong, Pak Kin; Zhao, Jing; Xie, Zhengchao

    2016-12-28

    Active front steering (AFS) is an emerging technology to improve the vehicle cornering stability by introducing an additional small steering angle to the driver's input. This paper proposes an AFS system with a variable gear ratio steering (VGRS) actuator which is controlled by using the sliding mode control (SMC) strategy to improve the cornering stability of vehicles. In the design of an AFS system, different sensors are considered to measure the vehicle state, and the mechanism of the AFS system is also modelled in detail. Moreover, in order to improve the cornering stability of vehicles, two dependent objectives, namely sideslip angle and yaw rate, are considered together in the design of SMC strategy. By evaluating the cornering performance, Sine with Dwell and accident avoidance tests are conducted, and the simulation results indicate that the proposed SMC strategy is capable of improving the cornering stability of vehicles in practice.

  11. Multi-Objective Sliding Mode Control on Vehicle Cornering Stability with Variable Gear Ratio Actuator-Based Active Front Steering Systems

    PubMed Central

    Ma, Xinbo; Wong, Pak Kin; Zhao, Jing; Xie, Zhengchao

    2016-01-01

    Active front steering (AFS) is an emerging technology to improve the vehicle cornering stability by introducing an additional small steering angle to the driver’s input. This paper proposes an AFS system with a variable gear ratio steering (VGRS) actuator which is controlled by using the sliding mode control (SMC) strategy to improve the cornering stability of vehicles. In the design of an AFS system, different sensors are considered to measure the vehicle state, and the mechanism of the AFS system is also modelled in detail. Moreover, in order to improve the cornering stability of vehicles, two dependent objectives, namely sideslip angle and yaw rate, are considered together in the design of SMC strategy. By evaluating the cornering performance, Sine with Dwell and accident avoidance tests are conducted, and the simulation results indicate that the proposed SMC strategy is capable of improving the cornering stability of vehicles in practice. PMID:28036037

  12. Design and implementation of a new modified sliding mode controller for grid-connected inverter to controlling the voltage and frequency.

    PubMed

    Ghanbarian, Mohammad Mehdi; Nayeripour, Majid; Rajaei, Amirhossein; Mansouri, Mohammad Mahdi

    2016-03-01

    As the output power of a microgrid with renewable energy sources should be regulated based on the grid conditions, using robust controllers to share and balance the power in order to regulate the voltage and frequency of microgrid is critical. Therefore a proper control system is necessary for updating the reference signals and determining the proportion of each inverter in the microgrid control. This paper proposes a new adaptive method which is robust while the conditions are changing. This controller is based on a modified sliding mode controller which provides adapting conditions in linear and nonlinear loads. The performance of the proposed method is validated by representing the simulation results and experimental lab results. Copyright © 2015 ISA. Published by Elsevier Ltd. All rights reserved.

  13. Modeling and sliding mode predictive control of the ultra-supercritical boiler-turbine system with uncertainties and input constraints.

    PubMed

    Tian, Zhen; Yuan, Jingqi; Zhang, Xiang; Kong, Lei; Wang, Jingcheng

    2018-05-01

    The coordinated control system (CCS) serves as an important role in load regulation, efficiency optimization and pollutant reduction for coal-fired power plants. The CCS faces with tough challenges, such as the wide-range load variation, various uncertainties and constraints. This paper aims to improve the load tacking ability and robustness for boiler-turbine units under wide-range operation. To capture the key dynamics of the ultra-supercritical boiler-turbine system, a nonlinear control-oriented model is developed based on mechanism analysis and model reduction techniques, which is validated with the history operation data of a real 1000 MW unit. To simultaneously address the issues of uncertainties and input constraints, a discrete-time sliding mode predictive controller (SMPC) is designed with the dual-mode control law. Moreover, the input-to-state stability and robustness of the closed-loop system are proved. Simulation results are presented to illustrate the effectiveness of the proposed control scheme, which achieves good tracking performance, disturbance rejection ability and compatibility to input constraints. Copyright © 2018 ISA. Published by Elsevier Ltd. All rights reserved.

  14. Stabilization and synchronization for a mechanical system via adaptive sliding mode control.

    PubMed

    Song, Zhankui; Sun, Kaibiao; Ling, Shuai

    2017-05-01

    In this paper, we investigate the synchronization problem of chaotic centrifugal flywheel governor with parameters uncertainty and lumped disturbances. A slave centrifugal flywheel governor system is considered as an underactuated following-system which a control input is designed to follow a master centrifugal flywheel governor system. To tackle lumped disturbances and uncertainty parameters, a novel synchronization control law is developed by employing sliding mode control strategy and Nussbaum gain technique. Adaptation updating algorithms are derived in the sense of Lyapunov stability analysis such that the lumped disturbances can be suppressed and the adverse effect caused by uncertainty parameters can be compensated. In addition, the synchronization tracking-errors are proven to converge to a small neighborhood of the origin. Finally, simulation results demonstrate the effectiveness of the proposed control scheme. Copyright © 2017 ISA. Published by Elsevier Ltd. All rights reserved.

  15. Adaptive fuzzy sliding control of single-phase PV grid-connected inverter

    PubMed Central

    Zhu, Yunkai

    2017-01-01

    In this paper, an adaptive fuzzy sliding mode controller is proposed to control a two-stage single-phase photovoltaic (PV) grid-connected inverter. Two key technologies are discussed in the presented PV system. An incremental conductance method with adaptive step is adopted to track the maximum power point (MPP) by controlling the duty cycle of the controllable power switch of the boost DC-DC converter. An adaptive fuzzy sliding mode controller with an integral sliding surface is developed for the grid-connected inverter where a fuzzy system is used to approach the upper bound of the system nonlinearities. The proposed strategy has strong robustness for the sliding mode control can be designed independently and disturbances can be adaptively compensated. Simulation results of a PV grid-connected system verify the effectiveness of the proposed method, demonstrating the satisfactory robustness and performance. PMID:28797060

  16. Adaptive fuzzy sliding control of single-phase PV grid-connected inverter.

    PubMed

    Fei, Juntao; Zhu, Yunkai

    2017-01-01

    In this paper, an adaptive fuzzy sliding mode controller is proposed to control a two-stage single-phase photovoltaic (PV) grid-connected inverter. Two key technologies are discussed in the presented PV system. An incremental conductance method with adaptive step is adopted to track the maximum power point (MPP) by controlling the duty cycle of the controllable power switch of the boost DC-DC converter. An adaptive fuzzy sliding mode controller with an integral sliding surface is developed for the grid-connected inverter where a fuzzy system is used to approach the upper bound of the system nonlinearities. The proposed strategy has strong robustness for the sliding mode control can be designed independently and disturbances can be adaptively compensated. Simulation results of a PV grid-connected system verify the effectiveness of the proposed method, demonstrating the satisfactory robustness and performance.

  17. Improved Re-Configurable Sliding Mode Controller for Reusable Launch Vehicle of Second Generation Addressing Aerodynamic Surface Failures and Thrust Deficiencies

    NASA Technical Reports Server (NTRS)

    Shtessel, Yuri B.

    2002-01-01

    In this report we present a time-varying sliding mode control (TV-SMC) technique for reusable launch vehicle (RLV) attitude control in ascent and entry flight phases. In ascent flight the guidance commands Euler roll, pitch and yaw angles, and in entry flight it commands the aerodynamic angles of bank, attack and sideslip. The controller employs a body rate inner loop and the attitude outer loop, which are separated in time-scale by the singular perturbation principle. The novelty of the TVSMC is that both the sliding surface and the boundary layer dynamics can be varied in real time using the PD-eigenvalue assignment technique. This salient feature is used to cope with control command saturation and integrator windup in the presence of severe disturbance or control effector failure, which enhances the robustness and fault tolerance of the controller. The TV-SMC is developed and tuned up for the X-33 sub-orbital technology demonstration vehicle in launch and re-entry modes. A variety of nominal, dispersion and failure scenarios have tested via high fidelity 6DOF simulations using MAVERIC/SLIM simulation software.

  18. A coordinated MIMO control design for a power plant using improved sliding mode controller.

    PubMed

    Ataei, Mohammad; Hooshmand, Rahmat-Allah; Samani, Siavash Golmohammadi

    2014-03-01

    For the participation of the steam power plants in regulating the network frequency, boilers and turbines should be co-ordinately controlled in addition to the base load productions. Lack of coordinated control over boiler-turbine may lead to instability; oscillation in producing power and boiler parameters; reduction in the reliability of the unit; and inflicting thermodynamic tension on devices. This paper proposes a boiler-turbine coordinated multivariable control system based on improved sliding mode controller (ISMC). The system controls two main boiler-turbine parameters i.e., the turbine revolution and superheated steam pressure of the boiler output. For this purpose, a comprehensive model of the system including complete and exact description of the subsystems is extracted. The parameters of this model are determined according to our case study that is the 320MW unit of Islam-Abad power plant in Isfahan/Iran. The ISMC method is simulated on the power plant and its performance is compared with the related real PI (proportional-integral) controllers which have been used in this unit. The simulation results show the capability of the proposed controller system in controlling local network frequency and superheated steam pressure in the presence of load variations and disturbances of boiler. © 2013 ISA. Published by Elsevier Ltd. All rights reserved.

  19. Model-independent position domain sliding mode control for contour tracking of robotic manipulator

    NASA Astrophysics Data System (ADS)

    Yue, W. H.; Pano, V.; Ouyang, P. R.; Hu, Y. Q.

    2017-01-01

    In this paper, a new position domain feedback type sliding mode control (PDC-SMC) law is proposed for contour tracking control of multi-DOF (degree of freedom) nonlinear robotic manipulators focusing on the improvement of contour tracking performances. One feature of the proposed control law is its model-independent control scheme that can avoid calculation of the feedforward part in a standard SMC. The new control law takes the advantages of the high contour tracking performance of PD type feedback position domain control (PDC) and the robustness of SMC. Stability analysis is performed using the Lyapunov stability theory, and simulation studies are conducted to verify the effectiveness of the developed PDC-SMC control system. In addition, the effects of control parameters of the SMC on system performances are studied.

  20. High-strain slide-ring shape-memory polycaprolactone-based polyurethane.

    PubMed

    Wu, Ruiqing; Lai, Jingjuan; Pan, Yi; Zheng, Zhaohui; Ding, Xiaobin

    2018-06-06

    To enable shape-memory polymer networks to achieve recoverable high deformability with a simultaneous high shape-fixity ratio and shape-recovery ratio, novel semi-crystalline slide-ring shape-memory polycaprolactone-based polyurethane (SR-SMPCLU) with movable net-points constructed by a topologically interlocked slide-ring structure was designed and fabricated. The SR-SMPCLU not only exhibited good shape fixity, almost complete shape recovery, and a fast shape-recovery speed, it also showed an outstanding recoverable high-strain capacity with 95.83% Rr under a deformation strain of 1410% due to the pulley effect of the topological slide-ring structure. Furthermore, the SR-SMPCLU system maintained excellent shape-memory performance with increasing the training cycle numbers at 45% and even 280% deformation strain. The effects of the slide-ring cross-linker content, deformation strain, and successive shape-memory cycles on the shape-memory performance were investigated. A possible mechanism for the shape-memory effect of the SR-SMPCLU system is proposed.

  1. Experimental Study of Flexible Plate Vibration Control by Using Two-Loop Sliding Mode Control Strategy

    NASA Astrophysics Data System (ADS)

    Yang, Jingyu; Lin, Jiahui; Liu, Yuejun; Yang, Kang; Zhou, Lanwei; Chen, Guoping

    2017-08-01

    It is well known that intelligent control theory has been used in many research fields, novel modeling method (DROMM) is used for flexible rectangular active vibration control, and then the validity of new model is confirmed by comparing finite element model with new model. In this paper, taking advantage of the dynamics of flexible rectangular plate, a two-loop sliding mode (TSM) MIMO approach is introduced for designing multiple-input multiple-output continuous vibration control system, which can overcome uncertainties, disturbances or unstable dynamics. An illustrative example is given in order to show the feasibility of the method. Numerical simulations and experiment confirm the effectiveness of the proposed TSM MIMO controller.

  2. Disturbance-Estimated Adaptive Backstepping Sliding Mode Control of a Pneumatic Muscles-Driven Ankle Rehabilitation Robot

    PubMed Central

    Ai, Qingsong; Zhu, Chengxiang; Zuo, Jie; Liu, Quan; Xie, Sheng Q.; Yang, Ming

    2017-01-01

    A rehabilitation robot plays an important role in relieving the therapists’ burden and helping patients with ankle injuries to perform more accurate and effective rehabilitation training. However, a majority of current ankle rehabilitation robots are rigid and have drawbacks in terms of complex structure, poor flexibility and lack of safety. Taking advantages of pneumatic muscles’ good flexibility and light weight, we developed a novel two degrees of freedom (2-DOF) parallel compliant ankle rehabilitation robot actuated by pneumatic muscles (PMs). To solve the PM’s nonlinear characteristics during operation and to tackle the human-robot uncertainties in rehabilitation, an adaptive backstepping sliding mode control (ABS-SMC) method is proposed in this paper. The human-robot external disturbance can be estimated by an observer, who is then used to adjust the robot output to accommodate external changes. The system stability is guaranteed by the Lyapunov stability theorem. Experimental results on the compliant ankle rehabilitation robot show that the proposed ABS-SMC is able to estimate the external disturbance online and adjust the control output in real time during operation, resulting in a higher trajectory tracking accuracy and better response performance especially in dynamic conditions. PMID:29283406

  3. Disturbance-Estimated Adaptive Backstepping Sliding Mode Control of a Pneumatic Muscles-Driven Ankle Rehabilitation Robot.

    PubMed

    Ai, Qingsong; Zhu, Chengxiang; Zuo, Jie; Meng, Wei; Liu, Quan; Xie, Sheng Q; Yang, Ming

    2017-12-28

    A rehabilitation robot plays an important role in relieving the therapists' burden and helping patients with ankle injuries to perform more accurate and effective rehabilitation training. However, a majority of current ankle rehabilitation robots are rigid and have drawbacks in terms of complex structure, poor flexibility and lack of safety. Taking advantages of pneumatic muscles' good flexibility and light weight, we developed a novel two degrees of freedom (2-DOF) parallel compliant ankle rehabilitation robot actuated by pneumatic muscles (PMs). To solve the PM's nonlinear characteristics during operation and to tackle the human-robot uncertainties in rehabilitation, an adaptive backstepping sliding mode control (ABS-SMC) method is proposed in this paper. The human-robot external disturbance can be estimated by an observer, who is then used to adjust the robot output to accommodate external changes. The system stability is guaranteed by the Lyapunov stability theorem. Experimental results on the compliant ankle rehabilitation robot show that the proposed ABS-SMC is able to estimate the external disturbance online and adjust the control output in real time during operation, resulting in a higher trajectory tracking accuracy and better response performance especially in dynamic conditions.

  4. Observer-based output consensus of a class of heterogeneous multi-agent systems with unmatched disturbances

    NASA Astrophysics Data System (ADS)

    Zhang, Jiancheng; Zhu, Fanglai

    2018-03-01

    In this paper, the output consensus of a class of linear heterogeneous multi-agent systems with unmatched disturbances is considered. Firstly, based on the relative output information among neighboring agents, we propose an asymptotic sliding-mode based consensus control scheme, under which, the output consensus error can converge to zero by removing the disturbances from output channels. Secondly, in order to reach the consensus goal, we design a novel high-order unknown input observer for each agent. It can estimate not only each agent's states and disturbances, but also the disturbances' high-order derivatives, which are required in the control scheme aforementioned above. The observer-based consensus control laws and the convergence analysis of the consensus error dynamics are given. Finally, a simulation example is provided to verify the validity of our methods.

  5. Validation of Mode-S Meteorological Routine Air Report aircraft observations

    NASA Astrophysics Data System (ADS)

    Strajnar, B.

    2012-12-01

    The success of mesoscale data assimilation depends on the availability of three-dimensional observations with high spatial and temporal resolution. This paper describes an example of such observations, available through Mode-S air traffic control system composed of ground radar and transponders on board the aircraft. The meteorological information is provided by interrogation of a dedicated meteorological data register, called Meteorological Routine Air Report (MRAR). MRAR provides direct measurements of temperature and wind, but is only returned by a small fraction of aircraft. The quality of Mode-S MRAR data, collected at the Ljubljana Airport, Slovenia, is assessed by its comparison with AMDAR and high-resolution radiosonde data sets, which enable high- and low-level validation, respectively. The need for temporal smoothing of raw Mode-S MRAR data is also studied. The standard deviation of differences between smoothed Mode-S MRAR and AMDAR is 0.35°C for temperature, 0.8 m/s for wind speed and below 10 degrees for wind direction. The differences with respect to radiosondes are larger, with standard deviations of approximately 1.7°C, 3 m/s and 25 degrees for temperature, wind speed and wind direction, respectively. It is concluded that both wind and temperature observations from Mode-S MRAR are accurate and therefore potentially very useful for data assimilation in numerical weather prediction models.

  6. Pad-mode-induced instantaneous mode instability for simple models of brake systems

    NASA Astrophysics Data System (ADS)

    Oberst, S.; Lai, J. C. S.

    2015-10-01

    Automotive disc brake squeal is fugitive, transient and remains difficult to predict. In particular, instantaneous mode squeal observed experimentally does not seem to be associated with mode coupling and its mechanism is not clear. The effects of contact pressures, friction coefficients as well as material properties (pressure and temperature dependency and anisotropy) for brake squeal propensity have not been systematically explored. By analysing a finite element model of an isotropic pad sliding on a plate similar to that of a previously reported experimental study, pad modes have been identified and found to be stable using conventional complex eigenvalue analysis. However, by subjecting the model to contact pressure harmonic excitation for a range of pressures and friction coefficients, a forced response analysis reveals that the dissipated energy for pad modes is negative and becomes more negative with increasing contact pressures and friction coefficients, indicating the potential for instabilities. The frequency of the pad mode in the sliding direction is within the range of squeal frequencies observed experimentally. Nonlinear time series analysis of the vibration velocity also confirms the evolution of instabilities induced by pad modes as the friction coefficient increases. By extending this analysis to a more realistic but simple brake model in the form of a pad-on-disc system, in-plane pad-modes, which a complex eigenvalue analysis predicts to be stable, have also been identified by negative dissipated energy for both isotropic and anisotropic pad material properties. The influence of contact pressures on potential instabilities has been found to be more dominant than changes in material properties owing to changes in pressure or temperature. Results here suggest that instantaneous mode squeal is likely caused by in-plane pad-mode instabilities.

  7. Design of an adaptive super-twisting decoupled terminal sliding mode control scheme for a class of fourth-order systems.

    PubMed

    Ashtiani Haghighi, Donya; Mobayen, Saleh

    2018-04-01

    This paper proposes an adaptive super-twisting decoupled terminal sliding mode control technique for a class of fourth-order systems. The adaptive-tuning law eliminates the requirement of the knowledge about the upper bounds of external perturbations. Using the proposed control procedure, the state variables of cart-pole system are converged to decoupled terminal sliding surfaces and their equilibrium points in the finite time. Moreover, via the super-twisting algorithm, the chattering phenomenon is avoided without affecting the control performance. The numerical results demonstrate the high stabilization accuracy and lower performance indices values of the suggested method over the other ones. The simulation results on the cart-pole system as well as experimental validations demonstrate that the proposed control technique exhibits a reasonable performance in comparison with the other methods. Copyright © 2018 ISA. Published by Elsevier Ltd. All rights reserved.

  8. Symmetric caging formation for convex polygonal object transportation by multiple mobile robots based on fuzzy sliding mode control.

    PubMed

    Dai, Yanyan; Kim, YoonGu; Wee, SungGil; Lee, DongHa; Lee, SukGyu

    2016-01-01

    In this paper, the problem of object caging and transporting is considered for multiple mobile robots. With the consideration of minimizing the number of robots and decreasing the rotation of the object, the proper points are calculated and assigned to the multiple mobile robots to allow them to form a symmetric caging formation. The caging formation guarantees that all of the Euclidean distances between any two adjacent robots are smaller than the minimal width of the polygonal object so that the object cannot escape. In order to avoid collision among robots, the parameter of the robots radius is utilized to design the caging formation, and the A⁎ algorithm is used so that mobile robots can move to the proper points. In order to avoid obstacles, the robots and the object are regarded as a rigid body to apply artificial potential field method. The fuzzy sliding mode control method is applied for tracking control of the nonholonomic mobile robots. Finally, the simulation and experimental results show that multiple mobile robots are able to cage and transport the polygonal object to the goal position, avoiding obstacles. Copyright © 2015 ISA. Published by Elsevier Ltd. All rights reserved.

  9. Feedback attitude sliding mode regulation control of spacecraft using arm motion

    NASA Astrophysics Data System (ADS)

    Shi, Ye; Liang, Bin; Xu, Dong; Wang, Xueqian; Xu, Wenfu

    2013-09-01

    The problem of spacecraft attitude regulation based on the reaction of arm motion has attracted extensive attentions from both engineering and academic fields. Most of the solutions of the manipulator’s motion tracking problem just achieve asymptotical stabilization performance, so that these controllers cannot realize precise attitude regulation because of the existence of non-holonomic constraints. Thus, sliding mode control algorithms are adopted to stabilize the tracking error with zero transient process. Due to the switching effects of the variable structure controller, once the tracking error reaches the designed hyper-plane, it will be restricted to this plane permanently even with the existence of external disturbances. Thus, precise attitude regulation can be achieved. Furthermore, taking the non-zero initial tracking errors and chattering phenomenon into consideration, saturation functions are used to replace sign functions to smooth the control torques. The relations between the upper bounds of tracking errors and the controller parameters are derived to reveal physical characteristic of the controller. Mathematical models of free-floating space manipulator are established and simulations are conducted in the end. The results show that the spacecraft’s attitude can be regulated to the position as desired by using the proposed algorithm, the steady state error is 0.000 2 rad. In addition, the joint tracking trajectory is smooth, the joint tracking errors converges to zero quickly with a satisfactory continuous joint control input. The proposed research provides a feasible solution for spacecraft attitude regulation by using arm motion, and improves the precision of the spacecraft attitude regulation.

  10. Adaptive nonsingular fast terminal sliding-mode control for the tracking problem of uncertain dynamical systems.

    PubMed

    Boukattaya, Mohamed; Mezghani, Neila; Damak, Tarak

    2018-06-01

    In this paper, robust and adaptive nonsingular fast terminal sliding-mode (NFTSM) control schemes for the trajectory tracking problem are proposed with known or unknown upper bound of the system uncertainty and external disturbances. The developed controllers take the advantage of the NFTSM theory to ensure fast convergence rate, singularity avoidance, and robustness against uncertainties and external disturbances. First, a robust NFTSM controller is proposed which guarantees that sliding surface and equilibrium point can be reached in a short finite-time from any initial state. Then, in order to cope with the unknown upper bound of the system uncertainty which may be occurring in practical applications, a new adaptive NFTSM algorithm is developed. One feature of the proposed control law is their adaptation techniques where the prior knowledge of parameters uncertainty and disturbances is not needed. However, the adaptive tuning law can estimate the upper bound of these uncertainties using only position and velocity measurements. Moreover, the proposed controller eliminates the chattering effect without losing the robustness property and the precision. Stability analysis is performed using the Lyapunov stability theory, and simulation studies are conducted to verify the effectiveness of the developed control schemes. Copyright © 2018 ISA. Published by Elsevier Ltd. All rights reserved.

  11. An LMI approach for the Integral Sliding Mode and H∞ State Feedback Control Problem

    NASA Astrophysics Data System (ADS)

    Bezzaoucha, Souad; Henry, David

    2015-11-01

    This paper deals with the state feedback control problem for linear uncertain systems subject to both matched and unmatched perturbations. The proposed control law is based on an the Integral Sliding Mode Control (ISMC) approach to tackle matched perturbations as well as the H∞ paradigm for robustness against unmatched perturbations. The proposed method also parallels the work presented in [1] which addressed the same problem and proposed a solution involving an Algebraic Riccati Equation (ARE)-based formulation. The contribution of this paper is concerned by the establishment of a Linear Matrix Inequality (LMI)-based solution which offers the possibility to consider other types of constraints such as 𝓓-stability constraints (pole assignment-like constraints). The proposed methodology is applied to a pilot three-tank system and experiment results illustrate the feasibility. Note that only a few real experiments have been rarely considered using SMC in the past. This is due to the high energetic behaviour of the control signal. It is important to outline that the paper does not aim at proposing a LMI formulation of an ARE. This is done since 1971 [2] and further discussed in [3] where the link between AREs and ARIs (algebraic Riccati inequality) is established for the H∞ control problem. The main contribution of this paper is to establish the adequate LMI-based methodology (changes of matrix variables) so that the ARE that corresponds to the particular structure of the mixed ISMC/H∞ structure proposed by [1] can be re-formulated within the LMI paradigm.

  12. Robust partial integrated guidance and control for missiles via extended state observer.

    PubMed

    Wang, Qing; Ran, Maopeng; Dong, Chaoyang

    2016-11-01

    A novel extended state observer (ESO) based control is proposed for a class of nonlinear systems subject to multiple uncertainties, and then applied to partial integrated guidance and control (PIGC) design for a missile. The proposed control strategy incorporates both an ESO and an adaptive sliding mode control law. The multiple uncertainties are treated as an extended state of the plant, and then estimate them using the ESO and compensate for them in the control action, in real time. Based on the output of the ESO, the resulting adaptive sliding mode control law is inherently continuous and differentiable. Strict proof is given to show that the estimation error of the ESO can be arbitrarily small in a finite time. In addition, the adaptive sliding mode control law can achieve finite time convergence to a neighborhood of the origin, and the accurate expression of the convergent region is given. Finally, simulations are conducted on the planar missile-target engagement geometry. The effectiveness of the proposed control strategy in enhanced interception performance and improved robustness against multiple uncertainties are demonstrated. Copyright © 2016 ISA. Published by Elsevier Ltd. All rights reserved.

  13. INDIRECT INTELLIGENT SLIDING MODE CONTROL OF A SHAPE MEMORY ALLOY ACTUATED FLEXIBLE BEAM USING HYSTERETIC RECURRENT NEURAL NETWORKS.

    PubMed

    Hannen, Jennifer C; Crews, John H; Buckner, Gregory D

    2012-08-01

    This paper introduces an indirect intelligent sliding mode controller (IISMC) for shape memory alloy (SMA) actuators, specifically a flexible beam deflected by a single offset SMA tendon. The controller manipulates applied voltage, which alters SMA tendon temperature to track reference bending angles. A hysteretic recurrent neural network (HRNN) captures the nonlinear, hysteretic relationship between SMA temperature and bending angle. The variable structure control strategy provides robustness to model uncertainties and parameter variations, while effectively compensating for system nonlinearities, achieving superior tracking compared to an optimized PI controller.

  14. Standardization of whole slide image morphologic assessment with definition of a new application: Digital slide dynamic morphometry.

    PubMed

    Puppa, Giacomo; Risio, Mauro; Sheahan, Kieran; Vieth, Michael; Zlobec, Inti; Lugli, Alessandro; Pecori, Sara; Wang, Lai Mun; Langner, Cord; Mitomi, Hiroyuki; Nakamura, Takatoshi; Watanabe, Masahiko; Ueno, Hideki; Chasle, Jacques; Senore, Carlo; Conley, Stephen A; Herlin, Paulette; Lauwers, Gregory Y

    2011-01-01

    In histopathology, the quantitative assessment of various morphologic features is based on methods originally conceived on specific areas observed through the microscope used. Failure to reproduce the same reference field of view using a different microscope will change the score assessed. Visualization of a digital slide on a screen through a dedicated viewer allows selection of the magnification. However, the field of view is rectangular, unlike the circular field of optical microscopy. In addition, the size of the selected area is not evident, and must be calculated. A digital slide morphometric system was conceived to reproduce the various methods published for assessing tumor budding in colorectal cancer. Eighteen international experts in colorectal cancer were invited to participate in a web-based study by assessing tumor budding with five different methods in 100 digital slides. The specific areas to be tested by each method were marked by colored circles. The areas were grouped in a target-like pattern and then saved as an .xml file. When a digital slide was opened, the .xml file was imported in order to perform the measurements. Since the morphometric tool is composed of layers that can be freely moved on top of the digital slide, the technique was named digital slide dynamic morphometry. Twelve investigators completed the task, the majority of them performing the multiple evaluations of each of the cases in less than 12 minutes. Digital slide dynamic morphometry has various potential applications and might be a useful tool for the assessment of histologic parameters originally conceived for optical microscopy that need to be quantified.

  15. Robust pre-specified time synchronization of chaotic systems by employing time-varying switching surfaces in the sliding mode control scheme

    NASA Astrophysics Data System (ADS)

    Khanzadeh, Alireza; Pourgholi, Mahdi

    2016-08-01

    In the conventional chaos synchronization methods, the time at which two chaotic systems are synchronized, is usually unknown and depends on initial conditions. In this work based on Lyapunov stability theory a sliding mode controller with time-varying switching surfaces is proposed to achieve chaos synchronization at a pre-specified time for the first time. The proposed controller is able to synchronize chaotic systems precisely at any time when we want. Moreover, by choosing the time-varying switching surfaces in a way that the reaching phase is eliminated, the synchronization becomes robust to uncertainties and exogenous disturbances. Simulation results are presented to show the effectiveness of the proposed method of stabilizing and synchronizing chaotic systems with complete robustness to uncertainty and disturbances exactly at a pre-specified time.

  16. Frictional sliding inclusions

    NASA Astrophysics Data System (ADS)

    Huang, Jin H.; Furuhashi, R.; Mura, T.

    1993-02-01

    S OLUTIONS ARE presented in closed form by using an averaging method for inclusions sliding along an interface due to uniform eigenstrains precribed in the inclusions. The associated stress fields are also analytically determined. A parameter s is introduced to indicate the relative magnitude of sliding compared with the extreme cases of perfect bonding and perfect sliding. When the parameter s becomes zero, the present solution coincides with Eshelby's solution which is the perfectly bonded case. In contrast, when the parameter s is unity, the solution agrees with Volterra's solution (M URA and F URUHASHI, 1984, J. appl. Mech.51, 308] for the perfect sliding case. Because of non-uniform elastic fields caused by sliding along the interface, the well-known Eshelby tensor is modified for the sliding inclusions. Moreover, based on the Mori-Tanaka theory (M ORI and T ANAKA, 1973, Acta Metall.21, 571), an overall stress-strain relation is established to characterize the sliding effect on the overall elastic moduli.

  17. Adaptive sliding mode control for finite-time stability of quad-rotor UAVs with parametric uncertainties.

    PubMed

    Mofid, Omid; Mobayen, Saleh

    2018-01-01

    Adaptive control methods are developed for stability and tracking control of flight systems in the presence of parametric uncertainties. This paper offers a design technique of adaptive sliding mode control (ASMC) for finite-time stabilization of unmanned aerial vehicle (UAV) systems with parametric uncertainties. Applying the Lyapunov stability concept and finite-time convergence idea, the recommended control method guarantees that the states of the quad-rotor UAV are converged to the origin with a finite-time convergence rate. Furthermore, an adaptive-tuning scheme is advised to guesstimate the unknown parameters of the quad-rotor UAV at any moment. Finally, simulation results are presented to exhibit the helpfulness of the offered technique compared to the previous methods. Copyright © 2017 ISA. Published by Elsevier Ltd. All rights reserved.

  18. Robust tracking control of an IPMC actuator using nonsingular terminal sliding mode

    NASA Astrophysics Data System (ADS)

    Khawwaf, Jasim; Zheng, Jinchuan; Lu, Renquan; Al-Ghanimi, Ali; Kazem, Bahaa I.; Man, Zhihong

    2017-09-01

    Ionic polymer metal composite (IPMC) is a highly innovative material that has recently gained attention in many fields such as medical, biomimetic, and micro/nano underwater applications. The main characteristic of IPMC lies in its ability to achieve a large deflection under a fairly low driving voltage. Moreover, its agile, light weight, noiseless and flexible features render it well suited for certain specific applications. Like other smart materials, such as piezoelectric ceramics, IPMC could be used in actuators or sensors. In this paper, we study the application of IPMC as an actuator for underwater use. The goal is to develop a robust feedback controller for the IPMC actuator to track a desired reference whilst dealing with the uncertainties due to the inherent actuator nonlinearity, external disturbance or the variations of working environment. To this end, we first present a nominal model of the IPMC actuator through experimental identification. Next, a nonsingular terminal sliding mode controller is proposed. Lastly, experimental studies are conducted to verify the tracking accuracy and robustness of the designed controller.

  19. Integral sliding mode-based attitude coordinated tracking for spacecraft formation with communication delays

    NASA Astrophysics Data System (ADS)

    Zhang, Jian; Hu, Qinglei; Xie, Wenbo

    2017-11-01

    This paper investigates the attitude coordinated tracking control for a group of rigid spacecraft under directed communication topology, in which inertia uncertainties, external disturbances, input saturation and constant time-delays between the formation members are handled. Initially, the nominal system with communication delays is studied. A delay-dependent controller is proposed by using Lyapunov-Krasovskii function and sufficient condition for system stability is derived. Then, an integral sliding manifold is designed and adaptive control approach is employed to deal with the total perturbation. Meanwhile, the boundary layer method is introduced to alleviate the unexpected chattering as system trajectories cross the switching surface. Finally, numerical simulation results are presented to validate the effectiveness and robustness of the proposed control strategy.

  20. Adaptive nonsingular terminal sliding mode controller for micro/nanopositioning systems driven by linear piezoelectric ceramic motors.

    PubMed

    Safa, Alireza; Abdolmalaki, Reza Yazdanpanah; Shafiee, Saeed; Sadeghi, Behzad

    2018-06-01

    In the field of nanotechnology, there is a growing demand to provide precision control and manipulation of devices with the ability to interact with complex and unstructured environments at micro/nano-scale. As a result, ultrahigh-precision positioning stages have been turned into a key requirement of nanotechnology. In this paper, linear piezoelectric ceramic motors (LPCMs) are adopted to drive micro/nanopositioning stages since they have the ability to achieve high precision in addition to being versatile to be implemented over a wide range of applications. In the establishment of a control scheme for such manipulation systems, the presence of friction, parameter uncertainties, and external disturbances prevent the systems from providing the desired positioning accuracy. The work in this paper focuses on the development of a control framework that addresses these issues as it uses the nonsingular terminal sliding mode technique for the precise position tracking problem of an LPCM-driven positioning stage with friction, uncertain parameters, and external disturbances. The developed control algorithm exhibits the following two attractive features. First, upper bounds of system uncertainties/perturbations are adaptively estimated in the proposed controller; thus, prior knowledge about uncertainty/disturbance bounds is not necessary. Second, the discontinuous signum function is transferred to the time derivative of the control input and the continuous control signal is obtained after integration; consequently, the chattering phenomenon, which presents a major handicap to the implementation of conventional sliding mode control in real applications, is alleviated without deteriorating the robustness of the system. The stability of the controlled system is analyzed, and the convergence of the position tracking error to zero is analytically proven. The proposed control strategy is experimentally validated and compared to the existing control approaches. Copyright © 2018

  1. Robust H∞ cost guaranteed integral sliding mode control for the synchronization problem of nonlinear tele-operation system with variable time-delay.

    PubMed

    Al-Wais, Saba; Khoo, Suiyang; Lee, Tae Hee; Shanmugam, Lakshmanan; Nahavandi, Saeid

    2018-01-01

    This paper is devoted to the synchronization problem of tele-operation systems with time-varying delay, disturbances, and uncertainty. Delay-dependent sufficient conditions for the existence of integral sliding surfaces are given in the form of Linear Matrix Inequalities (LMIs). This guarantees the global stability of the tele-operation system with known upper bounds of the time-varying delays. Unlike previous work, in this paper, the controller gains are designed but not chosen, which increases the degree of freedom of the design. Moreover, Wirtinger based integral inequality and reciprocally convex combination techniques used in the constructed Lypunove-Krasoviskii Functional (LKF) are deemed to give less conservative stability condition for the system. Furthermore, to relax the analysis from any assumptions regarding the dynamics of the environment and human operator forces, H ∞ design method is used to involve the dynamics of these forces and ensure the stability of the system against these admissible forces in the H ∞ sense. This design scheme combines the strong robustness of the sliding mode control with the H ∞ design method for tele-operation systems which is coupled using state feedback controllers and inherit variable time-delays in their communication channels. Simulation examples are given to show the effectiveness of the proposed method. Copyright © 2017 ISA. All rights reserved.

  2. Extended state observer based robust adaptive control on SE(3) for coupled spacecraft tracking maneuver with actuator saturation and misalignment

    NASA Astrophysics Data System (ADS)

    Zhang, Jianqiao; Ye, Dong; Sun, Zhaowei; Liu, Chuang

    2018-02-01

    This paper presents a robust adaptive controller integrated with an extended state observer (ESO) to solve coupled spacecraft tracking maneuver in the presence of model uncertainties, external disturbances, actuator uncertainties including magnitude deviation and misalignment, and even actuator saturation. More specifically, employing the exponential coordinates on the Lie group SE(3) to describe configuration tracking errors, the coupled six-degrees-of-freedom (6-DOF) dynamics are developed for spacecraft relative motion, in which a generic fully actuated thruster distribution is considered and the lumped disturbances are reconstructed by using anti-windup technique. Then, a novel ESO, developed via second order sliding mode (SOSM) technique and adding linear correction terms to improve the performance, is designed firstly to estimate the disturbances in finite time. Based on the estimated information, an adaptive fast terminal sliding mode (AFTSM) controller is developed to guarantee the almost global asymptotic stability of the resulting closed-loop system such that the trajectory can be tracked with all the aforementioned drawbacks addressed simultaneously. Finally, the effectiveness of the controller is illustrated through numerical examples.

  3. Analysis of rotational and sliding collapse modes of masonry arches via Durand-Claye's method

    NASA Astrophysics Data System (ADS)

    Barsotti, Riccardo; Aita, Danila; Bennati, Stefano

    2017-11-01

    In this paper the mechanical behavior of circular and pointed masonry arches subject to their own weight is examined in order to determine their collapse modes. Different arch's shapes and thicknesses are considered; the influence of the friction coefficient on the arch collapse is analyzed as well. The safety level of arches is investigated by suitably reworking in semi-analytical form the stability area graphical method proposed by a renowned 19th century French scholar, Durand-Claye. Our analysis enables accounting for any given eccentricity of the thrust at the crown; furthermore, also the strength of masonry is taken into account. According to Durand-Claye's method, the arch is safe if along any given joint both the bending moment and the shear force do not exceed some given limit values. It is shown that attainment of a limit condition according to Durand-Claye corresponds to the onset of a collapse mechanism characterized by either relative rotation or sliding between masonry units. All possible symmetric collapse modes for an arch are thoroughly described. As it was expected, pointed and circular arches show different collapse behaviors. Limit values of arch thickness and friction coefficient are assessed. The results obtained are compared with those given by Michon in 1857.

  4. Analysis of slide exploration strategy of cytologists when reading digital slides

    NASA Astrophysics Data System (ADS)

    Pantanowitz, Liron; Parwani, Anil; Tseytlin, Eugene; Mello-Thoms, Claudia

    2012-02-01

    Cytology is the sub-domain of Pathology that deals mainly with the diagnosis of cellular changes caused by disease. Current clinical practice involves a cytotechnologist that manually screens glass slides containing fixed cytology material using a light microscope. Screened slides are then forwarded to a specialized pathologist, a cytopathologist, for microscopic review and final diagnostic interpretation. If no abnormalities are detected, the specimen is interpreted as "normal", otherwise the abnormalities are marked with a pen on the glass slide by the cytotechnologist and then are used to render a diagnosis. As Pathology is migrating towards a digital environment it is important to determine whether these crucial screening and diagnostic tasks can be performed as well using digital slides as the current practice with glass slides. The purpose of this work is to make this assessment, by using a set of digital slides depicting cytological materials of different disease processes in several organs, and then to analyze how different cytologists including cytotechnologists, cytopathologists and cytotechnology-trainees explored the digital slides. We will (1) collect visual search data from the cytologists as they navigate the digital slides, as well as record any electronic marks (annotations) made by the cytologists; (2) convert the dynamic visual search data into a static representation of the observers' exploration strategy using 'search maps'; and (3) determine slide coverage, per viewing magnification range, for each group. We have developed a virtual microscope to collect this data, and this interface allows for interactive navigation of the virtual slide (including panning and zooming), as well as annotation of reportable findings. Furthermore, all interactions with the interface are time stamped, which allows us to recreate the cytologists' search strategy.

  5. Fluid pressure responses for a Devil's Slide-like system: problem formulation and simulation

    USGS Publications Warehouse

    Thomas, Matthew A.; Loague, Keith; Voss, Clifford I.

    2015-01-01

    This study employs a hydrogeologic simulation approach to investigate subsurface fluid pressures for a landslide-prone section of the central California, USA, coast known as Devil's Slide. Understanding the relative changes in subsurface fluid pressures is important for systems, such as Devil's Slide, where slope creep can be interrupted by episodic slip events. Surface mapping, exploratory core, tunnel excavation records, and dip meter data were leveraged to conceptualize the parameter space for three-dimensional (3D) Devil's Slide-like simulations. Field observations (i.e. seepage meter, water retention, and infiltration experiments; well records; and piezometric data) and groundwater flow simulation (i.e. one-dimensional vertical, transient, and variably saturated) were used to design the boundary conditions for 3D Devil's Slide-like problems. Twenty-four simulations of steady-state saturated subsurface flow were conducted in a concept-development mode. Recharge, heterogeneity, and anisotropy are shown to increase fluid pressures for failure-prone locations by up to 18.1, 4.5, and 1.8% respectively. Previous estimates of slope stability, driven by simple water balances, are significantly improved upon with the fluid pressures reported here. The results, for a Devil's Slide-like system, provide a foundation for future investigations

  6. QUALITY ASSESSMENT OF CONFOCAL MICROSCOPY SLIDE-BASED SYSTEMS: INSTABLITY

    EPA Science Inventory

    Background: All slide-based fluorescence cytometry detections systems basically include an excitation light source, intermediate optics, and a detection device (CCD or PMT). Occasionally, this equipment becomes unstable, generating unreliable and inferior data. Methods: A num...

  7. Development of a sliding mode control model for quiet upright stance.

    PubMed

    Zhang, Hongbo; Nussbaum, Maury A; Agnew, Michael J

    2016-02-01

    Human upright stance appears maintained or controlled intermittently, through some combination of passive and active ankle torques, respectively representing intrinsic and contractile contributions of the ankle musculature. Several intermittent postural control models have been proposed, though it has been challenging to accurately represent actual kinematics and kinetics and to separately estimate passive and active ankle torque components. Here, a simplified single-segment, 2D (sagittal plane) sliding mode control model was developed for application to track kinematics and kinetics during upright stance. The model was implemented and evaluated using previous experimental data consisting of whole body angular kinematics and ankle torques. Tracking errors for the whole-body center-of-mass (COM) angle and angular velocity, as well as ankle torque, were all within ∼10% of experimental values, though tracking performance for COM angular acceleration was substantially poorer. The model also enabled separate estimates of the contributions of passive and active ankle torques, with overall contributions estimated here to be 96% and 4% of the total ankle torque, respectively. Such a model may have future utility in understanding human postural control, though additional work is needed, such as expanding the model to multiple segments and to three dimensions. Copyright © 2015 IPEM. Published by Elsevier Ltd. All rights reserved.

  8. Percolation, sliding, localization and relaxation in topologically closed circuits

    NASA Astrophysics Data System (ADS)

    Hurowitz, Daniel; Cohen, Doron

    2016-03-01

    Considering a random walk in a random environment in a topologically closed circuit, we explore the implications of the percolation and sliding transitions for its relaxation modes. A complementary question regarding the “delocalization” of eigenstates of non-hermitian Hamiltonians has been addressed by Hatano, Nelson, and followers. But we show that for a conservative stochastic process the implied spectral properties are dramatically different. In particular we determine the threshold for under-damped relaxation, and observe “complexity saturation” as the bias is increased.

  9. SLIDE - a web-based tool for interactive visualization of large-scale -omics data.

    PubMed

    Ghosh, Soumita; Datta, Abhik; Tan, Kaisen; Choi, Hyungwon

    2018-06-28

    Data visualization is often regarded as a post hoc step for verifying statistically significant results in the analysis of high-throughput data sets. This common practice leaves a large amount of raw data behind, from which more information can be extracted. However, existing solutions do not provide capabilities to explore large-scale raw datasets using biologically sensible queries, nor do they allow user interaction based real-time customization of graphics. To address these drawbacks, we have designed an open-source, web-based tool called Systems-Level Interactive Data Exploration, or SLIDE to visualize large-scale -omics data interactively. SLIDE's interface makes it easier for scientists to explore quantitative expression data in multiple resolutions in a single screen. SLIDE is publicly available under BSD license both as an online version as well as a stand-alone version at https://github.com/soumitag/SLIDE. Supplementary Information are available at Bioinformatics online.

  10. Modeling and advanced sliding mode controls of crawler cranes considering wire rope elasticity and complicated operations

    NASA Astrophysics Data System (ADS)

    Tuan, Le Anh; Lee, Soon-Geul

    2018-03-01

    In this study, a new mathematical model of crawler cranes is developed for heavy working conditions, with payload-lifting and boom-hoisting motions simultaneously activated. The system model is built with full consideration of wind disturbances, geometrical nonlinearities, and cable elasticities of cargo lifting and boom luffing. On the basis of this dynamic model, three versions of sliding mode control are analyzed and designed to control five system outputs with only two inputs. When used in complicated operations, the effectiveness of the controllers is analyzed using analytical investigation and numerical simulation. Results indicate the effectiveness of the control algorithms and the proposed dynamic model. The control algorithms asymptotically stabilize the system with finite-time convergences, remaining robust amid disturbances and parametric uncertainties.

  11. WTP Pretreatment Facility Potential Design Deficiencies--Sliding Bed and Sliding Bed Erosion Assessment

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

    Hansen, E. K.

    2015-05-06

    This assessment is based on readily available literature and discusses both Newtonian and non-Newtonian slurries with respect to sliding beds and erosion due to sliding beds. This report does not quantify the size of the sliding beds or erosion rates due to sliding beds, but only assesses if they could be present. This assessment addresses process pipelines in the Pretreatment (PT) facility and the high level waste (HLW) transfer lines leaving the PT facility to the HLW vitrification facility concentrate receipt vessel.

  12. Continuing Medical Education Speakers with High Evaluation Scores Use more Image-based Slides.

    PubMed

    Ferguson, Ian; Phillips, Andrew W; Lin, Michelle

    2017-01-01

    Although continuing medical education (CME) presentations are common across health professions, it is unknown whether slide design is independently associated with audience evaluations of the speaker. Based on the conceptual framework of Mayer's theory of multimedia learning, this study aimed to determine whether image use and text density in presentation slides are associated with overall speaker evaluations. This retrospective analysis of six sequential CME conferences (two annual emergency medicine conferences over a three-year period) used a mixed linear regression model to assess whether post-conference speaker evaluations were associated with image fraction (percentage of image-based slides per presentation) and text density (number of words per slide). A total of 105 unique lectures were given by 49 faculty members, and 1,222 evaluations (70.1% response rate) were available for analysis. On average, 47.4% (SD=25.36) of slides had at least one educationally-relevant image (image fraction). Image fraction significantly predicted overall higher evaluation scores [F(1, 100.676)=6.158, p=0.015] in the mixed linear regression model. The mean (SD) text density was 25.61 (8.14) words/slide but was not a significant predictor [F(1, 86.293)=0.55, p=0.815]. Of note, the individual speaker [χ 2 (1)=2.952, p=0.003] and speaker seniority [F(3, 59.713)=4.083, p=0.011] significantly predicted higher scores. This is the first published study to date assessing the linkage between slide design and CME speaker evaluations by an audience of practicing clinicians. The incorporation of images was associated with higher evaluation scores, in alignment with Mayer's theory of multimedia learning. Contrary to this theory, however, text density showed no significant association, suggesting that these scores may be multifactorial. Professional development efforts should focus on teaching best practices in both slide design and presentation skills.

  13. The Munson-Nygren slide: A major lower-slope slide off Georges Bank

    USGS Publications Warehouse

    O'Leary, Dennis W.

    1986-01-01

    The Munson-Nygren slide is a large compound slide located between Munson and Nygren Canyons below 1900 m depth on the Continental Slope off Georges Bank. Its structural and morphological features are recognized in high-resolution seismic-reflection profiles. The slide comprises an axial trough which has a relief as great as 325 m and a width of 6-10 km. The trough is flanked by displaced and disrupted strata for a total lateral extent of approximately 20 km and a downslope extent of at least 35 km. The slide is unrelated genetically to the adjacent canyons and may postdate Munson Canyon. There is evidence of plastic deformation at the base of the section subjected to sliding. Certain features of the slide complex resemble those seen in landforms on the Laurentian Rise and attributed by Emery et al.* * Emery et al. (1970). to the 1929 Grand Banks earthquake. The Munson-Nygren slide may have been triggered by a large earthquake in late Pleistocene time or later. Destructional landforms associated with the slide are similar to those widely present along the lower slope off Georges Bank. ?? 1986.

  14. Tracking Control of a Magnetic Shape Memory Actuator Using an Inverse Preisach Model with Modified Fuzzy Sliding Mode Control.

    PubMed

    Lin, Jhih-Hong; Chiang, Mao-Hsiung

    2016-08-25

    Magnetic shape memory (MSM) alloys are a new class of smart materials with extraordinary strains up to 12% and frequencies in the range of 1 to 2 kHz. The MSM actuator is a potential device which can achieve high performance electromagnetic actuation by using the properties of MSM alloys. However, significant non-linear hysteresis behavior is a significant barrier to control the MSM actuator. In this paper, the Preisach model was used, by capturing experiments from different input signals and output responses, to model the hysteresis of MSM actuator, and the inverse Preisach model, as a feedforward control, provided compensational signals to the MSM actuator to linearize the hysteresis non-linearity. The control strategy for path tracking combined the hysteresis compensator and the modified fuzzy sliding mode control (MFSMC) which served as a path controller. Based on the experimental results, it was verified that a tracking error in the order of micrometers was achieved.

  15. Tracking Control of a Magnetic Shape Memory Actuator Using an Inverse Preisach Model with Modified Fuzzy Sliding Mode Control

    PubMed Central

    Lin, Jhih-Hong; Chiang, Mao-Hsiung

    2016-01-01

    Magnetic shape memory (MSM) alloys are a new class of smart materials with extraordinary strains up to 12% and frequencies in the range of 1 to 2 kHz. The MSM actuator is a potential device which can achieve high performance electromagnetic actuation by using the properties of MSM alloys. However, significant non-linear hysteresis behavior is a significant barrier to control the MSM actuator. In this paper, the Preisach model was used, by capturing experiments from different input signals and output responses, to model the hysteresis of MSM actuator, and the inverse Preisach model, as a feedforward control, provided compensational signals to the MSM actuator to linearize the hysteresis non-linearity. The control strategy for path tracking combined the hysteresis compensator and the modified fuzzy sliding mode control (MFSMC) which served as a path controller. Based on the experimental results, it was verified that a tracking error in the order of micrometers was achieved. PMID:27571081

  16. OCO-2 Observation and Validation Overview: Observations Data Modes and Target Observations, Taken During the First 15 Months of Operations

    NASA Astrophysics Data System (ADS)

    Osterman, G. B.; Fisher, B.; Wunch, D.; Eldering, A.; Wennberg, P. O.; Roehl, C. M.; Naylor, B. J.; Lee, R.; Pollock, R.; Gunson, M. R.

    2015-12-01

    The OCO-2 instrument was successfully launched on July 2, 2014 from Vandenberg Air Force Base in California. The instrument reached its observational orbit about three weeks later. The spacecraft is at the head of the A-train satellites and began collecting operational data on Sept 5, 2014. OCO-2 makes measurements in three modes: nadir, glint and target. Target observations are designed to provide large amounts of data in a small area near a ground validation site. The instruments of the Total Carbon Column Observing Network (TCCON) provide the ground validation data for the OCO-2 XCO2 observations and comparisons to TCCON form the basis of the OCO-2 validation plan. There are now 27 locations at which OCO-2 can perform target observations and CCON sites make up 23 of those possible target locations. For its first year in orbit, OCO-2 operated in nadir mode for 16 days and then in glint mode for 16 days. Each 16-day cycle spans 233 orbits. On July 1, 2015, OCO-2 changed to an observational mode of alternating nadir and glint measurements on an orbit-by-orbit basis. By December 2015, this operational mode may be modified such that orbits that measure only over ocean will always observed in glint mode. In this presentation we will provide information on the observations made by OCO-2 during its first 15 month in operations. We will show maps of the OCO-2 ground tracks and XCO2 data, calendars illustrating the observational schedule and statistics on the target observations taken. We will provide more information on what is involved in making target observations and how it affects the standard operational data acquisition patterns. Changes to the standard observational patterns of OCO-2 and to the list of locations for target observations will be discussed as well. We will provide an overview of some of the validation related analysis being done using nadir and glint mode OCO-2 data in addition to an overview on validation analyses that do not directly utilize TCCON

  17. Moving target detection in flash mode against stroboscopic mode by active range-gated laser imaging

    NASA Astrophysics Data System (ADS)

    Zhang, Xuanyu; Wang, Xinwei; Sun, Liang; Fan, Songtao; Lei, Pingshun; Zhou, Yan; Liu, Yuliang

    2018-01-01

    Moving target detection is important for the application of target tracking and remote surveillance in active range-gated laser imaging. This technique has two operation modes based on the difference of the number of pulses per frame: stroboscopic mode with the accumulation of multiple laser pulses per frame and flash mode with a single shot of laser pulse per frame. In this paper, we have established a range-gated laser imaging system. In the system, two types of lasers with different frequency were chosen for the two modes. Electric fan and horizontal sliding track were selected as the moving targets to compare the moving blurring between two modes. Consequently, the system working in flash mode shows more excellent performance in motion blurring against stroboscopic mode. Furthermore, based on experiments and theoretical analysis, we presented the higher signal-to-noise ratio of image acquired by stroboscopic mode than flash mode in indoor and underwater environment.

  18. Electronic p-Chip-Based System for Identification of Glass Slides and Tissue Cassettes in Histopathology Laboratories.

    PubMed

    Mandecki, Wlodek; Qian, Jay; Gedzberg, Katie; Gruda, Maryanne; Rodriguez, Efrain Frank; Nesbitt, Leslie; Riben, Michael

    2018-01-01

    The tagging system is based on a small, electronic, wireless, laser-light-activated microtransponder named "p-Chip." The p-Chip is a silicon integrated circuit, the size of which is 600 μm × 600 μm × 100 μm. Each p-Chip contains a unique identification code stored within its electronic memory that can be retrieved with a custom reader. These features allow the p-Chip to be used as an unobtrusive and scarcely noticeable ID tag on glass slides and tissue cassettes. The system is comprised of p-Chip-tagged sample carriers, a dedicated benchtop p-Chip ID reader that can accommodate both objects, and an additional reader (the Wand), with an adapter for reading IDs of glass slides stored vertically in drawers. On slides, p-Chips are attached with adhesive to the center of the short edge, and on cassettes - embedded directly into the plastic. ID readout is performed by bringing the reader to the proximity of the chip. Standard histopathology laboratory protocols were used for testing. Very good ID reading efficiency was observed for both glass slides and cassettes. When processed slides are stored in vertical filing drawers, p-Chips remain readable without the need to remove them from the storage location, thereby improving the speed of searches in collections. On the cassettes, the ID continues to be readable through a thin layer of paraffin. Both slides and tissue cassettes can be read with the same reader, reducing the need for redundant equipment. The p-Chip is stable to all chemical challenges commonly used in the histopathology laboratory, tolerates temperature extremes, and remains durable in long-term storage. The technology is compatible with laboratory information management systems software systems. The p-Chip system is very well suited for identification of glass slides and cassettes in the histopathology laboratory.

  19. Slide Conveying of Granular Materials-Thinking Out of the Glovebox

    NASA Technical Reports Server (NTRS)

    Goddard, J. D.; Didwania, A. K.; Nott, P. R.

    2000-01-01

    The vibratory conveyor, routinely employed for normal-gravity transport of granular materials, usually consists of a continuous open trough vibrated sinusoidally to induce axial movement of a granular material. Motivated in part by a hypothetical application in zero gravity, we propose a novel modification of the vibratory conveyor based on a closed 2d trough operating in a "slide-conveying" mode, with the granular mass remaining permanently in contact with the trough walls. We present a detailed analysis of the mechanics of transport, based on a rigid-slab model for the granular mass with frictional (Coulomb) slip at the upper and lower walls. The form of the vibration cycle plays a crucial role, and the optimal conveying cycle is not the commonly assumed rectilinear sinusoidal motion. The conveying efficiency for the novel slide conveyor will be presented for several simple vibration cycles, including one believed to represent the theoretical optimum.

  20. Decentralized finite-time attitude synchronization for multiple rigid spacecraft via a novel disturbance observer.

    PubMed

    Zong, Qun; Shao, Shikai

    2016-11-01

    This paper investigates decentralized finite-time attitude synchronization for a group of rigid spacecraft by using quaternion with the consideration of environmental disturbances, inertia uncertainties and actuator saturation. Nonsingular terminal sliding mode (TSM) is used for controller design. Firstly, a theorem is proven that there always exists a kind of TSM that converges faster than fast terminal sliding mode (FTSM) for quaternion-descripted attitude control system. Controller with this kind of TSM has faster convergence and reduced computation than FTSM controller. Then, combining with an adaptive parameter estimation strategy, a novel terminal sliding mode disturbance observer is proposed. The proposed disturbance observer needs no upper bound information of the lumped uncertainties or their derivatives. On the basis of undirected topology and the disturbance observer, decentralized attitude synchronization control laws are designed and all attitude errors are ensured to converge to small regions in finite time. As for actuator saturation problem, an auxiliary variable is introduced and accommodated by the disturbance observer. Finally, simulation results are given and the effectiveness of the proposed control scheme is testified. Copyright © 2016. Published by Elsevier Ltd.

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

    PubMed

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

    2015-09-01

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

  2. Tissue slide-based microRNA characterization of tumors: how detailed could diagnosis become for cancer medicine?

    PubMed Central

    Sempere, Lorenzo F

    2014-01-01

    miRNAs are short, non-coding, regulatory RNAs that exert cell type-dependent, context-dependent, transcriptome-wide gene expression control under physiological and pathological conditions. Tissue slide-based assays provide qualitative (tumor compartment) and semi-quantitative (expression levels) information about altered miRNA expression at single-cell resolution in clinical tumor specimens. Reviewed here are key technological advances in the last 5 years that have led to implementation of fully automated, robust and reproducible tissue slide-based assays for in situ miRNA detection on US FDA-approved instruments; recent tissue slide-based discovery studies that suggest potential clinical applications of specific miRNAs in cancer medicine are highlighted; and the challenges in bringing tissue slide-based miRNA assays into the clinic are discussed, including clinical validation, biomarker performance, biomarker space and integration with other biomarkers. PMID:25090088

  3. Fault-tolerant control of electric vehicles with in-wheel motors using actuator-grouping sliding mode controllers

    NASA Astrophysics Data System (ADS)

    Li, Boyuan; Du, Haiping; Li, Weihua

    2016-05-01

    Although electric vehicles with in-wheel motors have been regarded as one of the promising vehicle architectures in recent years, the probability of in-wheel motor fault is still a crucial issue due to the system complexity and large number of control actuators. In this study, a modified sliding mode control (SMC) is applied to achieve fault-tolerant control of electric vehicles with four-wheel-independent-steering (4WIS) and four-wheel-independent-driving (4WID). Unlike in traditional SMC, in this approach the steering geometry is re-arranged according to the location of faulty wheels in the modified SMC. Three SMC control laws for longitudinal velocity control, lateral velocity control and yaw rate control are designed based on specific vehicle motion scenarios. In addition the actuator-grouping SMC method is proposed so that driving actuators are grouped and each group of actuators can be used to achieve the specific control target, which avoids the strong coupling effect between each control target. Simulation results prove that the proposed modified SMC can achieve good vehicle dynamics control performance in normal driving and large steering angle turning scenarios. In addition, the proposed actuator-grouping SMC can solve the coupling effect of different control targets and the control performance is improved.

  4. Histopathology slide projector: a simple improvisation.

    PubMed

    Agarwal, Akhilesh K R; Bhattacharya, Nirjhar

    2008-07-01

    The ability to examine histopathology and other hematological slides under microscope is a necessary and important service which should be available in every health facility. The slides need to be projected on to a screen. We describe an inexpensive and easily constructed technique for projecting magnified images of slides using a simple microscope. It is effective both for making observations and for use as a teaching aid.

  5. Codimension-1 Sliding Bifurcations of a Filippov Pest Growth Model with Threshold Policy

    NASA Astrophysics Data System (ADS)

    Tang, Sanyi; Tang, Guangyao; Qin, Wenjie

    A Filippov system is proposed to describe the stage structured nonsmooth pest growth with threshold policy control (TPC). The TPC measure is represented by the total density of both juveniles and adults being chosen as an index for decisions on when to implement chemical control strategies. The proposed Filippov system can have three pieces of sliding segments and three pseudo-equilibria, which result in rich sliding mode bifurcations and local sliding bifurcations including boundary node (boundary focus, or boundary saddle) and tangency bifurcations. As the threshold density varies the model exhibits the interesting global sliding bifurcations sequentially: touching → buckling → crossing → sliding homoclinic orbit to a pseudo-saddle → crossing → touching bifurcations. In particular, bifurcation of a homoclinic orbit to a pseudo-saddle with a figure of eight shape, to a pseudo-saddle-node or to a standard saddle-node have been observed for some parameter sets. This implies that control outcomes are sensitive to the threshold level, and hence it is crucial to choose the threshold level to initiate control strategy. One more sliding segment (or pseudo-equilibrium) is induced by the total density of a population guided switching policy, compared to only the juvenile density guided policy, implying that this control policy is more effective in terms of preventing multiple pest outbreaks or causing the density of pests to stabilize at a desired level such as an economic threshold.

  6. Mechanics of dual-mode dilative failure in subaqueous sediment deposits

    NASA Astrophysics Data System (ADS)

    You, Yao; Flemings, Peter; Mohrig, David

    2014-07-01

    We introduce dual-mode dilative failure with flume experiments. Dual-mode dilative failure combines slow and steady release of sediments by breaching with periodic sliding, which rapidly releases an internally coherent wedge of sediments. It occurs in dilative sandy deposits. This periodic slope failure results from cyclic evolution of the excess pore pressure in the deposit. Sliding generates large, transient, negative excess pore pressure that strengthens the deposit and allows breaching to occur. During breaching, negative excess pore pressure dissipates, the deposit weakens, and ultimately sliding occurs once again. We show that the sliding frequency is proportional to the coefficient of consolidation. We find that thicker deposits are more susceptible to dual-mode dilative failure. Discovery of dual-mode dilative failure provides a new mechanism to consider when interpreting the sedimentary deposits linked to submarine slope failures.

  7. PLC-based mode multi/demultiplexers for mode division multiplexing

    NASA Astrophysics Data System (ADS)

    Saitoh, Kunimasa; Hanzawa, Nobutomo; Sakamoto, Taiji; Fujisawa, Takeshi; Yamashita, Yoko; Matsui, Takashi; Tsujikawa, Kyozo; Nakajima, Kazuhide

    2017-02-01

    Recently developed PLC-based mode multi/demultiplexers (MUX/DEMUXs) for mode division multiplexing (MDM) transmission are reviewed. We firstly show the operation principle and basic characteristics of PLC-based MUX/DEMUXs with an asymmetric directional coupler (ADC). We then demonstrate the 3-mode (2LP-mode) multiplexing of the LP01, LP11a, and LP11b modes by using fabricated PLC-based mode MUX/DEMUX on one chip. In order to excite LP11b mode in the same plane, a PLC-based LP11 mode rotator is introduced. Finally, we show the PLC-based 6-mode (4LP-mode) MUX/DEMUX with a uniform height by using ADCs, LP11 mode rotators, and tapered waveguides. It is shown that the LP21a mode can be excited from the LP11b mode by using ADC, and the two nearly degenerated LP21b and LP02 modes can be (de)multiplexed separately by using tapered mode converter from E13 (E31) mode to LP21b (LP02) mode.

  8. Electronic p-Chip-Based System for Identification of Glass Slides and Tissue Cassettes in Histopathology Laboratories

    PubMed Central

    Mandecki, Wlodek; Qian, Jay; Gedzberg, Katie; Gruda, Maryanne; Rodriguez, Efrain “Frank”; Nesbitt, Leslie; Riben, Michael

    2018-01-01

    Background: The tagging system is based on a small, electronic, wireless, laser-light-activated microtransponder named “p-Chip.” The p-Chip is a silicon integrated circuit, the size of which is 600 μm × 600 μm × 100 μm. Each p-Chip contains a unique identification code stored within its electronic memory that can be retrieved with a custom reader. These features allow the p-Chip to be used as an unobtrusive and scarcely noticeable ID tag on glass slides and tissue cassettes. Methods: The system is comprised of p-Chip-tagged sample carriers, a dedicated benchtop p-Chip ID reader that can accommodate both objects, and an additional reader (the Wand), with an adapter for reading IDs of glass slides stored vertically in drawers. On slides, p-Chips are attached with adhesive to the center of the short edge, and on cassettes – embedded directly into the plastic. ID readout is performed by bringing the reader to the proximity of the chip. Standard histopathology laboratory protocols were used for testing. Results: Very good ID reading efficiency was observed for both glass slides and cassettes. When processed slides are stored in vertical filing drawers, p-Chips remain readable without the need to remove them from the storage location, thereby improving the speed of searches in collections. On the cassettes, the ID continues to be readable through a thin layer of paraffin. Both slides and tissue cassettes can be read with the same reader, reducing the need for redundant equipment. Conclusions: The p-Chip is stable to all chemical challenges commonly used in the histopathology laboratory, tolerates temperature extremes, and remains durable in long-term storage. The technology is compatible with laboratory information management systems software systems. The p-Chip system is very well suited for identification of glass slides and cassettes in the histopathology laboratory. PMID:29692946

  9. Dynamical phenomena in fast sliding nanotube models

    NASA Astrophysics Data System (ADS)

    Zhang, X. H.; Santoro, G. E.; Tartaglino, U.; Tosatti, E.

    2013-03-01

    The experimentally known fact that coaxial carbon nanotubes can be forced to slide one inside the other stimulated in the past much detailed modelling of the dynamical sliding process. Molecular dynamics simulations of sliding coaxial nanotubes showed the existence of strong frictional peaks when, at large speed, one tube excites the other with a 'washboard' frequency that happens to resonate with some intrinsic vibration frequency. At some of these special speeds we discover a striking example of dynamical symmetry breaking taking place at the nanoscale. Even when both nanotubes are perfectly left-right symmetric and nonchiral, precisely in correspondence with the large peaks of sliding friction occurring at a series of critical sliding velocities, a nonzero angular momentum spontaneously appears. A detailed analysis shows that this internal angular momentum is of phonon origin, in particular arising from preferential excitation of a right polarized (or, with equal probability, of a left polarized) outer-tube 'pseudorotation' mode, thus spontaneously breaking their exact twofold right-left degeneracy. We present and discuss a detailed analysis of nonlinear continuum equations governing this phenomenon, showing the close similarity of this phenomenon with the well-known rotational instability of a forced string, which takes place under sufficiently strong periodic forcing of the string. We also point out new elements appearing in the present problem which are 'nano', in particular the involvement of Umklapp processes and the role of sliding nanofriction.

  10. Using slides to test for changes in crown defoliation assessment methods. Part I: Visual assessment of slides.

    PubMed

    Dobbertin, Matthias; Hug, Christian; Mizoue, Nobuya

    2004-11-01

    In this study we used photographs of tree crowns to test whether the assessment methods for tree defoliation in Switzerland have changed over time. We randomly selected 24 series of slides of Norway spruce with field assessments made between 1986 and 1995. The slides were randomly arranged and assessed by three experts without prior knowledge of the year when the slide was taken or the tree number. Defoliation was assessed using the Swiss reference photo guide. Although the correlations between the field assessments and slide assessments were high (Spearman's rank correlation coefficient ranged between 0.79 and 0.83), we found significant differences between field and slide assessments (4.3 to 9% underprediction by the slide assessors) and between the slide assessments. However, no significant trends in field assessment methods could be detected. When the mean differences between field and slide assessments were subtracted, in some years, field assessors consistently underpredicted (1990, 1992) or overpredicted defoliation (1987, 1991). Defoliation tended to be overpredicted in slides taken against the light, and underpredicted for trees with more than 25% crown overlap. We conclude that slide series can be used to detect changes in assessment methods. However, potential observer bias calls for more objective methods of assessment.

  11. Parameter identification and optimization of slide guide joint of CNC machine tools

    NASA Astrophysics Data System (ADS)

    Zhou, S.; Sun, B. B.

    2017-11-01

    The joint surface has an important influence on the performance of CNC machine tools. In order to identify the dynamic parameters of slide guide joint, the parametric finite element model of the joint is established and optimum design method is used based on the finite element simulation and modal test. Then the mode that has the most influence on the dynamics of slip joint is found through harmonic response analysis. Take the frequency of this mode as objective, the sensitivity analysis of the stiffness of each joint surface is carried out using Latin Hypercube Sampling and Monte Carlo Simulation. The result shows that the vertical stiffness of slip joint surface constituted by the bed and the slide plate has the most obvious influence on the structure. Therefore, this stiffness is taken as the optimization variable and the optimal value is obtained through studying the relationship between structural dynamic performance and stiffness. Take the stiffness values before and after optimization into the FEM of machine tool, and it is found that the dynamic performance of the machine tool is improved.

  12. Effects of soil-engineering properties on the failure mode of shallow landslides

    USGS Publications Warehouse

    McKenna, Jonathan Peter; Santi, Paul Michael; Amblard, Xavier; Negri, Jacquelyn

    2012-01-01

    Some landslides mobilize into flows, while others slide and deposit material immediately down slope. An index based on initial dry density and fine-grained content of soil predicted failure mode of 96 landslide initiation sites in Oregon and Colorado with 79% accuracy. These material properties can be used to identify potential sources for debris flows and for slides. Field data suggest that loose soils can evolve from dense soils that dilate upon shearing. The method presented herein to predict failure mode is most applicable for shallow (depth 8), with few to moderate fines (fine-grained content <18%), and with liquid limits <40.

  13. The sliding-helix voltage sensor

    PubMed Central

    Peyser, Alexander; Nonner, Wolfgang

    2012-01-01

    The voltage sensor (VS) domain of voltage-gated ion channels underlies electrical excitability of living cells. We simulate a mesoscale model of the VS domain to determine the functional consequences of some of its physical elements. Our mesoscale model is based on VS charges, linear dielectrics and whole-body motion, applied to an S4 ‘sliding helix’. The electrostatics under voltage-clamped boundary conditions are solved consistently using a boundary element method. Based on electrostatic configurational energy, statistical-mechanical expectations of the experimentally observable relation between displaced charge and membrane voltage are predicted. Consequences of the model are investigated for variations of: S4 configuration (α- and 310-helical), countercharge alignment with S4 charges, protein polarizability, geometry of the gating canal, screening of S4 charges by the baths, and fixed charges located at the bath interfaces. The sliding helix VS domain has an inherent electrostatic stability in the explored parameter space: countercharges present in the region of weak dielectric always retain an equivalent S4 charge in that region but allow sliding movements displacing 3 to 4 e0. That movement is sensitive to small energy variations (< 2kT) along the path dependent on a number of electrostatic parameters tested in our simulations. These simulations show how the slope of the relation between displaced charge and voltage could be tuned in a channel. PMID:22907204

  14. Evaluating the visibility of presentation slides

    NASA Astrophysics Data System (ADS)

    Sugawara, Genki; Umezu, Nobuyuki

    2017-03-01

    Presentations using slide software such as PowerPoint are widely performed in offices and schools. The improvement of presentation skills among ordinary people is required because these days such an opportunity of giving presentation is becoming so common. One of the key factors for making successful presentation is the visibility of the slides, as well as the contents themselves. We propose an algorithm to numerically evaluate the visibility of presentation slides. Our method receives a presentation as a set of images and eliminates the background from the slides to extract characters and figures. This algorithm then evaluates the visibility according to the number and size of characters, their colors, and figure layouts. The slide evaluation criteria are based on the series of experiments with 20 participants to parameterize typical values for visual elements in slides. The algorithm is implemented on an iMac and takes 0.5 sec. to evaluate a slide image. The evaluation score is given as a value between 0 and 100 and the users can improve their slide pages with lower scores. Our future work includes a series of experiments with various presentations and extending our method to publish as a web-based rating service for learning presentation skills.

  15. Semantic focusing allows fully automated single-layer slide scanning of cervical cytology slides.

    PubMed

    Lahrmann, Bernd; Valous, Nektarios A; Eisenmann, Urs; Wentzensen, Nicolas; Grabe, Niels

    2013-01-01

    Liquid-based cytology (LBC) in conjunction with Whole-Slide Imaging (WSI) enables the objective and sensitive and quantitative evaluation of biomarkers in cytology. However, the complex three-dimensional distribution of cells on LBC slides requires manual focusing, long scanning-times, and multi-layer scanning. Here, we present a solution that overcomes these limitations in two steps: first, we make sure that focus points are only set on cells. Secondly, we check the total slide focus quality. From a first analysis we detected that superficial dust can be separated from the cell layer (thin layer of cells on the glass slide) itself. Then we analyzed 2,295 individual focus points from 51 LBC slides stained for p16 and Ki67. Using the number of edges in a focus point image, specific color values and size-inclusion filters, focus points detecting cells could be distinguished from focus points on artifacts (accuracy 98.6%). Sharpness as total focus quality of a virtual LBC slide is computed from 5 sharpness features. We trained a multi-parameter SVM classifier on 1,600 images. On an independent validation set of 3,232 cell images we achieved an accuracy of 94.8% for classifying images as focused. Our results show that single-layer scanning of LBC slides is possible and how it can be achieved. We assembled focus point analysis and sharpness classification into a fully automatic, iterative workflow, free of user intervention, which performs repetitive slide scanning as necessary. On 400 LBC slides we achieved a scanning-time of 13.9±10.1 min with 29.1±15.5 focus points. In summary, the integration of semantic focus information into whole-slide imaging allows automatic high-quality imaging of LBC slides and subsequent biomarker analysis.

  16. Rock Slide Risk Assessment: A Semi-Quantitative Approach

    NASA Astrophysics Data System (ADS)

    Duzgun, H. S. B.

    2009-04-01

    , four of the slides caused formation of tsunami waves which washed up to 74 m above the lake level. Two of the slides resulted in many fatalities in the inner part of the Loen Valley as well as great damages. There are three predominant joint structures in Ramnefjell Mountain, which controls failure and the geometry of the slides. The first joint set is a foliation plane striking northeast-southwest and dipping 35˚ -40˚ to the east-southeast. The second and the third joint sets are almost perpendicular and parallel to the mountain side and scarp, respectively. These three joint sets form slices of rock columns with width ranging between 7-10 m and height of 400-450 m. It is stated that the joints in set II are opened between 1-2 m, which may bring about collection of water during heavy rainfall or snow melt causing the slices to be pressed out. It is estimated that water in the vertical joints both reduces the shear strength of sliding plane and causes reduction of normal stress on the sliding plane due to formation of uplift force. Hence rock slides in Ramnefjell mountain occur in plane failure mode. The quantitative evaluation of rock slide risk requires probabilistic analysis of rock slope stability and identification of consequences if the rock slide occurs. In this study failure probability of a rock slice is evaluated by first-order reliability method (FORM). Then in order to use the calculated probability of failure value (Pf) in risk analyses, it is required to associate this Pf with frequency based probabilities (i.ePf / year) since the computed failure probabilities is a measure of hazard and not a measure of risk unless they are associated with the consequences of the failure. This can be done by either considering the time dependent behavior of the basic variables in the probabilistic models or associating the computed Pf with frequency of the failures in the region. In this study, the frequency of previous rock slides in the previous century in

  17. A new adaptive control strategy for a class of nonlinear system using RBF neuro-sliding-mode technique: application to SEIG wind turbine control system

    NASA Astrophysics Data System (ADS)

    Kenné, Godpromesse; Fotso, Armel Simo; Lamnabhi-Lagarrigue, Françoise

    2017-04-01

    In this paper, a new hybrid method which combines radial basis function (RBF) neural network with a sliding-mode technique to take advantage of their common features is used to control a class of nonlinear systems. A real-time dynamic nonlinear learning law of the weight vector is synthesized and the closed-loop stability has been demonstrated using Lyapunov theory. The solution presented in this work does not need the knowledge of the perturbation bounds, neither the knowledge of the full state of the nonlinear system. In addition, the bounds of the nonlinear functions are assumed to be unknown and the proposed RBF structure uses reduced number of hidden units. This hybrid control strategy is applied to extract the maximum available energy from a stand-alone self-excited variable low-wind speed energy conversion system and design the dc-voltage and rotor flux controllers as well as the load-side frequency and voltage regulators assuming that the measured outputs are the rotor speed, stator currents, load-side currents and voltages despite large variation of the rotor resistance and uncertainties on the inductances. Finally, simulation results compared with those obtained using the well-known second-order sliding-mode controller are given to show the effectiveness and feasibility of the proposed approach.

  18. Hand ultrasound: a high-fidelity simulation of lung sliding.

    PubMed

    Shokoohi, Hamid; Boniface, Keith

    2012-09-01

    Simulation training has been effectively used to integrate didactic knowledge and technical skills in emergency and critical care medicine. In this article, we introduce a novel model of simulating lung ultrasound and the features of lung sliding and pneumothorax by performing a hand ultrasound. The simulation model involves scanning the palmar aspect of the hand to create normal lung sliding in varying modes of scanning and to mimic ultrasound features of pneumothorax, including "stratosphere/barcode sign" and "lung point." The simple, reproducible, and readily available simulation model we describe demonstrates a high-fidelity simulation surrogate that can be used to rapidly illustrate the signs of normal and abnormal lung sliding at the bedside. © 2012 by the Society for Academic Emergency Medicine.

  19. Prediction Study on Anti-Slide Control of Railway Vehicle Based on RBF Neural Networks

    NASA Astrophysics Data System (ADS)

    Yang, Lijun; Zhang, Jimin

    While railway vehicle braking, Anti-slide control system will detect operating status of each wheel-sets e.g. speed difference and deceleration etc. Once the detected value on some wheel-set is over pre-defined threshold, brake effort on such wheel-set will be adjusted automatically to avoid blocking. Such method takes effect on guarantee safety operation of vehicle and avoid wheel-set flatness, however it cannot adapt itself to the rail adhesion variation. While wheel-sets slide, the operating status is chaotic time series with certain law, and can be predicted with the law and experiment data in certain time. The predicted values can be used as the input reference signals of vehicle anti-slide control system, to judge and control the slide status of wheel-sets. In this article, the RBF neural networks is taken to predict wheel-set slide status in multi-step with weight vector adjusted based on online self-adaptive algorithm, and the center & normalizing parameters of active function of the hidden unit of RBF neural networks' hidden layer computed with K-means clustering algorithm. With multi-step prediction simulation, the predicted signal with appropriate precision can be used by anti-slide system to trace actively and adjust wheel-set slide tendency, so as to adapt to wheel-rail adhesion variation and reduce the risk of wheel-set blocking.

  20. A Two-Wheel Observing Mode for the MAP Spacecraft

    NASA Technical Reports Server (NTRS)

    Starin, Scott R.; ODonnell, James R., Jr.

    2001-01-01

    The Microwave Anisotropy Probe (MAP) is a follow-on to the Differential Microwave Radiometer (DMR) instrument on the Cosmic Background Explorer (COBE). Due to the MAP project's limited mass, power, and budget, a traditional reliability concept including fully redundant components was not feasible. The MAP design employs selective hardware redundancy, along with backup software modes and algorithms, to improve the odds of mission success. This paper describes the effort to develop a backup control mode, known as Observing II, that will allow the MAP science mission to continue in the event of a failure of one of its three reaction wheel assemblies. This backup science mode requires a change from MAP's nominal zero-momentum control system to a momentum-bias system. In this system, existing thruster-based control modes are used to establish a momentum bias about the sun line sufficient to spin the spacecraft up to the desired scan rate. Natural spacecraft dynamics exhibits spin and nutation similar to the nominal MAP science mode with different relative rotation rates, so the two reaction wheels are used to establish and maintain the desired nutation angle from the sun line. Detailed descriptions of the ObservingII control algorithm and simulation results will be presented, along with the operational considerations of performing the rest of MAP's necessary functions with only two wheels.

  1. Observable cosmological vector mode in the dark ages

    NASA Astrophysics Data System (ADS)

    Saga, Shohei

    2016-09-01

    The second-order vector mode is inevitably induced from the coupling of first-order scalar modes in cosmological perturbation theory and might hinder a possible detection of primordial gravitational waves from inflation through 21 cm lensing observations. Here, we investigate the weak lensing signal in 21 cm photons emitted by neutral hydrogen atoms in the dark ages induced by the second-order vector mode by decomposing the deflection angle of the 21 cm lensing signal into the gradient and curl modes. The curl mode is a good tracer of the cosmological vector and tensor modes since the scalar mode does not induce the curl one. By comparing angular power spectra of the 21 cm lensing curl mode induced by the second-order vector mode and primordial gravitational waves whose amplitude is parametrized by the tensor-to-scalar ratio r , we find that the 21 cm curl mode from the second-order vector mode dominates over that from primordial gravitational waves on almost all scales if r ≲10-5. If we use the multipoles of the power spectrum up to ℓmax=1 05 and 1 06 in reconstructing the curl mode from 21 cm temperature maps, the signal-to-noise ratios of the 21 cm curl mode from the second-order vector mode achieve S /N ≈0.46 and 73, respectively. Observation of 21 cm radiation is, in principle, a powerful tool to explore not only the tensor mode but also the cosmological vector mode.

  2. Multifaceted re-analysis of the enigmatic Kitimat slide complex, Canada

    NASA Astrophysics Data System (ADS)

    Stacey, Cooper D.; Lintern, D. Gwyn; Enkin, Randolph J.

    2018-07-01

    Repeat submarine landslides are challenging to study due to the tendency of subsequent slides to destroy previous deposits. Repeat slides are common in fjord head deltas where high amounts of sediment are focused in narrow valleys. This study examines a well-known slide deposit associated with the Kitimat Delta on Canada's west coast that has been linked to tsunamigenic landslides in 1974 and 1975. For the first time we incorporate multibeam bathymetry to a multifaceted dataset including new high resolution acoustic data and sediment cores to examine the history of submarine slides at the Kitimat Delta. Based on morphological analysis and age modelling using 210Pb and 14C data, we determine that the complex surface morphology of the slide lobe consists of at least two large slide deposits that reach 5 km from the delta: the known event that occurred in 1975 and an older event that occurred at 623 ± 83 cal BP (95% confidence interval). We demonstrate that slide deposits can be differentiated based on surface morphology and acoustic character. This is confirmed by age modelling. The 1975 slide resulted in a flow that ploughed through the seabed creating compression and translation along a basal shear plane, resulting in deep deformation and a surface characterized by pressure ridges. The 623 ± 83 cal BP event resulted in a large amount of blocky slide material that overran the former seafloor and was transported >5 km from the delta front. Several buried events are observed at depth, one of which occurred at 2592 ± 84 cal BP and appears to be on the same order of magnitude as the 1975 event and showing very similar acoustic characteristics. As for hazard implications, we show submarine landslides of varying sizes have naturally occurred on this delta throughout the past several thousand years.

  3. Plasma spray processing of TiC-based coatings for sliding wear resistance

    NASA Astrophysics Data System (ADS)

    Mohanty, Mahesh

    Titanium carbide-reinforced metallic coatings, produced by plasma spraying, can be used for sliding wear resistant applications. The sliding wear properties of such coatings are governed to a large extent by the strength, structure and stability of the bond interface between the carbide and the metallic phases. In the present investigation, the microstructure and sliding wear properties of plasma sprayed metal-bonded TiC coatings containing up to 90 v/o carbide have been studied. It was shown that alloying of the metallic phase improved carbide retention in TiC cermets due to better interface bonding, and increased wear resistance and lowered sliding coefficient of friction. TiC-based coatings were produced from both physically blended and synthesized feed powders. It was observed that the precursor TiC-based powder morphology and structure greatly affected the plasma sprayed coating microstructures and the resultant physical and mechanical characteristics. Physical blending of powders induced segregation during spraying, leading to somewhat lower deposit efficiencies and coating uniformity, while synthesized and alloyed titanium carbide/metal composite powders reduced problems of segregation and reactions associated with plasma spraying of physically blended powders where the TiC was in direct contact with the plasma jet. To understand oxidation effects of the environment, Ti and TiC-based coatings were produced under low pressure (VPS), air plasma (APS) and shrouded plasma sprayed conditions. APS Ti and TiC-based powders with reactive matrices suffered severe oxidation decomposition during flight, leading to poor deposition efficiencies and oxidized microstructures. High particle temperatures and cold air plasma spraying. Coating oxidation due to reactions of the particles with the surrounding air during spraying reduced coating hardness and wear resistance. TiC-with Ti or Ti-alloy matrix coatings with the highest hardness, density and wear resistance was

  4. Decentralized adaptive robust control based on sliding mode and nonlinear compensator for the control of ankle movement using functional electrical stimulation of agonist-antagonist muscles

    NASA Astrophysics Data System (ADS)

    Kobravi, Hamid-Reza; Erfanian, Abbas

    2009-08-01

    A decentralized control methodology is designed for the control of ankle dorsiflexion and plantarflexion in paraplegic subjects with electrical stimulation of tibialis anterior and calf muscles. Each muscle joint is considered as a subsystem and individual controllers are designed for each subsystem. Each controller operates solely on its associated subsystem, with no exchange of information between the subsystems. The interactions between the subsystems are taken as external disturbances for each isolated subsystem. In order to achieve robustness with respect to external disturbances, unmodeled dynamics, model uncertainty and time-varying properties of muscle-joint dynamics, a robust control framework is proposed which is based on the synergistic combination of an adaptive nonlinear compensator with a sliding mode control and is referred to as an adaptive robust control. Extensive simulations and experiments on healthy and paraplegic subjects were performed to demonstrate the robustness against the time-varying properties of muscle-joint dynamics, day-to-day variations, subject-to-subject variations, fast convergence, stability and tracking accuracy of the proposed method. The results indicate that the decentralized robust control provides excellent tracking control for different reference trajectories and can generate control signals to compensate the muscle fatigue and reject the external disturbance. Moreover, the controller is able to automatically regulate the interaction between agonist and antagonist muscles under different conditions of operating without any preprogrammed antagonist activities.

  5. Decentralized adaptive robust control based on sliding mode and nonlinear compensator for the control of ankle movement using functional electrical stimulation of agonist-antagonist muscles.

    PubMed

    Kobravi, Hamid-Reza; Erfanian, Abbas

    2009-08-01

    A decentralized control methodology is designed for the control of ankle dorsiflexion and plantarflexion in paraplegic subjects with electrical stimulation of tibialis anterior and calf muscles. Each muscle joint is considered as a subsystem and individual controllers are designed for each subsystem. Each controller operates solely on its associated subsystem, with no exchange of information between the subsystems. The interactions between the subsystems are taken as external disturbances for each isolated subsystem. In order to achieve robustness with respect to external disturbances, unmodeled dynamics, model uncertainty and time-varying properties of muscle-joint dynamics, a robust control framework is proposed which is based on the synergistic combination of an adaptive nonlinear compensator with a sliding mode control and is referred to as an adaptive robust control. Extensive simulations and experiments on healthy and paraplegic subjects were performed to demonstrate the robustness against the time-varying properties of muscle-joint dynamics, day-to-day variations, subject-to-subject variations, fast convergence, stability and tracking accuracy of the proposed method. The results indicate that the decentralized robust control provides excellent tracking control for different reference trajectories and can generate control signals to compensate the muscle fatigue and reject the external disturbance. Moreover, the controller is able to automatically regulate the interaction between agonist and antagonist muscles under different conditions of operating without any preprogrammed antagonist activities.

  6. Continuous higher-order sliding mode control with time-varying gain for a class of uncertain nonlinear systems.

    PubMed

    Han, Yaozhen; Liu, Xiangjie

    2016-05-01

    This paper presents a continuous higher-order sliding mode (HOSM) control scheme with time-varying gain for a class of uncertain nonlinear systems. The proposed controller is derived from the concept of geometric homogeneity and super-twisting algorithm, and includes two parts, the first part of which achieves smooth finite time stabilization of pure integrator chains. The second part conquers the twice differentiable uncertainty and realizes system robustness by employing super-twisting algorithm. Particularly, time-varying switching control gain is constructed to reduce the switching control action magnitude to the minimum possible value while keeping the property of finite time convergence. Examples concerning the perturbed triple integrator chains and excitation control for single-machine infinite bus power system are simulated respectively to demonstrate the effectiveness and applicability of the proposed approach. Copyright © 2016 ISA. Published by Elsevier Ltd. All rights reserved.

  7. Identification of mycobacterium tuberculosis in sputum smear slide using automatic scanning microscope

    NASA Astrophysics Data System (ADS)

    Rulaningtyas, Riries; Suksmono, Andriyan B.; Mengko, Tati L. R.; Saptawati, Putri

    2015-04-01

    Sputum smear observation has an important role in tuberculosis (TB) disease diagnosis, because it needs accurate identification to avoid high errors diagnosis. In development countries, sputum smear slide observation is commonly done with conventional light microscope from Ziehl-Neelsen stained tissue and it doesn't need high cost to maintain the microscope. The clinicians do manual screening process for sputum smear slide which is time consuming and needs highly training to detect the presence of TB bacilli (mycobacterium tuberculosis) accurately, especially for negative slide and slide with less number of TB bacilli. For helping the clinicians, we propose automatic scanning microscope with automatic identification of TB bacilli. The designed system modified the field movement of light microscope with stepper motor which was controlled by microcontroller. Every sputum smear field was captured by camera. After that some image processing techniques were done for the sputum smear images. The color threshold was used for background subtraction with hue canal in HSV color space. Sobel edge detection algorithm was used for TB bacilli image segmentation. We used feature extraction based on shape for bacilli analyzing and then neural network classified TB bacilli or not. The results indicated identification of TB bacilli that we have done worked well and detected TB bacilli accurately in sputum smear slide with normal staining, but not worked well in over staining and less staining tissue slide. However, overall the designed system can help the clinicians in sputum smear observation becomes more easily.

  8. Wiener sliding-mode control for artificial pancreas: a new nonlinear approach to glucose regulation.

    PubMed

    Abu-Rmileh, Amjad; Garcia-Gabin, Winston

    2012-08-01

    Type 1 diabetic patients need insulin therapy to keep their blood glucose close to normal. In this paper an attempt is made to show how nonlinear control-oriented model may be used to improve the performance of closed-loop control of blood glucose in diabetic patients. The nonlinear Wiener model is used as a novel modeling approach to be applied to the glucose control problem. The identified Wiener model is used in the design of a robust nonlinear sliding mode control strategy. Two configurations of the nonlinear controller are tested and compared to a controller designed with a linear model. The controllers are designed in a Smith predictor structure to reduce the effect of system time delay. To improve the meal compensation features, the controllers are provided with a simple feedforward controller to inject an insulin bolus at meal time. Different simulation scenarios have been used to evaluate the proposed controllers. The obtained results show that the new approach outperforms the linear control scheme, and regulates the glucose level within safe limits in the presence of measurement and modeling errors, meal uncertainty and patient variations. Copyright © 2012 Elsevier Ireland Ltd. All rights reserved.

  9. A fuzzy neural network sliding mode controller for vibration suppression in robotically assisted minimally invasive surgery.

    PubMed

    Sang, Hongqiang; Yang, Chenghao; Liu, Fen; Yun, Jintian; Jin, Guoguang

    2016-12-01

    It is very important for robotically assisted minimally invasive surgery to achieve a high-precision and smooth motion control. However, the surgical instrument tip will exhibit vibration caused by nonlinear friction and unmodeled dynamics, especially when the surgical robot system is attempting low-speed, fine motion. A fuzzy neural network sliding mode controller (FNNSMC) is proposed to suppress vibration of the surgical robotic system. Nonlinear friction and modeling uncertainties are compensated by a Stribeck model, a radial basis function (RBF) neural network and a fuzzy system, respectively. Simulations and experiments were performed on a 3 degree-of-freedom (DOF) minimally invasive surgical robot. The results demonstrate that the FNNSMC is effective and can suppress vibrations at the surgical instrument tip. The proposed FNNSMC can provide a robust performance and suppress the vibrations at the surgical instrument tip, which can enhance the quality and security of surgical procedures. Copyright © 2016 John Wiley & Sons, Ltd.

  10. Monitoring environmental change with color slides

    Treesearch

    Arthur W. Magill

    1989-01-01

    Monitoring human impact on outdoor recreation sites and view landscapes is necessary to evaluate influences which may require corrective action and to determine if management is achieving desired goals. An inexpensive method to monitor environmental change is to establish camera points and use repeat color slides. Successful monitoring from slides requires the observer...

  11. RandomSpot: A web-based tool for systematic random sampling of virtual slides.

    PubMed

    Wright, Alexander I; Grabsch, Heike I; Treanor, Darren E

    2015-01-01

    This paper describes work presented at the Nordic Symposium on Digital Pathology 2014, Linköping, Sweden. Systematic random sampling (SRS) is a stereological tool, which provides a framework to quickly build an accurate estimation of the distribution of objects or classes within an image, whilst minimizing the number of observations required. RandomSpot is a web-based tool for SRS in stereology, which systematically places equidistant points within a given region of interest on a virtual slide. Each point can then be visually inspected by a pathologist in order to generate an unbiased sample of the distribution of classes within the tissue. Further measurements can then be derived from the distribution, such as the ratio of tumor to stroma. RandomSpot replicates the fundamental principle of traditional light microscope grid-shaped graticules, with the added benefits associated with virtual slides, such as facilitated collaboration and automated navigation between points. Once the sample points have been added to the region(s) of interest, users can download the annotations and view them locally using their virtual slide viewing software. Since its introduction, RandomSpot has been used extensively for international collaborative projects, clinical trials and independent research projects. So far, the system has been used to generate over 21,000 sample sets, and has been used to generate data for use in multiple publications, identifying significant new prognostic markers in colorectal, upper gastro-intestinal and breast cancer. Data generated using RandomSpot also has significant value for training image analysis algorithms using sample point coordinates and pathologist classifications.

  12. T-Slide Linear Actuators

    NASA Technical Reports Server (NTRS)

    Vranish, John

    2009-01-01

    -the-shelf, electric servomotor, a motor angle resolution sensor (typically an encoder or resolver), and microprocessor-based intelligent software. In applications requiring precision positioning, it may be necessary to add strain gauges to the T-slide housing. Existing sensory- interactive motion control art will work for T slides. For open-loop positioning, a stepping motor emulation technique can be used.

  13. Revealing Grain Boundary Sliding from Textures of a Deformed Nanocrystalline Pd–Au Alloy

    PubMed Central

    Skrotzki, Werner; Zhao, Yajun; Pukenas, Aurimas; Birringer, Rainer

    2018-01-01

    Employing a recent modeling scheme for grain boundary sliding [Zhao et al. Adv. Eng. Mater. 2017, doi:10.1002/adem.201700212], crystallographic textures were simulated for nanocrystalline fcc metals deformed in shear compression. It is shown that, as grain boundary sliding increases, the texture strength decreases while the signature of the texture type remains the same. Grain boundary sliding affects the texture components differently with respect to intensity and angular position. A comparison of a simulation and an experiment on a Pd–10 atom % Au alloy with a 15 nm grain size reveals that, at room temperature, the predominant deformation mode is grain boundary sliding contributing to strain by about 60%. PMID:29370130

  14. Towards identifying the dynamics of sliding by acoustic emission and vibration

    NASA Astrophysics Data System (ADS)

    Korchuganov, M. A.; Filippov, A. V.; Tarasov, S. Yu.; Podgornyh, O. A.; Shamarin, N. N.; Filippova, E. O.

    2016-11-01

    The results of experiments with high load and sliding speed sliding conditions on tribologically mated pairs such as steel 1045/steel 1045 (test 1), steel 1045/basalt (test 2) and Hadfield steel/basalt (test 3) have been carried out in order to identify their response in terms of the acoustic emission and vibration signals. The steel to rock and rock to steel transfer has been revealed by examining the worn surfaces of both steel and rock samples with the use of laser scanning microscopy. The AE signal characteristics have been determined for the tribological pairs studied. The dynamics of sliding has been evaluated by measuring the vibration accelerations. Relationship between wear mode and either acoustic emission signal or vibration signal has been established. The minimal vibration oscillations amplitude and acoustic emission signal energy have been found out in sliding Hadfield steel/basalt pair.

  15. Dynamic Sliding Analysis of a Gravity Dam with Fluid-Structure-Foundation Interaction Using Finite Elements and Newmark's Sliding Block Analysis

    NASA Astrophysics Data System (ADS)

    Goldgruber, Markus; Shahriari, Shervin; Zenz, Gerald

    2015-11-01

    To reduce the natural hazard risks—due to, e.g., earthquake excitation—seismic safety assessments are carried out. Especially under severe loading, due to maximum credible or the so-called safety evaluation earthquake, critical infrastructure, as these are high dams, must not fail. However, under high loading local failure might be allowed as long as the entire structure does not collapse. Hence, for a dam, the loss of sliding stability during a short time period might be acceptable if the cumulative displacements after an event are below an acceptable value. This performance is not only valid for gravity dams but also for rock blocks as sliding is even more imminent in zones with higher seismic activity. Sliding modes cannot only occur in the dam-foundation contact, but also in sliding planes formed due to geological conditions. This work compares the qualitative possible and critical displacements for two methods, the well-known Newmark's sliding block analysis and a Fluid-Foundation-Structure Interaction simulation with the finite elements method. The results comparison of the maximum displacements at the end of the seismic event of the two methods depicts that for high friction angles, they are fairly close. For low friction angles, the results are differing more. The conclusion is that the commonly used Newmark's sliding block analysis and the finite elements simulation are only comparable for high friction angles, where this factor dominates the behaviour of the structure. Worth to mention is that the proposed simulation methods are also applicable to dynamic rock wedge problems and not only to dams.

  16. Estimation of Road Friction Coefficient in Different Road Conditions Based on Vehicle Braking Dynamics

    NASA Astrophysics Data System (ADS)

    Zhao, You-Qun; Li, Hai-Qing; Lin, Fen; Wang, Jian; Ji, Xue-Wu

    2017-07-01

    The accurate estimation of road friction coefficient in the active safety control system has become increasingly prominent. Most previous studies on road friction estimation have only used vehicle longitudinal or lateral dynamics and often ignored the load transfer, which tends to cause inaccurate of the actual road friction coefficient. A novel method considering load transfer of front and rear axles is proposed to estimate road friction coefficient based on braking dynamic model of two-wheeled vehicle. Sliding mode control technique is used to build the ideal braking torque controller, which control target is to control the actual wheel slip ratio of front and rear wheels tracking the ideal wheel slip ratio. In order to eliminate the chattering problem of the sliding mode controller, integral switching surface is used to design the sliding mode surface. A second order linear extended state observer is designed to observe road friction coefficient based on wheel speed and braking torque of front and rear wheels. The proposed road friction coefficient estimation schemes are evaluated by simulation in ADAMS/Car. The results show that the estimated values can well agree with the actual values in different road conditions. The observer can estimate road friction coefficient exactly in real-time and resist external disturbance. The proposed research provides a novel method to estimate road friction coefficient with strong robustness and more accurate.

  17. Combination of statistical and physically based methods to assess shallow slide susceptibility at the basin scale

    NASA Astrophysics Data System (ADS)

    Oliveira, Sérgio C.; Zêzere, José L.; Lajas, Sara; Melo, Raquel

    2017-07-01

    Approaches used to assess shallow slide susceptibility at the basin scale are conceptually different depending on the use of statistical or physically based methods. The former are based on the assumption that the same causes are more likely to produce the same effects, whereas the latter are based on the comparison between forces which tend to promote movement along the slope and the counteracting forces that are resistant to motion. Within this general framework, this work tests two hypotheses: (i) although conceptually and methodologically distinct, the statistical and deterministic methods generate similar shallow slide susceptibility results regarding the model's predictive capacity and spatial agreement; and (ii) the combination of shallow slide susceptibility maps obtained with statistical and physically based methods, for the same study area, generate a more reliable susceptibility model for shallow slide occurrence. These hypotheses were tested at a small test site (13.9 km2) located north of Lisbon (Portugal), using a statistical method (the information value method, IV) and a physically based method (the infinite slope method, IS). The landslide susceptibility maps produced with the statistical and deterministic methods were combined into a new landslide susceptibility map. The latter was based on a set of integration rules defined by the cross tabulation of the susceptibility classes of both maps and analysis of the corresponding contingency tables. The results demonstrate a higher predictive capacity of the new shallow slide susceptibility map, which combines the independent results obtained with statistical and physically based models. Moreover, the combination of the two models allowed the identification of areas where the results of the information value and the infinite slope methods are contradictory. Thus, these areas were classified as uncertain and deserve additional investigation at a more detailed scale.

  18. Fatigue resistant carbon coatings for rolling/sliding contacts

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

    Singh, Harpal; Ramirez, Giovanni; Eryilmaz, Osman

    2016-06-01

    The growing demands for renewable energy production have recently resulted in a significant increase in wind plant installation. Field data from these plants show that wind turbines suffer from costly repair, maintenance and high failure rates. Often times the reliability issues are linked with tribological components used in wind turbine drivetrains. The primary failure modes in bearings and gears are associated with micropitting, wear, brinelling, scuffing, smearing and macropitting all of which occur at or near the surface. Accordingly, a variety of surface engineering approaches are currently being considered to alter the near surface properties of such bearings and gearsmore » to prevent these tribological failures. In the present work, we have evaluated the tribological performance of compliant highly hydrogenated diamond like carbon coating developed at Argonne National Laboratory, under mixed rolling/sliding contact conditions for wind turbine drivetrain components. The coating was deposited on AISI 52100 steel specimens using a magnetron sputter deposition system. The experiments were performed on a PCS Micro-Pitting-Rig (MPR) with four material pairs at 1.79 GPa contact stress, 40% slide to roll ratio and in polyalphaolefin (PAO4) basestock oil (to ensure extreme boundary conditions). The post-test analysis was performed using optical microscopy, surface profilometry, and Raman spectroscopy. The results obtained show a potential for these coatings in sliding/rolling contact applications as no failures were observed with coated specimens even after 100 million cycles compared to uncoated pair in which they failed after 32 million cycles, under the given test conditions.« less

  19. Patch-based Convolutional Neural Network for Whole Slide Tissue Image Classification

    PubMed Central

    Hou, Le; Samaras, Dimitris; Kurc, Tahsin M.; Gao, Yi; Davis, James E.; Saltz, Joel H.

    2016-01-01

    Convolutional Neural Networks (CNN) are state-of-the-art models for many image classification tasks. However, to recognize cancer subtypes automatically, training a CNN on gigapixel resolution Whole Slide Tissue Images (WSI) is currently computationally impossible. The differentiation of cancer subtypes is based on cellular-level visual features observed on image patch scale. Therefore, we argue that in this situation, training a patch-level classifier on image patches will perform better than or similar to an image-level classifier. The challenge becomes how to intelligently combine patch-level classification results and model the fact that not all patches will be discriminative. We propose to train a decision fusion model to aggregate patch-level predictions given by patch-level CNNs, which to the best of our knowledge has not been shown before. Furthermore, we formulate a novel Expectation-Maximization (EM) based method that automatically locates discriminative patches robustly by utilizing the spatial relationships of patches. We apply our method to the classification of glioma and non-small-cell lung carcinoma cases into subtypes. The classification accuracy of our method is similar to the inter-observer agreement between pathologists. Although it is impossible to train CNNs on WSIs, we experimentally demonstrate using a comparable non-cancer dataset of smaller images that a patch-based CNN can outperform an image-based CNN. PMID:27795661

  20. SurfaceSlide: a multitouch digital pathology platform.

    PubMed

    Wang, Yinhai; Williamson, Kate E; Kelly, Paul J; James, Jacqueline A; Hamilton, Peter W

    2012-01-01

    Digital pathology provides a digital environment for the management and interpretation of pathological images and associated data. It is becoming increasing popular to use modern computer based tools and applications in pathological education, tissue based research and clinical diagnosis. Uptake of this new technology is stymied by its single user orientation and its prerequisite and cumbersome combination of mouse and keyboard for navigation and annotation. In this study we developed SurfaceSlide, a dedicated viewing platform which enables the navigation and annotation of gigapixel digitised pathological images using fingertip touch. SurfaceSlide was developed using the Microsoft Surface, a 30 inch multitouch tabletop computing platform. SurfaceSlide users can perform direct panning and zooming operations on digitised slide images. These images are downloaded onto the Microsoft Surface platform from a remote server on-demand. Users can also draw annotations and key in texts using an on-screen virtual keyboard. We also developed a smart caching protocol which caches the surrounding regions of a field of view in multi-resolutions thus providing a smooth and vivid user experience and reducing the delay for image downloading from the internet. We compared the usability of SurfaceSlide against Aperio ImageScope and PathXL online viewer. SurfaceSlide is intuitive, fast and easy to use. SurfaceSlide represents the most direct, effective and intimate human-digital slide interaction experience. It is expected that SurfaceSlide will significantly enhance digital pathology tools and applications in education and clinical practice.

  1. Occurrence of spherical ceramic debris in indentation and sliding contact

    NASA Technical Reports Server (NTRS)

    Miyoshi, K.; Buckley, D. H.

    1982-01-01

    Indenting experiments were conducted with the silicon carbide (0001) surface in contact with a spherical diamond indenter in air. Sliding friction experiments were also conducted with silicon carbide in contact with iron and iron-based binary alloys at room temperature and 800 C. Fracture pits with a spherical particle and spherical wear debris were observed as a result of indenting and sliding. Spherical debris may be produced by a mechanism that involves a spherical-shaped fracture along the circular or spherical stress trajectories under the inelastic deformation zone.

  2. Sliding mode control of dissolved oxygen in an integrated nitrogen removal process in a sequencing batch reactor (SBR).

    PubMed

    Muñoz, C; Young, H; Antileo, C; Bornhardt, C

    2009-01-01

    This paper presents a sliding mode controller (SMC) for dissolved oxygen (DO) in an integrated nitrogen removal process carried out in a suspended biomass sequencing batch reactor (SBR). The SMC performance was compared against an auto-tuning PI controller with parameters adjusted at the beginning of the batch cycle. A method for cancelling the slow DO sensor dynamics was implemented by using a first order model of the sensor. Tests in a lab-scale reactor showed that the SMC offers a better disturbance rejection capability than the auto-tuning PI controller, furthermore providing reasonable performance in a wide range of operation. Thus, SMC becomes an effective robust nonlinear tool to the DO control in this process, being also simple from a computational point of view, allowing its implementation in devices such as industrial programmable logic controllers (PLCs).

  3. SurfaceSlide: A Multitouch Digital Pathology Platform

    PubMed Central

    Wang, Yinhai; Williamson, Kate E.; Kelly, Paul J.; James, Jacqueline A.; Hamilton, Peter W.

    2012-01-01

    Background Digital pathology provides a digital environment for the management and interpretation of pathological images and associated data. It is becoming increasing popular to use modern computer based tools and applications in pathological education, tissue based research and clinical diagnosis. Uptake of this new technology is stymied by its single user orientation and its prerequisite and cumbersome combination of mouse and keyboard for navigation and annotation. Methodology In this study we developed SurfaceSlide, a dedicated viewing platform which enables the navigation and annotation of gigapixel digitised pathological images using fingertip touch. SurfaceSlide was developed using the Microsoft Surface, a 30 inch multitouch tabletop computing platform. SurfaceSlide users can perform direct panning and zooming operations on digitised slide images. These images are downloaded onto the Microsoft Surface platform from a remote server on-demand. Users can also draw annotations and key in texts using an on-screen virtual keyboard. We also developed a smart caching protocol which caches the surrounding regions of a field of view in multi-resolutions thus providing a smooth and vivid user experience and reducing the delay for image downloading from the internet. We compared the usability of SurfaceSlide against Aperio ImageScope and PathXL online viewer. Conclusion SurfaceSlide is intuitive, fast and easy to use. SurfaceSlide represents the most direct, effective and intimate human–digital slide interaction experience. It is expected that SurfaceSlide will significantly enhance digital pathology tools and applications in education and clinical practice. PMID:22292040

  4. Atomistic Simulation of Frictional Sliding Between Cellulose Iß Nanocrystals

    Treesearch

    Xiawa Wu; Robert J. Moon; Ashlie Martini

    2013-01-01

    Sliding friction between cellulose Iß nanocrystals is studied using molecular dynamics simulation. The effects of sliding velocity, normal load, and relative angle between sliding surface are predicted, and the results analyzed in terms of the number of hydrogen bonds within and between the cellulose chains. We find that although the observed friction trends can be...

  5. An artificial muscle model unit based on inorganic nanosheet sliding by photochemical reaction.

    PubMed

    Nabetani, Yu; Takamura, Hazuki; Hayasaka, Yuika; Sasamoto, Shin; Tanamura, Yoshihiko; Shimada, Tetsuya; Masui, Dai; Takagi, Shinsuke; Tachibana, Hiroshi; Tong, Zhiwei; Inoue, Haruo

    2013-04-21

    From the viewpoint of developing photoresponsive supramolecular systems in microenvironments to exhibit more sophisticated photo-functions even at the macroscopic level, inorganic/organic hybrid compounds based on clay or niobate nanosheets as the microenvironments were prepared, characterized, and examined for their photoreactions. We show here a novel type of artificial muscle model unit having much similarity with that in natural muscle fibrils. Upon photoirradiation, the organic/inorganic hybrid nanosheets reversibly slide horizontally on a giant scale, and the interlayer spaces in the layered hybrid structure shrink and expand vertically. In particular, our layered hybrid molecular system exhibits a macroscopic morphological change on a giant scale (~1500 nm) compared with the molecular size of ~1 nm, based on a reversible sliding mechanism.

  6. An analytical model of dynamic sliding friction during impact

    NASA Astrophysics Data System (ADS)

    Arakawa, Kazuo

    2017-01-01

    Dynamic sliding friction was studied based on the angular velocity of a golf ball during an oblique impact. This study used the analytical model proposed for the dynamic sliding friction on lubricated and non-lubricated inclines. The contact area A and sliding velocity u of the ball during impact were used to describe the dynamic friction force Fd = λAu, where λ is a parameter related to the wear of the contact area. A comparison with experimental results revealed that the model agreed well with the observed changes in the angular velocity during impact, and λAu is qualitatively equivalent to the empirical relationship, μN + μη‧dA/dt, given by the product between the frictional coefficient μ and the contact force N, and the additional term related to factor η‧ for the surface condition and the time derivative of A.

  7. Mean deviation coupling synchronous control for multiple motors via second-order adaptive sliding mode control.

    PubMed

    Li, Lebao; Sun, Lingling; Zhang, Shengzhou

    2016-05-01

    A new mean deviation coupling synchronization control strategy is developed for multiple motor control systems, which can guarantee the synchronization performance of multiple motor control systems and reduce complexity of the control structure with the increasing number of motors. The mean deviation coupling synchronization control architecture combining second-order adaptive sliding mode control (SOASMC) approach is proposed, which can improve synchronization control precision of multiple motor control systems and make speed tracking errors, mean speed errors of each motor and speed synchronization errors converge to zero rapidly. The proposed control scheme is robustness to parameter variations and random external disturbances and can alleviate the chattering phenomena. Moreover, an adaptive law is employed to estimate the unknown bound of uncertainty, which is obtained in the sense of Lyapunov stability theorem to minimize the control effort. Performance comparisons with master-slave control, relative coupling control, ring coupling control, conventional PI control and SMC are investigated on a four-motor synchronization control system. Extensive comparative results are given to shown the good performance of the proposed control scheme. Copyright © 2016 ISA. Published by Elsevier Ltd. All rights reserved.

  8. Pulsation Modes of sdBV Stars Observed with Kepler

    NASA Astrophysics Data System (ADS)

    Reed, M. D.; Baran, A. S.; Quint, A. C.; Telting, J. H.; Østensen, R. H.; O'Toole, S. J.

    2012-03-01

    During the Kepler satellite's first year of operation, its short cadence observations were obtained in a survey mode where targets received one month of nearly continuous observations. 48 subdwarf B stars were observed of which 14 were found to be pulsators, with only one of these having predominantly short periods. The other 13 were mostly long-period (g-mode) pulsators. With Kepler's exquisite duty cycle and data quality, an average of 23 periods per star were detected with ranges from 6 to 44. As the g-mode pulsations are high-overtone (typically n > 10), asymptotic period relations could apply and so we searched for evenly spaced periods. We found these for l =1 and 2 modes in all but one of the Kepler stars and that one outlier has a very complex temporal spectrum caused by a close companion. We were able to associate 204 of 299 measured periods with l = 1 and 2 modes. Those results should provide tight constraints on pulsation models. However, they also offer a surprise as current structure models predict significant mode trapping, which is inconsistent with the period spacings we have found.

  9. Lateral-torsional response of base-isolated buildings with curved surface sliding system subjected to near-fault earthquakes

    NASA Astrophysics Data System (ADS)

    Mazza, Fabio

    2017-08-01

    The curved surface sliding (CSS) system is one of the most in-demand techniques for the seismic isolation of buildings; yet there are still important aspects of its behaviour that need further attention. The CSS system presents variation of friction coefficient, depending on the sliding velocity of the CSS bearings, while friction force and lateral stiffness during the sliding phase are proportional to the axial load. Lateral-torsional response needs to be better understood for base-isolated structures located in near-fault areas, where fling-step and forward-directivity effects can produce long-period (horizontal) velocity pulses. To analyse these aspects, a six-storey reinforced concrete (r.c.) office framed building, with an L-shaped plan and setbacks in elevation, is designed assuming three values of the radius of curvature for the CSS system. Seven in-plan distributions of dynamic-fast friction coefficient for the CSS bearings, ranging from a constant value for all isolators to a different value for each, are considered in the case of low- and medium-type friction properties. The seismic analysis of the test structures is carried out considering an elastic-linear behaviour of the superstructure, while a nonlinear force-displacement law of the CSS bearings is considered in the horizontal direction, depending on sliding velocity and axial load. Given the lack of knowledge of the horizontal direction at which near-fault ground motions occur, the maximum torsional effects and residual displacements are evaluated with reference to different incidence angles, while the orientation of the strongest observed pulses is considered to obtain average values.

  10. Color standardization and optimization in whole slide imaging.

    PubMed

    Yagi, Yukako

    2011-03-30

    Standardization and validation of the color displayed by digital slides is an important aspect of digital pathology implementation. While the most common reason for color variation is the variance in the protocols and practices in the histology lab, the color displayed can also be affected by variation in capture parameters (for example, illumination and filters), image processing and display factors in the digital systems themselves. We have been developing techniques for color validation and optimization along two paths. The first was based on two standard slides that are scanned and displayed by the imaging system in question. In this approach, one slide is embedded with nine filters with colors selected especially for H&E stained slides (looking like tiny Macbeth color chart); the specific color of the nine filters were determined in our previous study and modified for whole slide imaging (WSI). The other slide is an H&E stained mouse embryo. Both of these slides were scanned and the displayed images were compared to a standard. The second approach was based on our previous multispectral imaging research. As a first step, the two slide method (above) was used to identify inaccurate display of color and its cause, and to understand the importance of accurate color in digital pathology. We have also improved the multispectral-based algorithm for more consistent results in stain standardization. In near future, the results of the two slide and multispectral techniques can be combined and will be widely available. We have been conducting a series of researches and developing projects to improve image quality to establish Image Quality Standardization. This paper discusses one of most important aspects of image quality - color.

  11. Plastic deformation and wear process at a surface during unlubricated sliding

    NASA Technical Reports Server (NTRS)

    Yamamoto, T.; Buckley, D. H.

    1983-01-01

    The plastic deformation and wear of a 304 stainless steel surface sliding against an aluminum oxide rider with a spherical surface (the radius of curvature: 1.3 cm) were observed by using scanning electron and optical microscopes. Experiments were conducted in a vacuum of one million Pa and in an environment of fifty thousandth Pa of chlorine gas at 25 C. The load was 500 grams and the sliding velocity was 0.5 centimeter per second. The deformed surface layer which accumulates and develops successively is left behind the rider, and step shaped proturbances are developed even after single pass sliding under both environmental conditions. A fully developed surface layer is gradually torn off leaving a characteristic pattern. The mechanism for tearing away of the surface layer from the contact area and sliding track contour is explained assuming the simplified process of material removal based on the adhesion theory for the wear of materials. Previously announced in STAR as N82-32735

  12. Plastic deformation and wear process at a surface during unlubricated sliding

    NASA Technical Reports Server (NTRS)

    Yamamoto, T.; Buckley, D. H.

    1982-01-01

    The plastic deformation and wear of a 304 stainless steel surface sliding against an aluminum oxide rider with a spherical surface (the radius of curvature: 1.3 cm) were observed by using scanning electron and optical microscopes. Experiments were conducted in a vacuum of one million Pa and in an environment of fifty thousandth Pa of chlorine gas at 25 C. The load was 500 grams and the sliding velocity was 0.5 centimeter per second. The deformed surface layer which accumulates and develops successively is left behind the rider, and step shaped proturbances are developed even after single pass sliding under both environmental conditions. A fully developed surface layer is gradually torn off leaving a characteristic pattern. The mechanism for tearing away of the surface layer from the contact area and sliding track contour is explained assuming the simplified process of material removal based on the adhesion theory for the wear of materials.

  13. Deformation and stabilisation mechanisms of slow rock slides in crystalline bedrock

    NASA Astrophysics Data System (ADS)

    Zangerl, C.; Prager, C.

    2009-04-01

    Deep-seated rock slides are slope instabilities which are characterised by deformation along one or several shear zones where most of the measured total slope displacement localizes. Generally, a high danger potential is given when rock slides fail in a rapid manner characterised by very high sliding velocities and/or when they develop into long run-out rock avalanches. However several field surveys and deformation monitoring data show that numerous deep-seated rock slides do not fail in a high velocity regime. In fact, many slides creep downwards at rates of some centimetres per year or even less and do not show any evidence for non-reversible acceleration in the past or in the future. Furthermore some of these slope instabilities are actually inactive (dormant) or have even reached a stabilised final state. Deformation monitoring on active rock slides show that acceleration phases characterised by velocities up to meters per day can occur. The trigger for these phases can be manifold and include heavy rainfall, snow melt, water level fluctuations of reservoirs at the slope foot, changes in the slope's equilibrium state due to antecedent slow creeping processes, changes in the material behaviour within the sliding zone, erosion along the foot of the slope, etc. Whereas the role of these triggers in promoting phases of acceleration are generally understood, the same can not be said regarding the kinematics and dynamic processes/mechanisms by which rock slide masses re-stabilise once the trigger impetus has been removed. In the context of this study the term "stabilisation" is used for rock slides which decelerate from high velocities to slow base activities or even stop moving after a certain amount of displacement. Given that reliable rock slide forecasts require the fundamental understanding of possible slope stabilisation mechanisms this study focuses on field-based and numerically obtained key-properties which influence the long-term slope deformation behaviour

  14. Photospheric Observations of Surface and Body Modes in Solar Magnetic Pores

    NASA Astrophysics Data System (ADS)

    Keys, Peter H.; Morton, Richard J.; Jess, David B.; Verth, Gary; Grant, Samuel D. T.; Mathioudakis, Mihalis; Mackay, Duncan H.; Doyle, John G.; Christian, Damian J.; Keenan, Francis P.; Erdélyi, Robertus

    2018-04-01

    Over the past number of years, great strides have been made in identifying the various low-order magnetohydrodynamic wave modes observable in a number of magnetic structures found within the solar atmosphere. However, one aspect of these modes that has remained elusive, until now, is their designation as either surface or body modes. This property has significant implications for how these modes transfer energy from the waveguide to the surrounding plasma. Here, for the first time to our knowledge, we present conclusive, direct evidence of these wave characteristics in numerous pores that were observed to support sausage modes. As well as outlining methods to detect these modes in observations, we make estimates of the energies associated with each mode. We find surface modes more frequently in the data, as well as that surface modes appear to carry more energy than those displaying signatures of body modes. We find frequencies in the range of ∼2–12 mHz, with body modes as high as 11 mHz, but we do not find surface modes above 10 mHz. It is expected that the techniques we have applied will help researchers search for surface and body signatures in other modes and in differing structures from those presented here.

  15. Pressure vessel sliding support unit and system using the sliding support unit

    DOEpatents

    Breach, Michael R.; Keck, David J.; Deaver, Gerald A.

    2013-01-15

    Provided is a sliding support and a system using the sliding support unit. The sliding support unit may include a fulcrum capture configured to attach to a support flange, a fulcrum support configured to attach to the fulcrum capture, and a baseplate block configured to support the fulcrum support. The system using the sliding support unit may include a pressure vessel, a pedestal bracket, and a plurality of sliding support units.

  16. Information Content Analysis for Selection of Optimal JWST  Observing Modes for Transiting Exoplanet Atmospheres

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

    Batalha, Natasha E.; Line, M. R., E-mail: neb149@psu.edu

    The James Webb Space Telescope ( JWST ) is nearing its launch date of 2018, and is expected to revolutionize our knowledge of exoplanet atmospheres. In order to specifically identify which observing modes will be most useful for characterizing a diverse range of exoplanetary atmospheres, we use an information content (IC) based approach commonly used in the studies of solar system atmospheres. We develop a system based upon these IC methods to trace the instrumental and atmospheric model phase space in order to identify which observing modes are best suited for particular classes of planets, focusing on transmission spectra. Specifically,more » the atmospheric parameter space we cover is T  = 600–1800 K, C/O = 0.55–1, [M/H] = 1–100 × Solar for an R  = 1.39 R{sub J}, M  = 0.59 M{sub J} planet orbiting a WASP-62-like star. We also explore the influence of a simplified opaque gray cloud on the IC. We find that obtaining broader wavelength coverage over multiple modes is preferred over higher precision in a single mode given the same amount of observing time. Regardless of the planet temperature and composition, the best modes for constraining terminator temperatures, C/O ratios, and metallicity are NIRISS SOSS+NIRSpec G395. If the target’s host star is dim enough such that the NIRSpec prism is applicable, then it can be used instead of NIRISS SOSS+NIRSpec G395. Lastly, observations that use more than two modes should be carefully analyzed because sometimes the addition of a third mode results in no gain of information. In these cases, higher precision in the original two modes is favorable.« less

  17. Observing Mode Attitude Controller for the Lunar Reconnaissance Orbiter

    NASA Technical Reports Server (NTRS)

    Calhourn, Philip C.; Garrick, Joseph C.

    2007-01-01

    The Lunar Reconnaissance Orbiter (LRO) mission is the first of a series of lunar robotic spacecraft scheduled for launch in Fall 2008. LRO will spend at least one year in a low altitude polar orbit around the Moon, collecting lunar environment science and mapping data to enable future human exploration. The LRO employs a 3-axis stabilized attitude control system (ACS) whose primary control mode, the "Observing mode", provides Lunar Nadir, off-Nadir, and Inertial fine pointing for the science data collection and instrument calibration. The controller combines the capability of fine pointing with that of on-demand large angle full-sky attitude reorientation into a single ACS mode, providing simplicity of spacecraft operation as well as maximum flexibility for science data collection. A conventional suite of ACS components is employed in this mode to meet the pointing and control objectives. This paper describes the design and analysis of the primary LRO fine pointing and attitude re-orientation controller function, known as the "Observing mode" of the ACS subsystem. The control design utilizes quaternion feedback, augmented with a unique algorithm that ensures accurate Nadir tracking during large angle yaw maneuvers in the presence of high system momentum and/or maneuver rates. Results of system stability analysis and Monte Carlo simulations demonstrate that the observing mode controller can meet fine pointing and maneuver performance requirements.

  18. Frequency and mode identification of γ Doradus from photometric and spectroscopic observations*

    NASA Astrophysics Data System (ADS)

    Brunsden, E.; Pollard, K. R.; Wright, D. J.; De Cat, P.; Cottrell, P. L.

    2018-04-01

    The prototype star for the γ Doradus class of pulsating variables was studied employing photometric and spectroscopic observations to determine the frequencies and modes of pulsation. The four frequencies found are self-consistent between the observation types and almost identical to those found in previous studies (1.3641 d-1, 1.8783 d-1, 1.4742 d-1, and 1.3209 d-1). Three of the frequencies are classified as l, m = (1, 1) pulsations and the other is ambiguous between l, m = (2, 0) and (2, -2) modes. Two frequencies are shown to be stable over 20 yr since their first identification. The agreement in ground-based work makes this star an excellent calibrator between high-precision photometry and spectroscopy with the upcoming TESS observations and a potential standard for continued asteroseismic modelling.

  19. Ringing phenomenon based whispering-gallery-mode sensing

    PubMed Central

    Ye, Ming-Yong; Shen, Mei-Xia; Lin, Xiu-Min

    2016-01-01

    Highly sensitive sensing is one of the most important applications of whispering-gallery-mode (WGM) microresonators, which is usually accomplished through a tunable continuous-wave laser sweeping over a whispering-gallery mode with the help of a fiber taper in a relative slow speed. It is known that if a tunable continuous-wave laser sweeps over a high quality whispering-gallery mode in a fast speed, a ringing phenomenon will be observed. The ringing phenomenon in WGM microresonators is mainly used to measure the Q factors and mode-coupling strengths. Here we experimentally demonstrate that the WGM sensing can be achieved based on the ringing phenomenon. This kind of sensing is accomplished in a much shorter time and is immune to the noise caused by the laser wavelength drift. PMID:26796871

  20. Color standardization in whole slide imaging using a color calibration slide

    PubMed Central

    Bautista, Pinky A.; Hashimoto, Noriaki; Yagi, Yukako

    2014-01-01

    Background: Color consistency in histology images is still an issue in digital pathology. Different imaging systems reproduced the colors of a histological slide differently. Materials and Methods: Color correction was implemented using the color information of the nine color patches of a color calibration slide. The inherent spectral colors of these patches along with their scanned colors were used to derive a color correction matrix whose coefficients were used to convert the pixels’ colors to their target colors. Results: There was a significant reduction in the CIELAB color difference, between images of the same H & E histological slide produced by two different whole slide scanners by 3.42 units, P < 0.001 at 95% confidence level. Conclusion: Color variations in histological images brought about by whole slide scanning can be effectively normalized with the use of the color calibration slide. PMID:24672739

  1. A Sliding-Mode Triboelectric Nanogenerator with Chemical Group Grated Structure by Shadow Mask Reactive Ion Etching.

    PubMed

    Shang, Wanyu; Gu, Guang Qin; Yang, Feng; Zhao, Lei; Cheng, Gang; Du, Zu-Liang; Wang, Zhong Lin

    2017-09-26

    The sliding-mode triboelectric nanogenerator (S-TENG) with grated structure has important applications in energy harvest and active sensors; however its concavo-convex structure leads to large frictional resistance and abrasion. Here, we developed a S-TENG with a chemical group grated structure (S-TENG-CGG), in which the triboelectric layer's triboelectric potential has a positive-negative alternating charged structure. The triboelectric layer of the S-TENG-CGG was fabricated through a reactive ion etching process with a metal shadow mask with grated structure. In the etched region, the nylon film, originally positively charged as in friction with stainless steel, gained opposite triboelectric potential and became negatively charged because of the change of surface functional groups. The output signals of the S-TENG-CGG are alternating and the frequency is determined by both the segment numbers and the moving speed. The applications of the S-TENG-CGG in the charging capacitor and driving calculator are demonstrated. In the S-TENG-CGG, since there is no concavo-convex structure, the frictional resistance and abrasion are largely reduced, which enhances its performances in better stability and longer working time.

  2. Rapid preparation of lecture slides.

    PubMed

    Persson, A V; Frusha, J D; Chevalier, R J

    1985-02-01

    When lecture slides must be prepared at a moment's notice, these methods of rapid preparation will allow you to create good quality slides. Although rush jobs are usually associated with higher costs, using these methods will keep the price per slide to a minimum. An investment must be made for the initial equipment, but the cost per slide is much less than that of slides produced by the standard methods. Type produced by typewriters or computer printers is adequate for most slides, but better slides can be produced with KroyType or Letraset letters. The KL film is preferred for reverse slides of text or line drawings, and the RPC film for production of radiographic slides. If an X-omat developer is not available, Polaroid film is a good alternative for rapid production of slides. The KL reverse slide projects best and can be colored, but RPC film produces a good positive slide of typed material. We have also photographed from a computer terminal screen using the KL film to make positive slides, the Polaroid continuous tone film for reverse slides, and Polaroid color film for color slides of material composed on a computer terminal with multicolor and graphics capabilities.

  3. Quasi-parallel whistler mode waves observed by THEMIS during near-earth dipolarizations

    NASA Astrophysics Data System (ADS)

    Le Contel, O.; Roux, A.; Jacquey, C.; Robert, P.; Berthomier, M.; Chust, T.; Grison, B.; Angelopoulos, V.; Sibeck, D.; Chaston, C. C.; Cully, C. M.; Ergun, B.; Glassmeier, K.-H.; Auster, U.; McFadden, J.; Carlson, C.; Larson, D.; Bonnell, J. W.; Mende, S.; Russell, C. T.; Donovan, E.; Mann, I.; Singer, H.

    2009-06-01

    We report on quasi-parallel whistler emissions detected by the near-earth satellites of the THEMIS mission before, during, and after local dipolarization. These emissions are associated with an electron temperature anisotropy α=T⊥e/T||e>1 consistent with the linear theory of whistler mode anisotropy instability. When the whistler mode emissions are observed the measured electron anisotropy varies inversely with β||e (the ratio of the electron parallel pressure to the magnetic pressure) as predicted by Gary and Wang (1996). Narrow band whistler emissions correspond to the small α existing before dipolarization whereas the broad band emissions correspond to large α observed during and after dipolarization. The energy in the whistler mode is leaving the current sheet and is propagating along the background magnetic field, towards the Earth. A simple time-independent description based on the Liouville's theorem indicates that the electron temperature anisotropy decreases with the distance along the magnetic field from the equator. Once this variation of α is taken into account, the linear theory predicts an equatorial origin for the whistler mode. The linear theory is also consistent with the observed bandwidth of wave emissions. Yet, the anisotropy required to be fully consistent with the observations is somewhat larger than the measured one. Although the discrepancy remains within the instrumental error bars, this could be due to time-dependent effects which have been neglected. The possible role of the whistler waves in the substorm process is discussed.

  4. Cancer Digital Slide Archive: an informatics resource to support integrated in silico analysis of TCGA pathology data

    PubMed Central

    Gutman, David A; Cobb, Jake; Somanna, Dhananjaya; Park, Yuna; Wang, Fusheng; Kurc, Tahsin; Saltz, Joel H; Brat, Daniel J; Cooper, Lee A D

    2013-01-01

    Background The integration and visualization of multimodal datasets is a common challenge in biomedical informatics. Several recent studies of The Cancer Genome Atlas (TCGA) data have illustrated important relationships between morphology observed in whole-slide images, outcome, and genetic events. The pairing of genomics and rich clinical descriptions with whole-slide imaging provided by TCGA presents a unique opportunity to perform these correlative studies. However, better tools are needed to integrate the vast and disparate data types. Objective To build an integrated web-based platform supporting whole-slide pathology image visualization and data integration. Materials and methods All images and genomic data were directly obtained from the TCGA and National Cancer Institute (NCI) websites. Results The Cancer Digital Slide Archive (CDSA) produced is accessible to the public (http://cancer.digitalslidearchive.net) and currently hosts more than 20 000 whole-slide images from 22 cancer types. Discussion The capabilities of CDSA are demonstrated using TCGA datasets to integrate pathology imaging with associated clinical, genomic and MRI measurements in glioblastomas and can be extended to other tumor types. CDSA also allows URL-based sharing of whole-slide images, and has preliminary support for directly sharing regions of interest and other annotations. Images can also be selected on the basis of other metadata, such as mutational profile, patient age, and other relevant characteristics. Conclusions With the increasing availability of whole-slide scanners, analysis of digitized pathology images will become increasingly important in linking morphologic observations with genomic and clinical endpoints. PMID:23893318

  5. Fully automatic control of paraplegic FES pedaling using higher-order sliding mode and fuzzy logic control.

    PubMed

    Farhoud, Aidin; Erfanian, Abbas

    2014-05-01

    In this paper, a fully automatic robust control strategy is proposed for control of paraplegic pedaling using functional electrical stimulation (FES). The method is based on higher-order sliding mode (HOSM) control and fuzzy logic control. In FES, the strength of muscle contraction can be altered either by varying the pulse width (PW) or by the pulse amplitude (PA) of the stimulation signal. The proposed control strategy regulates simultaneously both PA and PW (i.e., PA/PW modulation). A HOSM controller is designed for regulating the PW and a fuzzy logic controller for the PA. The proposed control scheme is free-model and does not require any offline training phase and subject-specific information. Simulation studies on a virtual patient and experiments on three paraplegic subjects demonstrate good tracking performance and robustness of the proposed control strategy against muscle fatigue and external disturbances during FES-induced pedaling. The results of simulation studies show that the power and cadence tracking errors are 5.4% and 4.8%, respectively. The experimental results indicate that the proposed controller can improve pedaling system efficacy and increase the endurance of FES pedaling. The average of power tracking error over three paraplegic subjects is 7.4±1.4% using PA/PW modulation, while the tracking error is 10.2±1.2% when PW modulation is used. The subjects could pedal for 15 min with about 4.1% power loss at the end of experiment using proposed control strategy, while the power loss is 14.3% using PW modulation. The controller could adjust the stimulation intensity to compensate the muscle fatigue during long period of FES pedaling.

  6. Normal mode Rossby waves observed in the upper stratosphere

    NASA Technical Reports Server (NTRS)

    Hirooka, T.; Hirota, I.

    1985-01-01

    In recent years, observational evidence has been obtained for westward traveling planetary waves in the middle atmosphere with the aid of global data from satellites. There is no doubt that the fair portion of the observed traveling waves can be understood as the manifestation of the normal mode Rossby waves which are theoretically derived from the tidal theory. Some observational aspects of the structure and behavior of the normal model Rossby waves in the upper stratosphere are reported. The data used are the global stratospheric geopotential thickness and height analyses which are derived mainly from the Stratospheric Sounding Units (SSUs) on board TIROS-N and NOAA satellites. A clear example of the influence of the normal mode Rossby wave on the mean flow is reported. The mechanism considered is interference between the normal mode Rossby wave and the quasi-stationary wave.

  7. Are slide-hold-slide tests a good analogue for the seismic cycle?

    NASA Astrophysics Data System (ADS)

    van den Ende, Martijn; Niemeijer, André; Marketos, George; Spiers, Christopher

    2017-04-01

    Earthquakes are among the most disruptive of natural hazards known to man. Owing to their destructive potential and poor predictability, earthquakes and unstable frictional sliding in general receive considerable attention, both in experimental and in modelling studies. For reliable seismic hazard assessments, accurate predictions of the failure strength of seismogenic faults is paramount. To study the time-dependent restrengthening (or "healing") of faults in a laboratory setting, the slide-hold-slide (SHS) method is commonly employed as an analogue for the seismic cycle. Using this method, it is assumed that the rate of restrengthening as observed in SHS tests is similar to the rate of restrengthening of natural faults during the interseismic phase. However, the dynamic and kinematic boundary conditions of SHS tests are inherently different to those of a fault that is being tectonically loaded. As such, it can be questioned whether SHS tests (in which the interseismic period is characterised by stress relaxation) yield the same rate of restrengthening as would be expected from laboratory stick-slip or natural seismic cycles (characterised by a more complex stress history). This question could in principle be addressed experimentally by comparing the results from SHS tests with the stress drop and recurrence time of regular stick-slips. However, due to technical limitations, direct comparison between SHS and stick-slips is non-trivial, and uncertainties in extrapolating the laboratory results remain. To assess the validity of SHS tests as an analogue for the seismic cycle, we simulate laboratory SHS tests as well as stick-slips using the Discrete Element Method (DEM). DEM is a particle-based numerical technique that is suitable for modelling granular media, such as fault gouges. Its constitutive relations are linked to grain-scale micro-processes, and, in the work presented here, we incorporate pressure solution creep and frictional sliding. The simultaneous

  8. RecutClub.com: An Open Source, Whole Slide Image-based Pathology Education System

    PubMed Central

    Christensen, Paul A.; Lee, Nathan E.; Thrall, Michael J.; Powell, Suzanne Z.; Chevez-Barrios, Patricia; Long, S. Wesley

    2017-01-01

    Background: Our institution's pathology unknown conferences provide educational cases for our residents. However, the cases have not been previously available digitally, have not been collated for postconference review, and were not accessible to a wider audience. Our objective was to create an inexpensive whole slide image (WSI) education suite to address these limitations and improve the education of pathology trainees. Materials and Methods: We surveyed residents regarding their preference between four unique WSI systems. We then scanned weekly unknown conference cases and study set cases and uploaded them to our custom built WSI viewer located at RecutClub.com. We measured site utilization and conference participation. Results: Residents preferred our OpenLayers WSI implementation to Ventana Virtuoso, Google Maps API, and OpenSlide. Over 16 months, we uploaded 1366 cases from 77 conferences and ten study sets, occupying 793.5 GB of cloud storage. Based on resident evaluations, the interface was easy to use and demonstrated minimal latency. Residents are able to review cases from home and from their mobile devices. Worldwide, 955 unique IP addresses from 52 countries have viewed cases in our site. Conclusions: We implemented a low-cost, publicly available repository of WSI slides for resident education. Our trainees are very satisfied with the freedom to preview either the glass slides or WSI and review the WSI postconference. Both local users and worldwide users actively and repeatedly view cases in our study set. PMID:28382224

  9. Whispering-gallery-mode-based seismometer

    DOEpatents

    Fourguette, Dominique Claire; Otugen, M Volkan; Larocque, Liane Marie; Ritter, Greg Aan; Meeusen, Jason Jeffrey; Ioppolo, Tindaro

    2014-06-03

    A whispering-gallery-mode-based seismometer provides for receiving laser light into an optical fiber, operatively coupling the laser light from the optical fiber into a whispering-gallery-mode-based optical resonator, operatively coupling a spring of a spring-mass assembly to a housing structure; and locating the whispering-gallery-mode-based optical resonator between the spring-mass assembly and the housing structure so as to provide for compressing the whispering-gallery-mode-based optical resonator between the spring-mass assembly and the housing structure responsive to a dynamic compression force from the spring-mass assembly responsive to a motion of the housing structure relative to an inertial frame of reference.

  10. PLC-based LP₁₁ mode rotator for mode-division multiplexing transmission.

    PubMed

    Saitoh, Kunimasa; Uematsu, Takui; Hanzawa, Nobutomo; Ishizaka, Yuhei; Masumoto, Kohei; Sakamoto, Taiji; Matsui, Takashi; Tsujikawa, Kyozo; Yamamoto, Fumihiko

    2014-08-11

    A PLC-based LP11 mode rotator is proposed. The proposed mode rotator is composed of a waveguide with a trench that provides asymmetry of the waveguide. Numerical simulations show that converting LP11a (LP11b) mode to LP11b (LP11a) mode can be achieved with high conversion efficiency (more than 90%) and little polarization dependence over a wide wavelength range from 1450 nm to 1650 nm. In addition, we fabricate the proposed LP11 mode rotator using silica-based PLC. It is confirmed that the fabricated mode rotator can convert LP11a mode to LP11b mode over a wide wavelength range.

  11. Static and dynamic friction in sliding colloidal monolayers

    PubMed Central

    Vanossi, Andrea; Manini, Nicola; Tosatti, Erio

    2012-01-01

    In a pioneer experiment, Bohlein et al. realized the controlled sliding of two-dimensional colloidal crystals over laser-generated periodic or quasi-periodic potentials. Here we present realistic simulations and arguments that besides reproducing the main experimentally observed features give a first theoretical demonstration of the potential impact of colloid sliding in nanotribology. The free motion of solitons and antisolitons in the sliding of hard incommensurate crystals is contrasted with the soliton–antisoliton pair nucleation at the large static friction threshold Fs when the two lattices are commensurate and pinned. The frictional work directly extracted from particles’ velocities can be analyzed as a function of classic tribological parameters, including speed, spacing, and amplitude of the periodic potential (representing, respectively, the mismatch of the sliding interface and the corrugation, or “load”). These and other features suggestive of further experiments and insights promote colloid sliding to a unique friction study instrument. PMID:23019582

  12. Finite-time sliding surface constrained control for a robot manipulator with an unknown deadzone and disturbance.

    PubMed

    Ik Han, Seong; Lee, Jangmyung

    2016-11-01

    This paper presents finite-time sliding mode control (FSMC) with predefined constraints for the tracking error and sliding surface in order to obtain robust positioning of a robot manipulator with input nonlinearity due to an unknown deadzone and external disturbance. An assumed model feedforward FSMC was designed to avoid tedious identification procedures for the manipulator parameters and to obtain a fast response time. Two constraint switching control functions based on the tracking error and finite-time sliding surface were added to the FSMC to guarantee the predefined tracking performance despite the presence of an unknown deadzone and disturbance. The tracking error due to the deadzone and disturbance can be suppressed within the predefined error boundary simply by tuning the gain value of the constraint switching function and without the addition of an extra compensator. Therefore, the designed constraint controller has a simpler structure than conventional transformed error constraint methods and the sliding surface constraint scheme can also indirectly guarantee the tracking error constraint while being more stable than the tracking error constraint control. A simulation and experiment were performed on an articulated robot manipulator to validate the proposed control schemes. Copyright © 2016 ISA. Published by Elsevier Ltd. All rights reserved.

  13. SPH-based numerical simulations of flow slides in municipal solid waste landfills.

    PubMed

    Huang, Yu; Dai, Zili; Zhang, Weijie; Huang, Maosong

    2013-03-01

    Most municipal solid waste (MSW) is disposed of in landfills. Over the past few decades, catastrophic flow slides have occurred in MSW landfills around the world, causing substantial economic damage and occasionally resulting in human victims. It is therefore important to predict the run-out, velocity and depth of such slides in order to provide adequate mitigation and protection measures. To overcome the limitations of traditional numerical methods for modelling flow slides, a mesh-free particle method entitled smoothed particle hydrodynamics (SPH) is introduced in this paper. The Navier-Stokes equations were adopted as the governing equations and a Bingham model was adopted to analyse the relationship between material stress rates and particle motion velocity. The accuracy of the model is assessed using a series of verifications, and then flow slides that occurred in landfills located in Sarajevo and Bandung were simulated to extend its applications. The simulated results match the field data well and highlight the capability of the proposed SPH modelling method to simulate such complex phenomena as flow slides in MSW landfills.

  14. Predicting Debris-Slide Locations in Northwestern California

    Treesearch

    Mark E. Reid; Stephen D. Ellen; Dianne L. Brien; Juan de la Fuente; James N. Falls; Billie G. Hicks; Eric C. Johnson

    2007-01-01

    We tested four topographic models for predicting locations of debris-slide sources: 1) slope; 2) proximity to stream; 3) SHALSTAB with "standard" parameters; and 4) debris-slide-prone landforms, which delineates areas similar to "inner gorge" and "headwall swale" using experience-based rules. These approaches were compared in three diverse...

  15. Friction and wear of iron-base binary alloys in sliding contact with silicon carbide in vacuum

    NASA Technical Reports Server (NTRS)

    Miyoshi, K.; Buckley, D. H.

    1980-01-01

    Multipass sliding friction experiments were conducted with various iron base binary alloys in contact with a single crystal silicon carbide surface in vacuum. Results indicate that the atomic size and concentration of alloy elements play important roles in controlling the transfer and friction properties of iron base binary alloys. Alloys having high solute concentration produce more transfer than do alloys having low solute concentration. The coefficient of friction during multipass sliding generally increases with an increase in the concentration of alloying element. The change of friction with succeeding passes after the initial pass also increases as the solute to iron, atomic radius ratio increases or decreases from unity.

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

    PubMed

    Ghabraei, Soheil; Moradi, Hamed; Vossoughi, Gholamreza

    2015-09-01

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

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

    PubMed

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

    2015-09-01

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

  18. Superlubric sliding of graphene nanoflakes on graphene.

    PubMed

    Feng, Xiaofeng; Kwon, Sangku; Park, Jeong Young; Salmeron, Miquel

    2013-02-26

    The lubricating properties of graphite and graphene have been intensely studied by sliding a frictional force microscope tip against them to understand the origin of the observed low friction. In contrast, the relative motion of free graphene layers remains poorly understood. Here we report a study of the sliding behavior of graphene nanoflakes (GNFs) on a graphene surface. Using scanning tunneling microscopy, we found that the GNFs show facile translational and rotational motions between commensurate initial and final states at temperatures as low as 5 K. The motion is initiated by a tip-induced transition of the flakes from a commensurate to an incommensurate registry with the underlying graphene layer (the superlubric state), followed by rapid sliding until another commensurate position is reached. Counterintuitively, the average sliding distance of the flakes is larger at 5 K than at 77 K, indicating that thermal fluctuations are likely to trigger their transitions from superlubric back to commensurate ground states.

  19. Single-mode fiber laser based on core-cladding mode conversion.

    PubMed

    Suzuki, Shigeru; Schülzgen, Axel; Peyghambarian, N

    2008-02-15

    A single-mode fiber laser based on an intracavity core-cladding mode conversion is demonstrated. The fiber laser consists of an Er-doped active fiber and two fiber Bragg gratings. One Bragg grating is a core-cladding mode converter, and the other Bragg grating is a narrowband high reflector that selects the lasing wavelength. Coupling a single core mode and a single cladding mode by the grating mode converter, the laser operates as a hybrid single-mode laser. This approach for designing a laser cavity provides a much larger mode area than conventional large-mode-area step-index fibers.

  20. Rate-weakening friction characterizes both slow sliding and catastrophic failure of landslides

    PubMed Central

    Handwerger, Alexander L.; Rempel, Alan W.; Skarbek, Rob M.; Roering, Joshua J.; Hilley, George E.

    2016-01-01

    Catastrophic landslides cause billions of dollars in damages and claim thousands of lives annually, whereas slow-moving landslides with negligible inertia dominate sediment transport on many weathered hillslopes. Surprisingly, both failure modes are displayed by nearby landslides (and individual landslides in different years) subjected to almost identical environmental conditions. Such observations have motivated the search for mechanisms that can cause slow-moving landslides to transition via runaway acceleration to catastrophic failure. A similarly diverse range of sliding behavior, including earthquakes and slow-slip events, occurs along tectonic faults. Our understanding of these phenomena has benefitted from mechanical treatments that rely upon key ingredients that are notably absent from previous landslide descriptions. Here, we describe landslide motion using a rate- and state-dependent frictional model that incorporates a nonlocal stress balance to account for the elastic response to gradients in slip. Our idealized, one-dimensional model reproduces both the displacement patterns observed in slow-moving landslides and the acceleration toward failure exhibited by catastrophic events. Catastrophic failure occurs only when the slip surface is characterized by rate-weakening friction and its lateral dimensions exceed a critical nucleation length h* that is shorter for higher effective stresses. However, landslides that are extensive enough to fall within this regime can nevertheless slide slowly for months or years before catastrophic failure. Our results suggest that the diversity of slip behavior observed during landslides can be described with a single model adapted from standard fault mechanics treatments. PMID:27573836

  1. Rate-weakening friction characterizes both slow sliding and catastrophic failure of landslides.

    PubMed

    Handwerger, Alexander L; Rempel, Alan W; Skarbek, Rob M; Roering, Joshua J; Hilley, George E

    2016-09-13

    Catastrophic landslides cause billions of dollars in damages and claim thousands of lives annually, whereas slow-moving landslides with negligible inertia dominate sediment transport on many weathered hillslopes. Surprisingly, both failure modes are displayed by nearby landslides (and individual landslides in different years) subjected to almost identical environmental conditions. Such observations have motivated the search for mechanisms that can cause slow-moving landslides to transition via runaway acceleration to catastrophic failure. A similarly diverse range of sliding behavior, including earthquakes and slow-slip events, occurs along tectonic faults. Our understanding of these phenomena has benefitted from mechanical treatments that rely upon key ingredients that are notably absent from previous landslide descriptions. Here, we describe landslide motion using a rate- and state-dependent frictional model that incorporates a nonlocal stress balance to account for the elastic response to gradients in slip. Our idealized, one-dimensional model reproduces both the displacement patterns observed in slow-moving landslides and the acceleration toward failure exhibited by catastrophic events. Catastrophic failure occurs only when the slip surface is characterized by rate-weakening friction and its lateral dimensions exceed a critical nucleation length [Formula: see text] that is shorter for higher effective stresses. However, landslides that are extensive enough to fall within this regime can nevertheless slide slowly for months or years before catastrophic failure. Our results suggest that the diversity of slip behavior observed during landslides can be described with a single model adapted from standard fault mechanics treatments.

  2. Numerical Modelling of Tsunami Generated by Deformable Submarine Slides: Parameterisation of Slide Dynamics for Coupling to Tsunami Propagation Model

    NASA Astrophysics Data System (ADS)

    Smith, R. C.; Collins, G. S.; Hill, J.; Piggott, M. D.; Mouradian, S. L.

    2015-12-01

    Numerical modelling informs risk assessment of tsunami generated by submarine slides; however, for large-scale slides modelling can be complex and computationally challenging. Many previous numerical studies have approximated slides as rigid blocks that moved according to prescribed motion. However, wave characteristics are strongly dependent on the motion of the slide and previous work has recommended that more accurate representation of slide dynamics is needed. We have used the finite-element, adaptive-mesh CFD model Fluidity, to perform multi-material simulations of deformable submarine slide-generated waves at real world scales for a 2D scenario in the Gulf of Mexico. Our high-resolution approach represents slide dynamics with good accuracy, compared to other numerical simulations of this scenario, but precludes tracking of wave propagation over large distances. To enable efficient modelling of further propagation of the waves, we investigate an approach to extract information about the slide evolution from our multi-material simulations in order to drive a single-layer wave propagation model, also using Fluidity, which is much less computationally expensive. The extracted submarine slide geometry and position as a function of time are parameterised using simple polynomial functions. The polynomial functions are used to inform a prescribed velocity boundary condition in a single-layer simulation, mimicking the effect the submarine slide motion has on the water column. The approach is verified by successful comparison of wave generation in the single-layer model with that recorded in the multi-material, multi-layer simulations. We then extend this approach to 3D for further validation of this methodology (using the Gulf of Mexico scenario proposed by Horrillo et al., 2013) and to consider the effect of lateral spreading. This methodology is then used to simulate a series of hypothetical submarine slide events in the Arctic Ocean (based on evidence of historic

  3. Interfacial Microstructure Evolution due to Strain Path Changes in Sliding Contacts.

    PubMed

    Eder, Stefan J; Cihak-Bayr, Ulrike; Gachot, Carsten; Rodriguez Ripoll, Manel

    2018-06-22

    We performed large-scale molecular dynamics (MD) simulations to study the transient softening stage that has been observed experimentally in sliding interfaces subject to strain path changes. The occurrence of this effect can be of crucial importance for the energy efficiency and wear resistance of systems that experience changes in sliding direction, such as bearings or gears in wind parks, piston rings in combustion engines, or wheel--rail contacts for portal cranes. We therefore modeled the sliding of a rough counterbody against two polycrystalline substrates of fcc copper and bcc iron with initial near-surface grain sizes of 40 nm. The microstructural development of these substrates was monitored and quantified as a function of time, depth, and applied pressure during unidirectional sliding for 7 ns. The results were then compared to the case of sliding in one direction for 5 ns and reversing the sliding direction for an additional 2 ns. We observed the generation of partial dislocations, grain refinement and rotation, as well as twinning (for fcc) in the near-surface region. All microstructures were increasingly affected by these processes when maintaining the sliding direction, but recovered to a great extent upon sliding reversal up to applied pressures of 0.4 GPa in the case of fcc Cu and 1.5 GPa for bcc Fe. We discuss the applicability and limits of our polycrystalline MD model for reproducing well-known bulk phenomena such as the Bauschinger effect in interfacial processes.

  4. Evaluation of slide based cytometry (SBC) for concentration measurements of fluorescent dyes in solution

    NASA Astrophysics Data System (ADS)

    Pierzchalski, Arkadiusz; Marecka, Monika; Müller, Hans-Willy; Bocsi, József; Tárnok, Attila

    2009-02-01

    Flow cytometers (FCM) are built for particle measurements. In principle, concentration measurement of a homogeneous solution is not possible with FCM due to the lack of a trigger signal. In contrast to FCM slide based cytometry systems could act as tools for the measurement of concentrations using volume defined cell counting chambers. These chambers enable to analyze a well defined volume. Sensovation AG (Stockach, Germany) introduced an automated imaging system that combines imaging with cytometric features analysis. Aim of this study was to apply this imaging system to quantify the fluorescent molecule concentrations. The Lumisens (Sensovation AG) slide-based technology based on fluorescence digital imaging microscopy was used. The instrument is equipped with an inverted microscope, blue and red LEDs, double band-pass filters and a high-resolution cooled 16-bit digital camera. The instrument was focussed on the bottom of 400μm deep 6 chamber slides (IBIDI GmbH, Martinsried, Germany) or flat bottom 96 well plates (Greiner Bio One GmbH, Frickenhausen, Germany). Fluorescent solutions were imaged under 90% pixel saturation in a broad concentration range (FITC: 0.0002-250 μg/ml, methylene blue (MethB): 0.0002-250 μg/ml). Exposition times were recorded. Images were analysed by the iCys (CompuCyte Corp., Cambridge, MA, USA) image analysis software with the phantom contour function. Relative fluorescence intensities were calculated from mean fluorescence intensities per phantom contours divided by the exposition time. Solution concentrations could be distinguished over a broad dynamic range of 3.5 to 5.5 decades log (range FITC: 0.0002-31.25μg/ml, MethB: 0.0076-31.25μg/ml) with a good linear relationship between dye concentration and relative fluorescence intensity. The minimal number of fluorescent molecules per pixel as determined by the mean fluorescence intensity and the molecular weight of the fluorochrome were about 800 molecules FITC and ~2.000 MethB. The

  5. Cold start dynamics and temperature sliding observer design of an automotive SOFC APU

    NASA Astrophysics Data System (ADS)

    Lin, Po-Hsu; Hong, Che-Wun

    This paper presents a dynamic model for studying the cold start dynamics and observer design of an auxiliary power unit (APU) for automotive applications. The APU is embedded with a solid oxide fuel cell (SOFC) stack which is a quiet and pollutant-free electric generator; however, it suffers from slow start problem from ambient conditions. The SOFC APU system equips with an after-burner to accelerate the start-up transient in this research. The combustion chamber burns the residual fuel (and air) left from the SOFC to raise the exhaust temperature to preheat the SOFC stack through an energy recovery unit. Since thermal effect is the dominant factor that influences the SOFC transient and steady performance, a nonlinear real-time sliding observer for stack temperature was implemented into the system dynamics to monitor the temperature variation for future controller design. The simulation results show that a 100 W APU system in this research takes about 2 min (in theory) for start-up without considering the thermal limitation of the cell fracture.

  6. On determining fluxgate magnetometer spin axis offsets from mirror mode observations

    NASA Astrophysics Data System (ADS)

    Plaschke, Ferdinand; Narita, Yasuhito

    2016-09-01

    In-flight calibration of fluxgate magnetometers that are mounted on spacecraft involves finding their outputs in vanishing ambient fields, the so-called magnetometer offsets. If the spacecraft is spin-stabilized, then the spin plane components of these offsets can be relatively easily determined, as they modify the spin tone content in the de-spun magnetic field data. The spin axis offset, however, is more difficult to determine. Therefore, usually Alfvénic fluctuations in the solar wind are used. We propose a novel method to determine the spin axis offset: the mirror mode method. The method is based on the assumption that mirror mode fluctuations are nearly compressible such that the maximum variance direction is aligned to the mean magnetic field. Mirror mode fluctuations are typically found in the Earth's magnetosheath region. We introduce the method and provide a first estimate of its accuracy based on magnetosheath observations by the THEMIS-C spacecraft. We find that 20 h of magnetosheath measurements may already be sufficient to obtain high-accuracy spin axis offsets with uncertainties on the order of a few tenths of a nanotesla, if offset stability can be assumed.

  7. Two-mode PLC-based mode multi/demultiplexer for mode and wavelength division multiplexed transmission.

    PubMed

    Hanzawa, Nobutomo; Saitoh, Kuimasa; Sakamoto, Taiji; Matsui, Takashi; Tsujikawa, Kyozo; Koshiba, Masanori; Yamamoto, Fumihiko

    2013-11-04

    We proposed a PLC-based mode multi/demultiplexer (MUX/DEMUX) with an asymmetric parallel waveguide for mode division multiplexed (MDM) transmission. The mode MUX/DEMUX including a mode conversion function with an asymmetric parallel waveguide can be realized by matching the effective indices of the LP(01) and LP(11) modes of two waveguides. We report the design of a mode MUX/DEMUX that can support C-band WDM-MDM transmission. The fabricated mode MUX/DEMUX realized a low insertion loss of less than 1.3 dB and high a mode extinction ratio that exceeded 15 dB. We used the fabricated mode MUX/DEMUX to achieve a successful 2 mode x 4 wavelength x 10 Gbps transmission over a 9 km two-mode fiber with a penalty of less than 1 dB.

  8. Mixed-mode oscillations in memristor emulator based Liénard system

    NASA Astrophysics Data System (ADS)

    Kingston, S. Leo; Suresh, K.; Thamilmaran, K.

    2018-04-01

    We report the existence of mixed-mode oscillations in memristor emulator based Liénard system which is externally driven by sinusoidal force. The charge and flux relationship of memristor emulator device explored based on the smooth cubic nonlinear element. The system exhibits the successive period adding sequences of mixed-mode oscillations in the wide parameter region. The electronics circuit of the memristor emulator is successfully implemented through PSpice simulation and mixed mode oscillations are observed through PSpice experiment and the obtained results are qualitatively matches with the numerical simulation.

  9. Assessing agreement between malaria slide density readings.

    PubMed

    Alexander, Neal; Schellenberg, David; Ngasala, Billy; Petzold, Max; Drakeley, Chris; Sutherland, Colin

    2010-01-04

    Several criteria have been used to assess agreement between replicate slide readings of malaria parasite density. Such criteria may be based on percent difference, or absolute difference, or a combination. Neither the rationale for choosing between these types of criteria, nor that for choosing the magnitude of difference which defines acceptable agreement, are clear. The current paper seeks a procedure which avoids the disadvantages of these current options and whose parameter values are more clearly justified. Variation of parasite density within a slide is expected, even when it has been prepared from a homogeneous sample. This places lower limits on sensitivity and observer agreement, quantified by the Poisson distribution. This means that, if a criterion of fixed percent difference criterion is used for satisfactory agreement, the number of discrepant readings is over-estimated at low parasite densities. With a criterion of fixed absolute difference, the same happens at high parasite densities. For an ideal slide, following the Poisson distribution, a criterion based on a constant difference in square root counts would apply for all densities. This can be back-transformed to a difference in absolute counts, which, as expected, gives a wider range of acceptable agreement at higher average densities. In an example dataset from Tanzania, observed differences in square root counts correspond to a 95% limits of agreement of -2,800 and +2,500 parasites/microl at average density of 2,000 parasites/microl, and -6,200 and +5,700 parasites/microl at 10,000 parasites/microl. However, there were more outliers beyond those ranges at higher densities, meaning that actual coverage of these ranges was not a constant 95%, but decreased with density. In a second study, a trial of microscopist training, the corresponding ranges of agreement are wider and asymmetrical: -8,600 to +5,200/microl, and -19,200 to +11,700/microl, respectively. By comparison, the optimal limits of

  10. Plastic deformation at surface during unlubricated sliding

    NASA Technical Reports Server (NTRS)

    Yamamoto, T.; Buckley, D. H.

    1982-01-01

    The plastic deformation and wear of 304 stainless-steel surface slid against an aluminum oxide rider were observed by using a scanning electron microscope and an optical microscope. Experiments were conducted in a vacuum of 0.000001 Pa and in an environment of 0.0005 Pa chlorine gas at 25 C. The load was 500 grams and the sliding velocity was 0.5 centimeter per second. The deformed surface layer which accumulates and develops successively is left behind the rider, and step-shaped protuberances are developed even after single pass sliding under both environmental conditions. A fully developed surface layer is gradually torn off leaving a characteristic pattern. These observations result from both adhesion and an adhesive wear mechanism.

  11. Accuracy of reading liquid based cytology slides using the ThinPrep Imager compared with conventional cytology: prospective study

    PubMed Central

    d'Assuncao, Jefferson; Irwig, Les; Macaskill, Petra; Chan, Siew F; Richards, Adele; Farnsworth, Annabelle

    2007-01-01

    Objective To compare the accuracy of liquid based cytology using the computerised ThinPrep Imager with that of manually read conventional cytology. Design Prospective study. Setting Pathology laboratory in Sydney, Australia. Participants 55 164 split sample pairs (liquid based sample collected after conventional sample from one collection) from consecutive samples of women choosing both types of cytology and whose specimens were examined between August 2004 and June 2005. Main outcome measures Primary outcome was accuracy of slides for detecting squamous lesions. Secondary outcomes were rate of unsatisfactory slides, distribution of squamous cytological classifications, and accuracy of detecting glandular lesions. Results Fewer unsatisfactory slides were found for imager read cytology than for conventional cytology (1.8% v 3.1%; P<0.001). More slides were classified as abnormal by imager read cytology (7.4% v 6.0% overall and 2.8% v 2.2% for cervical intraepithelial neoplasia of grade 1 or higher). Among 550 patients in whom imager read cytology was cervical intraepithelial neoplasia grade 1 or higher and conventional cytology was less severe than grade 1, 133 of 380 biopsy samples taken were high grade histology. Among 294 patients in whom imager read cytology was less severe than cervical intraepithelial neoplasia grade 1 and conventional cytology was grade 1 or higher, 62 of 210 biopsy samples taken were high grade histology. Imager read cytology therefore detected 71 more cases of high grade histology than did conventional cytology, resulting from 170 more biopsies. Similar results were found when one pathologist reread the slides, masked to cytology results. Conclusion The ThinPrep Imager detects 1.29 more cases of histological high grade squamous disease per 1000 women screened than conventional cytology, with cervical intraepithelial neoplasia grade 1 as the threshold for referral to colposcopy. More imager read slides than conventional slides were

  12. Horizontal sliding of kilometre-scale hot spring area during the 2016 Kumamoto earthquake

    PubMed Central

    Tsuji, Takeshi; Ishibashi, Jun’ichiro; Ishitsuka, Kazuya; Kamata, Ryuichi

    2017-01-01

    We report horizontal sliding of the kilometre-scale geologic block under the Aso hot springs (Uchinomaki area) caused by vibrations from the 2016 Kumamoto earthquake (Mw 7.0). Direct borehole observations demonstrate the sliding along the horizontal geological formation at ~50 m depth, which is where the shallowest hydrothermal reservoir developed. Owing to >1 m northwest movement of the geologic block, as shown by differential interferometric synthetic aperture radar (DInSAR), extensional open fissures were generated at the southeastern edge of the horizontal sliding block, and compressional deformation and spontaneous fluid emission from wells were observed at the northwestern edge of the block. The temporal and spatial variation of the hot spring supply during the earthquake can be explained by the horizontal sliding and borehole failures. Because there was no strain accumulation around the hot spring area prior to the earthquake and gravitational instability could be ignored, the horizontal sliding along the low-frictional formation was likely caused by seismic forces from the remote earthquake. The insights derived from our field-scale observations may assist further research into geologic block sliding in horizontal geological formations. PMID:28218298

  13. Low-mode internal tides and balanced dynamics disentanglement in altimetric observations: Synergy with surface density observations

    NASA Astrophysics Data System (ADS)

    Ponte, Aurélien L.; Klein, Patrice; Dunphy, Michael; Le Gentil, Sylvie

    2017-03-01

    The performance of a tentative method that disentangles the contributions of a low-mode internal tide on sea level from that of the balanced mesoscale eddies is examined using an idealized high resolution numerical simulation. This disentanglement is essential for proper estimation from sea level of the ocean circulation related to balanced motions. The method relies on an independent observation of the sea surface water density whose variations are 1/dominated by the balanced dynamics and 2/correlate with variations of potential vorticity at depth for the chosen regime of surface-intensified turbulence. The surface density therefore leads via potential vorticity inversion to an estimate of the balanced contribution to sea level fluctuations. The difference between instantaneous sea level (presumably observed with altimetry) and the balanced estimate compares moderately well with the contribution from the low-mode tide. Application to realistic configurations remains to be tested. These results aim at motivating further developments of reconstruction methods of the ocean dynamics based on potential vorticity dynamics arguments. In that context, they are particularly relevant for the upcoming wide-swath high resolution altimetric missions (SWOT).

  14. SlideJ: An ImageJ plugin for automated processing of whole slide images.

    PubMed

    Della Mea, Vincenzo; Baroni, Giulia L; Pilutti, David; Di Loreto, Carla

    2017-01-01

    The digital slide, or Whole Slide Image, is a digital image, acquired with specific scanners, that represents a complete tissue sample or cytological specimen at microscopic level. While Whole Slide image analysis is recognized among the most interesting opportunities, the typical size of such images-up to Gpixels- can be very demanding in terms of memory requirements. Thus, while algorithms and tools for processing and analysis of single microscopic field images are available, Whole Slide images size makes the direct use of such tools prohibitive or impossible. In this work a plugin for ImageJ, named SlideJ, is proposed with the objective to seamlessly extend the application of image analysis algorithms implemented in ImageJ for single microscopic field images to a whole digital slide analysis. The plugin has been complemented by examples of macro in the ImageJ scripting language to demonstrate its use in concrete situations.

  15. SlideJ: An ImageJ plugin for automated processing of whole slide images

    PubMed Central

    Baroni, Giulia L.; Pilutti, David; Di Loreto, Carla

    2017-01-01

    The digital slide, or Whole Slide Image, is a digital image, acquired with specific scanners, that represents a complete tissue sample or cytological specimen at microscopic level. While Whole Slide image analysis is recognized among the most interesting opportunities, the typical size of such images—up to Gpixels- can be very demanding in terms of memory requirements. Thus, while algorithms and tools for processing and analysis of single microscopic field images are available, Whole Slide images size makes the direct use of such tools prohibitive or impossible. In this work a plugin for ImageJ, named SlideJ, is proposed with the objective to seamlessly extend the application of image analysis algorithms implemented in ImageJ for single microscopic field images to a whole digital slide analysis. The plugin has been complemented by examples of macro in the ImageJ scripting language to demonstrate its use in concrete situations. PMID:28683129

  16. Optimization of few-mode-fiber based mode converter for mode division multiplexing transmission

    NASA Astrophysics Data System (ADS)

    Xie, Yiwei; Fu, Songnian; Zhang, Minming; Tang, M.; Shum, P.; Liu, Deming

    2013-10-01

    Few-mode-fiber (FMF) based mode division multiplexing (MDM) is a promising technique to further increase the transmission capacity of single mode fibers. We propose and numerically investigate a fiber-optical mode converter (MC) using long period gratings (LPGs) fabricated on the FMF by point-by-point CO2 laser inscription technique. In order to precisely excite three modes (LP01, LP11, and LP02), both untilted LPG and tilted LPG are comprehensively optimized through the length, index modulation depth, and tilt angle of the LPG in order to achieve a mode contrast ratio (MCR) of more than 20 dB with less wavelength dependence. It is found that the proposed MCs have obvious advantages of high MCR, low mode crosstalk, easy fabrication and maintenance, and compact size.

  17. A new composite adaptive controller featuring the neural network and prescribed sliding surface with application to vibration control

    NASA Astrophysics Data System (ADS)

    Phu, Do Xuan; Huy, Ta Duc; Mien, Van; Choi, Seung-Bok

    2018-07-01

    This work proposes a novel composite adaptive controller based on the prescribed performance of the sliding surface and applies it to vibration control of a semi-active vehicle seat suspension system subjected to severe external disturbances. As a first step, the online fast interval type 2 fuzzy neural network system is adopted to establish a model and two sliding surfaces are used; conventional surface and prescribed surface. Then, an equivalent control is determined by assuming the derivative of the prescribed surface is zero, followed by the design of a controller which can guarantee both stability and robustness. Then, two controllers are combined and integrated with adaptation laws using the projection algorithm. The effectiveness of the proposed composite controller is validated through both simulation and experiment by undertaking vibration control of a semi-active seat suspension system equipped with a magneto-rheological (MR) damper. It is shown from both simulation and experimental realization that excellent vibration control performances are achieved with a small tracking error between the proposed and prescribed objectives. In addition, the control superiority of the proposed controller to conventional sliding mode controller featuring one sliding surface and proportional-integral-derivative (PID) controllers are demonstrated through a comparative work.

  18. Solar g-mode oscillations: Comparison of SMM-ACRIM and ground-based observations

    NASA Technical Reports Server (NTRS)

    Scherrer, Philip H.

    1989-01-01

    Progress was made in access to data and in developing programs for its analysis. The difficulties in completing the work in the planned time can be traced to several factors. The correction of the Stanford oscillation using gridded intensity data was not successful. It was concluded that due to poor continuity of the 1985 and 1986 data due to clouds, that a joint analysis with the ACRIM data (best solar oscillation data to date) on the summer 1987 observations should be performed. The 1988 Stanford oscillation data are being examined and the cross comparison of the ACRIM spectrum with the Standford spectrum for 1987 in the g-mode regime will shortly begin.

  19. TIME-TAG mode of STIS observations using the MAMA detectors

    NASA Astrophysics Data System (ADS)

    Sahu, Kailash; Danks, Anthony; Baum, Stefi; Balzano, Vicki; Kraemer, Steve; Kutina, Ray; Sears, William

    1995-04-01

    We summarize the time-tag mode of STIS observations using the MAMA detectors, both in imaging and spectroscopic modes. After a brief outline on the MAMA detector characteristics and the astronomical applications of the time-tag mode, the general philosophy and the details of the data management strategy are described in detail. The GO specifications, and the consequent different modes of data transfer strategy are outlined. Restrictions on maximum data rates, integration times, and BUFFER-TIME requirements are explained. A few cases where the subarray option would be useful are outlined.

  20. Fundamentals of the Slide Library.

    ERIC Educational Resources Information Center

    Boerner, Susan Zee

    This paper is an introduction to the fundamentals of the art (including architecture) slide library, with some emphasis on basic procedures of the science slide library. Information in this paper is particularly relevant to the college, university, and museum slide library. Topics addressed include: (1) history of the slide library; (2) duties of…

  1. Failure mechanism of coated biomaterials under high impact-sliding contact stresses

    NASA Astrophysics Data System (ADS)

    Chen, Ying

    This study uses a newly developed testing method--- inclined cyclic impact-sliding test to investigate the failure behaviors of different types of biomaterials, (SS316L, Ti6Al4V and CoCr) coated by different coatings (TiN, DLC and PEO), under extremely high dynamic contact stress conditions. This test method can simulate the combined impact and sliding/rolling loading conditions, which is very practical in many aspects of commercial usages. During the tests, fatigue cracking, chipping, peeling and material transferring were observed in damaged area. This research is mainly focused on the failure behaviors of load-bearing materials which cyclic impacting and sliding are always involved. This purpose was accomplished in the three stages: First, impact-sliding test was carried out on TiN coated unhardened M2. It was found that soft substrate can cause early failure of coating due to the considerable plastic deformation in the substrate. In this case, stronger substrate is required to support coating better when tested under high contact stresses. Second, PEO coated Ti-6Al-4V was tested under pure sliding and impact-sliding wear conditions. PEO coating was found not strong enough to afford the high contact pressure under cyclic impact-sliding wear test due to its porous surface structure. However, the wear performance of PEO coating was enhanced due to the sub-stoichiometric oxide. To sum up, for load-bearing biomedical implants involved in high impacting movement, PEO coating may not be a promising surface protection. Third, the dense, smooth PVD/CVD bio-inert coatings were reconsidered. DLC and TiN coatings, combined by different substrates together with different interface materials were tested under the cyclic impact-sliding test using a set of proper loading. The results show that to choose a proper combination of coating, interface and substrate based on their mechanical properties is of great importance under the test condition. Hard substrates provide support

  2. Rate-weakening friction characterizes both slow sliding and catastrophic failure of landslides

    NASA Astrophysics Data System (ADS)

    Handwerger, Alexander L.; Rempel, Alan W.; Skarbek, Rob M.; Roering, Joshua J.; Hilley, George E.

    2016-09-01

    Catastrophic landslides cause billions of dollars in damages and claim thousands of lives annually, whereas slow-moving landslides with negligible inertia dominate sediment transport on many weathered hillslopes. Surprisingly, both failure modes are displayed by nearby landslides (and individual landslides in different years) subjected to almost identical environmental conditions. Such observations have motivated the search for mechanisms that can cause slow-moving landslides to transition via runaway acceleration to catastrophic failure. A similarly diverse range of sliding behavior, including earthquakes and slow-slip events, occurs along tectonic faults. Our understanding of these phenomena has benefitted from mechanical treatments that rely upon key ingredients that are notably absent from previous landslide descriptions. Here, we describe landslide motion using a rate- and state-dependent frictional model that incorporates a nonlocal stress balance to account for the elastic response to gradients in slip. Our idealized, one-dimensional model reproduces both the displacement patterns observed in slow-moving landslides and the acceleration toward failure exhibited by catastrophic events. Catastrophic failure occurs only when the slip surface is characterized by rate-weakening friction and its lateral dimensions exceed a critical nucleation length h*h* that is shorter for higher effective stresses. However, landslides that are extensive enough to fall within this regime can nevertheless slide slowly for months or years before catastrophic failure. Our results suggest that the diversity of slip behavior observed during landslides can be described with a single model adapted from standard fault mechanics treatments.

  3. On-the-fly selection of cell-specific enhancers, genes, miRNAs and proteins across the human body using SlideBase

    PubMed Central

    Ienasescu, Hans; Li, Kang; Andersson, Robin; Vitezic, Morana; Rennie, Sarah; Chen, Yun; Vitting-Seerup, Kristoffer; Lagoni, Emil; Boyd, Mette; Bornholdt, Jette; de Hoon, Michiel J. L.; Kawaji, Hideya; Lassmann, Timo; Hayashizaki, Yoshihide; Forrest, Alistair R. R.; Carninci, Piero; Sandelin, Albin

    2016-01-01

    Genomics consortia have produced large datasets profiling the expression of genes, micro-RNAs, enhancers and more across human tissues or cells. There is a need for intuitive tools to select subsets of such data that is the most relevant for specific studies. To this end, we present SlideBase, a web tool which offers a new way of selecting genes, promoters, enhancers and microRNAs that are preferentially expressed/used in a specified set of cells/tissues, based on the use of interactive sliders. With the help of sliders, SlideBase enables users to define custom expression thresholds for individual cell types/tissues, producing sets of genes, enhancers etc. which satisfy these constraints. Changes in slider settings result in simultaneous changes in the selected sets, updated in real time. SlideBase is linked to major databases from genomics consortia, including FANTOM, GTEx, The Human Protein Atlas and BioGPS. Database URL: http://slidebase.binf.ku.dk PMID:28025337

  4. Selected Landscape Plants. Slide Script.

    ERIC Educational Resources Information Center

    McCann, Kevin

    This slide script, part of a series of slide scripts designed for use in vocational agriculture classes, deals with commercially important woody ornamental landscape plants. Included in the script are narrations for use with a total of 253 slides illustrating 92 different plants. Several slides are used to illustrate each plant: besides a view of…

  5. Repair of Large Sliding Inguinal Hernias.

    PubMed

    Samra, Navdeep S; Ballard, David H; Doumite, Darin F; Griffen, F Dean

    2015-12-01

    Sliding inguinal hernias are often unexpected intra-operative findings, and repair of which can be technically challenging. A number of repair techniques have been described. The author modified a technique based on an approach described by Bevan. The purpose of our study is to describe this modified Bevan technique for repair of sliding inguinal hernias and report its efficacy in a series of patients. We retrospectively reviewed all patients with open inguinal hernia repairs performed by a single surgeon from August 2007 to April 2013 for sliding indirect hernias using the modified Bevan technique. Patient records were reviewed for demographics, hernia characteristics, complications, admission status, length of stay, and complications. There were 25 patients eligible for our review (male = 25, mean age = 49 years). All sliding hernias were indirect, none were bilateral, and two were incarcerated. The sliding component involved the bladder and perivesical fat (n = 12), sigmoid colon (n = 10), and the cecum and appendix (n = 3). Eighteen patients were treated as outpatients; seven patients were admitted with a mean stay of 2.2 days. Complications included intra-operative bleeding (n = 1), subcutaneous wound hematoma (n = 1), scrotal seroma (n = 1), transient orchialgia (n = 1), and ileus (n = 1). All patients were seen postoperatively for short-term follow-up with no hernia recurrences. Thirteen patients were available for long-term follow-up (mean = 13.6 months); all had no hernia recurrences. The modification of Bevan's technique for repair of large sliding hernias worked well in our series.

  6. Spatial-mode switchable ring fiber laser based on low mode-crosstalk all-fiber mode MUX/DEMUX

    NASA Astrophysics Data System (ADS)

    Ren, Fang; Yu, Jinyi; Wang, Jianping

    2018-05-01

    We report an all-fiber ring laser that emits linearly polarized (LP) modes based on the intracavity all-fiber mode multiplexer/demultiplexer (MUX/DEMUX). Multiple LP modes in ring fiber laser are generated by taking advantage of mode MUX/DEMUX. The all-fiber mode MUX/DEMUX are composed of cascaded mode-selective couplers (MSCs). The output lasing mode of the ring fiber laser can be switched among the three lowest-order LP modes by employing combination of a mode MUX and a simple N × 1 optical switch. The slope efficiencies, optical spectra and mode profiles are measured.

  7. Friction and wear behaviors of MoS2/Zr coated HSS in sliding wear and in drilling processes

    NASA Astrophysics Data System (ADS)

    Deng, Jianxin; Yan, Pei; Wu, Ze

    2012-11-01

    MoS2 metal composite coatings have been successful used in dry turning, but its suitability for dry drilling has not been yet established. Therefore, it is necessary to study the friction and wear behaviors of MoS2/Zr coated HSS in sliding wear and in drilling processes. In the present study, MoS2/Zr composite coatings are deposited on the surface of W6Mo5Cr4V2 high speed steel(HSS). Microstructural and fundamental properties of these coatings are examined. Ball-on-disc sliding wear tests on the coated discs are carried out, and the drilling performance of the coated drills is tested. Test results show that the MoS2/Zr composite coatings exhibit decreases friction coefficient to that of the uncoated HSS in sliding wear tests. Energy dispersive X-ray(EDX) analysis on the wear surface indicates that there is a transfer layer formed on the counterpart ball during sliding wear processes, which contributes to the decreasing of the friction coefficient between the sliding couple. Drilling tests indicate that the MoS2/Zr coated drills show better cutting performance compared to the uncoated HSS drills, coating delamination and abrasive are found to be the main flank and rake wear mode of the coated drills. The proposed research founds the base of the application of MoS2 metal composite coatings on dry drilling.

  8. Automated single-slide staining device

    NASA Technical Reports Server (NTRS)

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

    1977-01-01

    A simple apparatus and method is disclosed for making individual single Gram stains on bacteria inoculated slides to assist in classifying bacteria in the laboratory as Gram-positive or Gram-negative. The apparatus involves positioning a single inoculated slide in a stationary position and thereafter automatically and sequentially flooding the slide with increments of a primary stain, a mordant, a decolorizer, a counterstain and a wash solution in a sequential manner without the individual lab technician touching the slide and with minimum danger of contamination thereof from other slides.

  9. Comparison of glass slides and various digital-slide modalities for cytopathology screening and interpretation.

    PubMed

    Hanna, Matthew G; Monaco, Sara E; Cuda, Jacqueline; Xing, Juan; Ahmed, Ishtiaque; Pantanowitz, Liron

    2017-09-01

    Whole-slide imaging in cytology is limited when glass slides are digitized without z-stacks for focusing. Different vendors have started to provide z-stacking solutions to overcome this limitation. The Panoptiq imaging system allows users to create digital files combining low-magnification panoramic images with regions of interest (ROIs) that are imaged with high-magnification z-stacks. The aim of this study was to compare such panoramic images with conventional whole-slide images and glass slides for the tasks of screening and interpretation in cytopathology. Thirty glass slides, including 10 ThinPrep Papanicolaou tests and 20 nongynecologic cytology cases, were digitized with an Olympus BX45 integrated microscope with an attached Prosilica GT camera. ViewsIQ software was used for image acquisition and viewing. These glass slides were also scanned on an Aperio ScanScope XT at ×40 (0.25 μm/pixel) with 1 z-plane and were viewed with ImageScope software. Digital and glass sides were screened and dotted/annotated by a cytotechnologist and were subsequently reviewed by 3 cytopathologists. For panoramic images, the cytotechnologist manually created digital maps and selected representative ROIs to generate z-stacks at a higher magnification. After 3-week washout periods, panoramic images were compared with Aperio digital slides and glass slides. The Panoptiq system permitted fine focusing of thick smears and cell clusters. In comparison with glass slides, the average screening times were 5.5 and 1.8 times longer with Panoptiq and Aperio images, respectively, but this improved with user experience. There was no statistical difference in diagnostic concordance between all 3 modalities. Users' diagnostic confidence was also similar for all modalities. The Aperio whole-slide scanner with 1 z-plane scanning and the Panoptiq imaging system with z-stacking are both suitable for cytopathology screening and interpretation. However, ROI z-stacks do offer a superior mechanism

  10. Influence of curing mode with a LED unit on polymerization contraction kinetics and degree of conversion of dental resin-based materials.

    PubMed

    Mortier, Eric; Simon, Yorick; Dahoun, Abdelsellam; Gerdolle, David

    2009-01-01

    The purpose of this study was to evaluate the influence of photopolymerization mode with a light emitting diode (LED) lamp on the curing contraction kinetics and degree of conversion of 3 resin-based restorative materials. The curing contraction kinetics of Admira (ADM), Filtek P60 (P60), and Filtek Flow (FLO) were measured by the glass slide method. The materials were exposed to light from a 1,000 mW/cm-(2) power LED lamp (Elipar Freelight 2) in 3 modes: 2 continuous modes of 20 and 40 seconds (C20 and C40), and 1 exponential mode (E20; 5 seconds of exponential power increase followed by 15 seconds of maximum intensity). The degree of conversion (DC) was measured for each of the materials, and each of the modes by Fourier transformed infra-red spectrometry. P60 had the significantly lowest final contraction and FLO the highest among all light exposure modes. The C20 and C40 modes did not produce any difference in contraction or degree of conversion. The E20 mode led to a significant slowing of contraction speed combined with greater final contraction. Use of a LED lamp (1,000 mW/cm2) in continuous mode reduces the exposure time by half for identical curing shrinkage and degree of conversion.

  11. Sliding vane geometry turbines

    DOEpatents

    Sun, Harold Huimin; Zhang, Jizhong; Hu, Liangjun; Hanna, Dave R

    2014-12-30

    Various systems and methods are described for a variable geometry turbine. In one example, a turbine nozzle comprises a central axis and a nozzle vane. The nozzle vane includes a stationary vane and a sliding vane. The sliding vane is positioned to slide in a direction substantially tangent to an inner circumference of the turbine nozzle and in contact with the stationary vane.

  12. The Microseismicity of Glacier Sliding

    NASA Astrophysics Data System (ADS)

    Walter, Fabian; Röösli, Claudia; Kissling, Edi

    2017-04-01

    Our understanding of glacier and ice sheet basal motion remains incomplete. The past decades have witnessed a shift away from initially proposed hard bed theories towards soft, till-laden beds, which deform and thus participate in basal motion. The theoretical treatment of deformable beds is subject to debate, yet our capability to predict ice sheet flow and ultimately sea level rise is contingent upon correct parameterization of basal motion (Ritz et al., 2015). Both hard and soft bed theories neglect frictional sliding across distinct basal fault planes and elastic deformation in response to sudden dislocation. Over recent years, this view has been repeatedly challenged as more and more studies report seismogenic faulting associated with basal sliding. For instance, large parts of the Whillans Ice Stream at Antarctica's Siple Coast move nearly exclusively during sudden sliding episodes (Wiens et al., 2008). This "stick-slip motion" is difficult to explain with traditional glacier sliding theories but more analogous to earthquake dislocation on tectonic faults. Although the Whillans Ice Stream motion may be an extreme example, there exists evidence for much smaller microseismic stick-slip events beneath the Greenland Ice Sheet and non-polar glaciers (Podolskiy and Walter, 2016). This raises the question how relevant and widespread the stick-slip phenomenon is and if it is necessary to include it into ice sheet models. Here we discuss recent seismic deployments, which focused on detection of stick-slip events beneath the Greenland Ice Sheet and European Alpine Glaciers. For all deployments, a considerable challenge lies in detection of stick-slip seismograms in the presence of a dominant background seismicity associated with surface crevassing. Nevertheless, automatic search algorithms and waveform characteristics provide important insights into temporal variation of stick-slip activity as well as information about fault plane geometry and co-seismic sliding

  13. Emplacement mechanisms of the South Kona slide complex, Hawaii Island: Sampling and observations by remotely operated vehicle Kaiko

    USGS Publications Warehouse

    Yokose, H.; Lipman, P.W.

    2004-01-01

    Emplacement of a giant submarine slide complex, offshore of South Kona, Hawaii Island, was investigated in 2001 by visual observation and in-situ sampling on the bench scarp and a megablock, during two dives utilizing the Remotely Operated Vehicle (ROV) Kaiko and its mother ship R/V Kairei. Topography of the bench scarp and megablocks were defined in 3-D perspective, using high-resolution digital bathymetric data acquired during the cruise. Compositions of 34 rock samples provide constraints on the landslide source regions and emplacement mechanisms. The bench scarp consists mainly of highly fractured, vesiculated, and oxidized a-a lavas that slumped from the subaerial flank of ancestral Mauna Loa. The megablock contains three units: block facies, matrix facies, and draped sediment. The block facies contains hyaloclastite interbedded with massive lava, which slid from the shallow submarine flank of ancestral Mauna Loa, as indicated by glassy groundmass of the hyaloclastite, low oxidation state, and low sulfur content. The matrix facies, which directly overlies the block facies and is similar to a lahar deposit, is thought to have been deposited from the water column immediately after the South Kona slide event. The draped sediment is a thin high-density turbidite layer that may be a distal facies of the Alika-2 debris-avalanche deposit; its composition overlaps with rocks from subaerial Mauna Loa. The deposits generated by the South Kona slide vary from debris avalanche deposit to turbidite. Spatial distribution of the deposits is consistent with deposits related to large landslides adjacent to other Hawaiian volcanoes and the Canary Islands. ?? Springer-Verlag 2004.

  14. Slide system for machine tools

    DOEpatents

    Douglass, S.S.; Green, W.L.

    1980-06-12

    The present invention relates to a machine tool which permits the machining of nonaxisymmetric surfaces on a workpiece while rotating the workpiece about a central axis of rotation. The machine tool comprises a conventional two-slide system (X-Y) with one of these slides being provided with a relatively short travel high-speed auxiliary slide which carries the material-removing tool. The auxiliary slide is synchronized with the spindle speed and the position of the other two slides and provides a high-speed reciprocating motion required for the displacement of the cutting tool for generating a nonaxisymmetric surface at a selected location on the workpiece.

  15. Slide system for machine tools

    DOEpatents

    Douglass, Spivey S.; Green, Walter L.

    1982-01-01

    The present invention relates to a machine tool which permits the machining of nonaxisymmetric surfaces on a workpiece while rotating the workpiece about a central axis of rotation. The machine tool comprises a conventional two-slide system (X-Y) with one of these slides being provided with a relatively short travel high-speed auxiliary slide which carries the material-removing tool. The auxiliary slide is synchronized with the spindle speed and the position of the other two slides and provides a high-speed reciprocating motion required for the displacement of the cutting tool for generating a nonaxisymmetric surface at a selected location on the workpiece.

  16. Gravitational sliding of the Mt. Etna massif along a sloping basement

    NASA Astrophysics Data System (ADS)

    Murray, John B.; van Wyk de Vries, Benjamin; Pitty, Andy; Sargent, Phil; Wooller, Luke

    2018-04-01

    Geological field evidence and laboratory modelling indicate that volcanoes constructed on slopes slide downhill. If this happens on an active volcano, then the movement will distort deformation data and thus potentially compromise interpretation. Our recent GPS measurements demonstrate that the entire edifice of Mt. Etna is sliding to the ESE, the overall direction of slope of its complex, rough sedimentary basement. We report methods of discriminating the sliding vector from other deformation processes and of measuring its velocity, which averaged 14 mm year-1 during four intervals between 2001 and 2012. Though sliding of one sector of a volcano due to flank instability is widespread and well-known, this is the first time basement sliding of an entire active volcano has been directly observed. This is important because the geological record shows that such sliding volcanoes are prone to devastating sector collapse on the downslope side, and whole volcano migration should be taken into account when assessing future collapse hazard. It is also important in eruption forecasting, as the sliding vector needs to be allowed for when interpreting deformation events that take place above the sliding basement within the superstructure of the active volcano, as might occur with dyke intrusion or inflation/deflation episodes.

  17. A Locally Adaptive Regularization Based on Anisotropic Diffusion for Deformable Image Registration of Sliding Organs

    PubMed Central

    Pace, Danielle F.; Aylward, Stephen R.; Niethammer, Marc

    2014-01-01

    We propose a deformable image registration algorithm that uses anisotropic smoothing for regularization to find correspondences between images of sliding organs. In particular, we apply the method for respiratory motion estimation in longitudinal thoracic and abdominal computed tomography scans. The algorithm uses locally adaptive diffusion tensors to determine the direction and magnitude with which to smooth the components of the displacement field that are normal and tangential to an expected sliding boundary. Validation was performed using synthetic, phantom, and 14 clinical datasets, including the publicly available DIR-Lab dataset. We show that motion discontinuities caused by sliding can be effectively recovered, unlike conventional regularizations that enforce globally smooth motion. In the clinical datasets, target registration error showed improved accuracy for lung landmarks compared to the diffusive regularization. We also present a generalization of our algorithm to other sliding geometries, including sliding tubes (e.g., needles sliding through tissue, or contrast agent flowing through a vessel). Potential clinical applications of this method include longitudinal change detection and radiotherapy for lung or abdominal tumours, especially those near the chest or abdominal wall. PMID:23899632

  18. A locally adaptive regularization based on anisotropic diffusion for deformable image registration of sliding organs.

    PubMed

    Pace, Danielle F; Aylward, Stephen R; Niethammer, Marc

    2013-11-01

    We propose a deformable image registration algorithm that uses anisotropic smoothing for regularization to find correspondences between images of sliding organs. In particular, we apply the method for respiratory motion estimation in longitudinal thoracic and abdominal computed tomography scans. The algorithm uses locally adaptive diffusion tensors to determine the direction and magnitude with which to smooth the components of the displacement field that are normal and tangential to an expected sliding boundary. Validation was performed using synthetic, phantom, and 14 clinical datasets, including the publicly available DIR-Lab dataset. We show that motion discontinuities caused by sliding can be effectively recovered, unlike conventional regularizations that enforce globally smooth motion. In the clinical datasets, target registration error showed improved accuracy for lung landmarks compared to the diffusive regularization. We also present a generalization of our algorithm to other sliding geometries, including sliding tubes (e.g., needles sliding through tissue, or contrast agent flowing through a vessel). Potential clinical applications of this method include longitudinal change detection and radiotherapy for lung or abdominal tumours, especially those near the chest or abdominal wall.

  19. Mailing microscope slides

    USDA-ARS?s Scientific Manuscript database

    Many insects feed agriculturally important crops, trees, and ornamental plants and cause millions of dollars of damage annually. Identification for some of these require the preparation of a microscope slide for examination. There are times when a microscope slide may need to be sent away to a speci...

  20. Sliding Speed-Dependent Tribochemical Wear of Oxide-Free Silicon

    NASA Astrophysics Data System (ADS)

    Chen, Lei; Qi, Yaqiong; Yu, Bingjun; Qian, Linmao

    2017-06-01

    Fundamental understanding of tribochemical wear mechanism of oxide-free single crystalline silicon (without native oxide layer) is essential to optimize the process of ultra-precision surface manufacturing. Here, we report sliding speed-dependent nanowear of oxide-free silicon against SiO2 microspheres in air and in deionized water. When contact pressure is too low to induce Si yield, tribochemical wear occurs with the existence of water molecules and wear volume decreases logarithmically to constant as sliding speed increased. TEM and Raman observations indicate that the dynamics of rupture and reformation of interfacial bonding bridges result in the variation of tribochemical wear of the oxide-free Si with the increase of sliding speed.

  1. Modelling the initiation of basal sliding

    NASA Astrophysics Data System (ADS)

    Mantelli, E.; Schoof, C.

    2017-12-01

    The initiation of basal sliding is a thermally-controlled process that affects ice speed, englacial heat transport, and melt water production at the bed, and ultimately influences the large-scale dynamics of ice sheets. From a modelling perspective, describing the onset of sliding in thin-film models suitable for ice sheet scale simulations is problematic. In particular, previous work concluded that, under shallow-ice mechanics, the scenario of a hard switch from frozen to molten bed leads to an infinite vertical velocity at the onset, and higher-order mechanical formulations are needed to describe sliding initiation. An alternative view considers the occurrence of subtemperate sliding, which allows for a smooth sliding velocity across the onset. However, the sliding velocity decreases rapidly as temperature drops below the melting point, thus raising the issue of whether a mechanical model that does not resolve the ice sheet thickness scale is ever appropriate to model the onset of sliding. In this study we first present a boundary layer model for the hard switch scenario. Our analysis, which considers a thermo-mechanically coupled Stokes flow near the onset, shows that the abrupt onset of sliding is never possible. In fact, the acceleration of ice flow deflects the flowlines towards the bed, which freezes again immediately downstream to the onset. This leads to the conclusion that the sliding velocity must change smoothly across the onset, thus the temperature dependence of sliding needs to be taken into account. In this context, we examine a limiting case of standard temperature-dependent sliding laws, where sliding onset takes the form of an extended transition region interposed between fully frozen and temperate bed. In the transition region basal temperature is at the melting point, and the sliding velocity varies smoothly as dictated by the energy budget of the bed. As the extent of this region is not small compared to the ice sheet length scale, we couple

  2. Development and evaluation of an off-the-slide genotyping technique for identifying Giardia cysts and Cryptosporidium oocysts directly from US EPA Method 1623 slides.

    PubMed

    Ware, M W; Keely, S P; Villegas, E N

    2013-07-01

    This study developed and systematically evaluated performance and limit of detection of an off-the-slide genotyping procedure for both Cryptosporidium oocysts and Giardia cysts. Slide standards containing flow-sorted (oo)cysts were used to evaluate the off-the-slide genotyping procedure by microscopy and PCR. Results show approximately 20% of cysts and oocysts are lost during staining. Although transfer efficiency from the slide to the PCR tube could not be determined by microscopy, it was observed that the transfer process aided in the physical lysis of the (oo)cysts likely releasing DNA. PCR detection rates for a single event on a slide were 44% for Giardia and 27% for Cryptosporidium, and a minimum of five cysts and 20 oocysts are required to achieve a 90% PCR detection rate. A Poisson distribution analysis estimated the relative PCR target densities and limits of detection, it showed that 18 Cryptosporidium and five Giardia replicates are required for a 95% probability of detecting a single (oo)cyst on a slide. This study successfully developed and evaluated recovery rates and limits of detection of an off-the-slide genotyping procedure for both Cryptosporidium and Giardia (oo)cysts from the same slide. This off-the-slide genotyping technique is a simple and low cost tool that expands the applications of US EPA Method 1623 results by identifying the genotypes and assemblages of the enumerated Cryptosporidium and Giardia. This additional information will be useful for microbial risk assessment models and watershed management decisions. Journal of Applied Microbiology Published [2013]. This article is a U.S. Government work and is in the public domain in the USA.

  3. Maven Observations of Electron-Induced Whistler Mode Waves in the Martian Magnetosphere

    NASA Technical Reports Server (NTRS)

    Harada, Y.; Andersson, L.; Fowler, C. M.; Mitchell, D. L.; Halekas, J. S.; Mazelle, C.; Espley, J.; DiBraccio, G. A.; McFadden, J. P.; Brian, D. A.; hide

    2016-01-01

    We report on narrowband electromagnetic waves at frequencies between the local electron cyclotron and lower hybrid frequencies observed by the Mars Atmosphere and Volatile EvolutioN (MAVEN) spacecraft in the Martian induced magnetosphere. The peaked electric field wave spectra below the electron cyclotron frequency were first observed by Phobos-2 in the Martian magnetosphere, but the lack of magnetic field wave data prevented definitive identification of the wave mode and their generation mechanisms remain unclear. Analysis of electric and magnetic field wave spectra obtained by MAVEN demonstrates that the observed narrowband waves have properties consistent with the whistler mode. Linear growth rates computed from the measured electron velocity distributions suggest that these whistler mode waves can be generated by cyclotron resonance with anisotropic electrons. Large electron anisotropy in the Martian magnetosphere is caused by absorption of parallel electrons by the collisional atmosphere. The narrowband whistler mode waves and anisotropic electrons are observed on both open and closed field lines and have similar spatial distributions in MSO and planetary coordinates. Some of the waves on closed field lines exhibit complex frequency-time structures such as discrete elements of rising tones and two bands above and below half the electron cyclotron frequency. These MAVEN observations indicate that whistler mode waves driven by anisotropic electrons, which are commonly observed in intrinsic magnetospheres and at unmagnetized airless bodies, are also present at Mars. The wave-induced electron precipitation into the Martian atmosphere should be evaluated in future studies.

  4. DeepScope: Nonintrusive Whole Slide Saliency Annotation and Prediction from Pathologists at the Microscope

    PubMed Central

    Schaumberg, Andrew J.; Sirintrapun, S. Joseph; Al-Ahmadie, Hikmat A.; Schüffler, Peter J.; Fuchs, Thomas J.

    2018-01-01

    Modern digital pathology departments have grown to produce whole-slide image data at petabyte scale, an unprecedented treasure chest for medical machine learning tasks. Unfortunately, most digital slides are not annotated at the image level, hindering large-scale application of supervised learning. Manual labeling is prohibitive, requiring pathologists with decades of training and outstanding clinical service responsibilities. This problem is further aggravated by the United States Food and Drug Administration’s ruling that primary diagnosis must come from a glass slide rather than a digital image. We present the first end-to-end framework to overcome this problem, gathering annotations in a nonintrusive manner during a pathologist’s routine clinical work: (i) microscope-specific 3D-printed commodity camera mounts are used to video record the glass-slide-based clinical diagnosis process; (ii) after routine scanning of the whole slide, the video frames are registered to the digital slide; (iii) motion and observation time are estimated to generate a spatial and temporal saliency map of the whole slide. Demonstrating the utility of these annotations, we train a convolutional neural network that detects diagnosis-relevant salient regions, then report accuracy of 85.15% in bladder and 91.40% in prostate, with 75.00% accuracy when training on prostate but predicting in bladder, despite different pathologists examining the different tissues. When training on one patient but testing on another, AUROC in bladder is 0.79±0.11 and in prostate is 0.96±0.04. Our tool is available at https://bitbucket.org/aschaumberg/deepscope PMID:29601065

  5. An Easy Method for Preparing Presentation Slides.

    ERIC Educational Resources Information Center

    Wright, Norman A.; Blevins, Dennis D.

    1984-01-01

    Describes a simplified method of preparing 35mm projection slides with a minimum of equipment and expertise. The quality of these slides compares favorably to professionally produced diazo slides. Twenty-five slides can easily be prepared in less than three hours. Material cost per slide is comparable to professional color slide processing. (JN)

  6. The Vaiont Slide. A Geotechnical Analysis Based on New Geologic Observations of the Failure Surface. Volume 1. Main Text

    DTIC Science & Technology

    1985-06-01

    in Appendix G. The symbols used in Appendix G are the same as those used in the geologic maps by Rossi and Semenza (1965a). Figures 11 and 12 in...the 1963 slide. Their interpretations are presented as Figures 15 through 22 ’ ’ ■ M .i i . 20. The symbols used for the units on these...Weber, E. 1964. Die Katastrophe von Vaiont in Oberitalien, Wasser -und Energiewirtschaft. Vol. 56, No. 2/3, pp. 61-69. Weiss, V. E. H. 1964. Vajont

  7. Phase and speed synchronization control of four eccentric rotors driven by induction motors in a linear vibratory feeder with unknown time-varying load torques using adaptive sliding mode control algorithm

    NASA Astrophysics Data System (ADS)

    Kong, Xiangxi; Zhang, Xueliang; Chen, Xiaozhe; Wen, Bangchun; Wang, Bo

    2016-05-01

    In this paper, phase and speed synchronization control of four eccentric rotors (ERs) driven by induction motors in a linear vibratory feeder with unknown time-varying load torques is studied. Firstly, the electromechanical coupling model of the linear vibratory feeder is established by associating induction motor's model with the dynamic model of the system, which is a typical under actuated model. According to the characteristics of the linear vibratory feeder, the complex control problem of the under actuated electromechanical coupling model converts to phase and speed synchronization control of four ERs. In order to keep the four ERs operating synchronously with zero phase differences, phase and speed synchronization controllers are designed by employing adaptive sliding mode control (ASMC) algorithm via a modified master-slave structure. The stability of the controllers is proved by Lyapunov stability theorem. The proposed controllers are verified by simulation via Matlab/Simulink program and compared with the conventional sliding mode control (SMC) algorithm. The results show the proposed controllers can reject the time-varying load torques effectively and four ERs can operate synchronously with zero phase differences. Moreover, the control performance is better than the conventional SMC algorithm and the chattering phenomenon is attenuated. Furthermore, the effects of reference speed and parametric perturbations are discussed to show the strong robustness of the proposed controllers. Finally, experiments on a simple vibratory test bench are operated by using the proposed controllers and without control, respectively, to validate the effectiveness of the proposed controllers further.

  8. Fracture under combined modes in 4340 steel

    NASA Technical Reports Server (NTRS)

    Shah, R. C.

    1974-01-01

    An experimental investigation was conducted to study the interaction of combined modes of loading on crack instability in the presence of the opening and sliding modes of stress intensity factors, the opening and tearing modes of stress intensity factors, and all three modes of stress intensity factors. Through-cracked and surface-cracked flat and round specimens, and round notched bar specimens fabricated from high strength 4340 steel were used for the investigation. The results are evaluated to determine fracture criteria under the combined modes of stress intensity factors for the 4340 steel. These results are compared with the results of other investigators obtained for different materials.

  9. Spatio-Temporal Evolutions of Non-Orthogonal Equatorial Wave Modes Derived from Observations

    NASA Astrophysics Data System (ADS)

    Barton, C.; Cai, M.

    2015-12-01

    Equatorial waves have been studied extensively due to their importance to the tropical climate and weather systems. Historically, their activity is diagnosed mainly in the wavenumber-frequency domain. Recently, many studies have projected observational data onto parabolic cylinder functions (PCF), which represent the meridional structure of individual wave modes, to attain time-dependent spatial wave structures. In this study, we propose a methodology that seeks to identify individual wave modes in instantaneous fields of observations by determining their projections on PCF modes according to the equatorial wave theory. The new method has the benefit of yielding a closed system with a unique solution for all waves' spatial structures, including IG waves, for a given instantaneous observed field. We have applied our method to the ERA-Interim reanalysis dataset in the tropical stratosphere where the wave-mean flow interaction mechanism for the quasi-biennial oscillation (QBO) is well-understood. We have confirmed the continuous evolution of the selection mechanism for equatorial waves in the stratosphere from observations as predicted by the theory for the QBO. This also validates the proposed method for decomposition of observed tropical wave fields into non-orthogonal equatorial wave modes.

  10. A Computer System for Making Quick and Economical Color Slides.

    ERIC Educational Resources Information Center

    Pryor, Harold George

    1986-01-01

    A computer-based method for producing 35mm color slides has been used in Ohio State University's College of Dentistry. The method can produce both text and slides in less than two hours, providing substantial flexibility in planning and revising visual presentations. (Author/MLW)

  11. PLC-based mode multi/demultiplexer for MDM transmission

    NASA Astrophysics Data System (ADS)

    Hanzawa, N.; Saitoh, K.; Sakamoto, T.; Matsui, T.; Tsujikawa, K.; Koshiba, M.; Yamamoto, F.

    2013-12-01

    We propose a PLC-based multi/demultiplexer (MUX/DEMUX) with a mode conversion function for mode division multiplexing (MDM) transmission applications. The PLC-based mode MUX/DEMUX can realize a low insertion loss and a wide working wavelength bandwidth. We designed and demonstrated a two-mode (LP01 and LP11 modes) and a three-mode (LP01, LP11, and LP21 modes) MUX/DEMUX for use in the C-band.

  12. "Discoveries in Planetary Sciences": Slide Sets Highlighting New Advances for Astronomy Educators

    NASA Astrophysics Data System (ADS)

    Brain, D. A.; Schneider, N. M.; Beyer, R. A.

    2010-12-01

    Planetary science is a field that evolves rapidly, motivated by spacecraft mission results. Exciting new mission results are generally communicated rather quickly to the public in the form of press releases and news stories, but it can take several years for new advances to work their way into college textbooks. Yet it is important for students to have exposure to these new advances for a number of reasons. In some cases, new work renders older textbook knowledge incorrect or incomplete. In some cases, new discoveries make it possible to emphasize older textbook knowledge in a new way. In all cases, new advances provide exciting and accessible examples of the scientific process in action. To bridge the gap between textbooks and new advances in planetary sciences we have developed content on new discoveries for use by undergraduate instructors. Called 'Discoveries in Planetary Sciences', each new discovery is summarized in a 3-slide PowerPoint presentation. The first slide describes the discovery, the second slide discusses the underlying planetary science concepts, and the third presents the big picture implications of the discovery. A fourth slide includes links to associated press releases, images, and primary sources. This effort is generously sponsored by the Division for Planetary Sciences of the American Astronomical Society, and the slide sets are available at http://dps.aas.org/education/dpsdisc/. Sixteen slide sets have been released so far covering topics spanning all sub-disciplines of planetary science. Results from the following spacecraft missions have been highlighted: MESSENGER, the Spirit and Opportunity rovers, Cassini, LCROSS, EPOXI, Chandrayan, Mars Reconnaissance Orbiter, Mars Express, and Venus Express. Additionally, new results from Earth-orbiting and ground-based observing platforms and programs such as Hubble, Keck, IRTF, the Catalina Sky Survey, HARPS, MEarth, Spitzer, and amateur astronomers have been highlighted. 4-5 new slide sets are

  13. Reduced-Rank Array Modes of the California Current Observing System

    NASA Astrophysics Data System (ADS)

    Moore, Andrew M.; Arango, Hernan G.; Edwards, Christopher A.

    2018-01-01

    The information content of the ocean observing array spanning the U.S. west coast is explored using the reduced-rank array modes (RAMs) derived from a four-dimensional variational (4D-Var) data assimilation system covering a period of three decades. RAMs are an extension of the original formulation of array modes introduced by Bennett (1985) but in the reduced model state-space explored by the 4D-Var system, and reveal the extent to which this space is activated by the observations. The projection of the RAMs onto the empirical orthogonal functions (EOFs) of the 4D-Var background error correlation matrix provides a quantitative measure of the effectiveness of the measurements in observing the circulation. It is found that much of the space spanned by the background error covariance is unconstrained by the present ocean observing system. The RAM spectrum is also used to introduce a new criterion to prevent 4D-Var from overfitting the model to the observations.

  14. Simultaneous Observations of p-mode Light Walls and Magnetic Reconnection Ejections above Sunspot Light Bridges

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

    Hou, Yijun; Zhang, Jun; Li, Ting

    Recent high-resolution observations from the Interface Region Imaging Spectrograph reveal bright wall-shaped structures in active regions (ARs), especially above sunspot light bridges. Their most prominent feature is the bright oscillating front in the 1400/1330 Å channel. These structures are named light walls and are often interpreted to be driven by p-mode waves. Above the light bridge of AR 12222 on 2014 December 06, we observed intermittent ejections superimposed on an oscillating light wall in the 1400 Å passband. At the base location of each ejection, the emission enhancement was detected in the Solar Dynamics Observatory 1600 Å channel. Thus, wemore » suggest that in wall bases (light bridges), in addition to the leaked p-mode waves consistently driving the oscillating light wall, magnetic reconnection could happen intermittently at some locations and eject the heated plasma upward. Similarly, in the second event occurring in AR 12371 on 2015 June 16, a jet was simultaneously detected in addition to the light wall with a wave-shaped bright front above the light bridge. At the footpoint of this jet, lasting brightening was observed, implying magnetic reconnection at the base. We propose that in these events, two mechanisms, p-mode waves and magnetic reconnection, simultaneously play roles in the light bridge, and lead to the distinct kinetic features of the light walls and the ejection-like activities, respectively. To illustrate the two mechanisms and their resulting activities above light bridges, in this study we present a cartoon model.« less

  15. COARSEMAP: synthesis of observations and models for coarse-mode aerosols

    NASA Astrophysics Data System (ADS)

    Wiedinmyer, C.; Lihavainen, H.; Mahowald, N. M.; Alastuey, A.; Albani, S.; Artaxo, P.; Bergametti, G.; Batterman, S.; Brahney, J.; Duce, R. A.; Feng, Y.; Buck, C.; Ginoux, P. A.; Chen, Y.; Guieu, C.; Cohen, D.; Hand, J. L.; Harrison, R. M.; Herut, B.; Ito, A.; Losno, R.; Gomez, D.; Kanakidou, M.; Landing, W. M.; Laurent, B.; Mihalopoulos, N.; Mackey, K.; Maenhaut, W.; Hueglin, C.; Milando, C.; Miller, R. L.; Myriokefaitakis, S.; Neff, J. C.; Pandolfi, M.; Paytan, A.; Perez Garcia-Pando, C.; Prank, M.; Prospero, J. M.; Tamburo, E.; Varrica, D.; Wong, M.; Zhang, Y.

    2017-12-01

    Coarse mode aerosols influence Earth's climate and biogeochemistry by interacting with long-wave radiation, promoting ice nucleation, and contributing important elements to biogeochemical cycles during deposition. Yet coarse mode aerosols have received less emphasis in the scientific literature. Here we present first efforts to globally synthesize available mass concentration, composition and optical depth data and modeling for the coarse mode aerosols (<10 µm) in a new project called "COARSEMAP" (http://www.geo.cornell.edu/eas/PeoplePlaces/Faculty/mahowald/COARSEMAP/). We seek more collaborators who have observational data, especially including elemental or composition data, and/or who are interested in detailed modeling of the coarse mode. The goal will be publications synthesizing data with models, as well as providing synthesized results to the wider community.

  16. Effect of sliding velocity on the tribological behavior of copper and associated nanostructure development

    NASA Astrophysics Data System (ADS)

    Emge, Andrew

    the friction was found to increase with sliding velocity and was strongly influenced by material transfer from the copper to the steel pin. An increase in the coefficient of friction with sliding velocity was observed for the sliding of OFHC copper against Nitronic 40 steel in RBGG tests. The increase in the coefficient of friction was correlated to an increase in subsurface plastic deformation and grain refinement. The growth of the nanocrystalline tribolayer in copper after sliding against 440C stainless steel at varying times was studied at sliding velocities of 0.05 and 1.0 m/s. A sliding velocity of 0.05 m/s produced a consistent nanocrystalline layer in as little as 10 s. The thickness of the nanocrystalline layer grew to an average thickness of 3 microm after 10 ks of sliding, but large variations in thickness were observed. A sliding velocity of 1.0 m/s produced a continuous nanocrystalline layer after 10 s of sliding. Ledges developed on the wear tracks at longer sliding times which greatly influenced the tribolayer thickness making it difficult to quantify. Dynamic recrystallization of the tribolayer also led to difficulties in measuring its thickness.

  17. Breathing new life into old collections - revitalising Geoscience Australia Microscope Slide Based collections through the use of Citizen Science

    NASA Astrophysics Data System (ADS)

    Bastrakova, I.; Pring, J.; Blewett, R.; Champion, D. C.; Poignand, B.; Raymond, O.; Evans, N.; Stewart, A.; Butler, P.

    2017-12-01

    Since soon after the federation of Australia in 1901 Geoscience Australia, and its predecessors organisations, have gathered a significant collection of microscope slide based items (including: thin sections of rock, micro and nano fossils) from across Australia, Antarctica, Papua New Guinea, the Asia Pacific region and beyond. The samples from which the microscope slides were produced have been gathered via extensive geological mapping programs, work conducted for major Commonwealth building initiatives such as the Snowy Mountain Scheme and science expeditions. The cost of recreating this collection, if at all possible, would be measured in the $100Ms (AUS) even assuming that it was still possible to source the relevant samples. While access to these microscope slides is open to industry, educational institutions and the public it has not been easy to locate specific slides due to the management system. The management of this collection was based largely on an aged card catalogue and ledger system. The fragmented nature of the management system with the increasing potential for the deterioration of physical media and the loss of access to even some of the original contributors meant that rescue work was (and still is) needed urgently. Achieving progress on making the microscope slides discoverable and accessible in the current fiscally constrained environment dictated a departure from what might be considered a traditional approach to the project and saw the extensive use of a citizen science approach. Through the use of a citizen science approach the proof of concept project has seen the transcription of some 35,000 sample metadata and data records (2.5 times our current electronic holdings) from a variety of hardcopy sources by a diverse group of volunteers. The availability of this data has allowed for the electronic discovery of both the microscope slides and their parent samples, and will hopefully lead to a greater utilisation of this valuable resource and

  18. WEBSLIDE: A "Virtual" Slide Projector Based on World Wide Web.

    ERIC Educational Resources Information Center

    Barra, Maria; Ferrandino, Salvatore; Scarano, Vittorio

    1999-01-01

    Presents the key design concepts of a software project whose objective is to provide a simple, cheap, and efficient solution for showing slides during lessons in computer labs. Contains 26 references. (DDR)

  19. Coronal Seismology of Flare-Excited Standing Slow-Mode Waves Observed by SDO/AIA

    NASA Astrophysics Data System (ADS)

    Wang, Tongjiang; Ofman, Leon; Davila, Joseph M.

    2016-05-01

    Flare-excited longitudinal intensity oscillations in hot flaring loops have been recently detected by SDO/AIA in 94 and 131 Å bandpasses. Based on the interpretation in terms of a slow-mode wave, quantitative evidence of thermal conduction suppression in hot (>9 MK) loops has been obtained for the first time from measurements of the polytropic index and phase shift between the temperature and density perturbations (Wang et al. 2015, ApJL, 811, L13). This result has significant implications in two aspects. One is that the thermal conduction suppression suggests the need of greatly enhanced compressive viscosity to interpret the observed strong wave damping. The other is that the conduction suppression provides a reasonable mechanism for explaining the long-duration events where the thermal plasma is sustained well beyond the duration of impulsive hard X-ray bursts in many flares, for a time much longer than expected by the classical Spitzer conductive cooling. In this study, we model the observed standing slow-mode wave in Wang et al. (2015) using a 1D nonlinear MHD code. With the seismology-derived transport coefficients for thermal conduction and compressive viscosity, we successfully simulate the oscillation period and damping time of the observed waves. Based on the parametric study of the effect of thermal conduction suppression and viscosity enhancement on the observables, we discuss the inversion scheme for determining the energy transport coefficients by coronal seismology.

  20. Observed modes of sea surface temperature variability in the South Pacific region

    NASA Astrophysics Data System (ADS)

    Saurral, Ramiro I.; Doblas-Reyes, Francisco J.; García-Serrano, Javier

    2018-02-01

    The South Pacific (SP) region exerts large control on the climate of the Southern Hemisphere at many times scales. This paper identifies the main modes of interannual sea surface temperature (SST) variability in the SP which consist of a tropical-driven mode related to a horseshoe structure of positive/negative SST anomalies within midlatitudes and highly correlated to ENSO and Interdecadal Pacific Oscillation (IPO) variability, and another mode mostly confined to extratropical latitudes which is characterized by zonal propagation of SST anomalies within the South Pacific Gyre. Both modes are associated with temperature and rainfall anomalies over the continental regions of the Southern Hemisphere. Besides the leading mode which is related to well known warmer/cooler and drier/moister conditions due to its relationship with ENSO and the IPO, an inspection of the extratropical mode indicates that it is associated with distinct patterns of sea level pressure and surface temperature advection. These relationships are used here as plausible and partial explanations to the observed warming trend observed within the Southern Hemisphere during the last decades.

  1. Numerical Modeling of Sliding Stability of RCC dam

    NASA Astrophysics Data System (ADS)

    Mughieda, O.; Hazirbaba, K.; Bani-Hani, K.; Daoud, W.

    2017-06-01

    Stability and stress analyses are the most important elements that require rigorous consideration in design of a dam structure. Stability of dams against sliding is crucial due to the substantial horizontal load that requires sufficient and safe resistance to develop by mobilization of adequate shearing forces along the base of the dam foundation. In the current research, the static sliding stability of a roller-compacted-concrete (RCC) dam was modelled using finite element method to investigate the stability against sliding. A commercially available finite element software (SAP 2000) was used to analyze stresses in the body of the dam and foundation. A linear finite element static analysis was performed in which a linear plane strain isoperimetric four node elements was used for modelling the dam-foundation system. The analysis was carried out assuming that no slip will occur at the interface between the dam and the foundation. Usual static loading condition was applied for the static analysis. The greatest tension was found to develop in the rock adjacent to the toe of the upstream slope. The factor of safety against sliding along the entire base of the dam was found to be greater than 1 (FS>1), for static loading conditions.

  2. Nanoscale wear and kinetic friction between atomically smooth surfaces sliding at high speeds

    NASA Astrophysics Data System (ADS)

    Rajauria, Sukumar; Canchi, Sripathi V.; Schreck, Erhard; Marchon, Bruno

    2015-02-01

    The kinetic friction and wear at high sliding speeds is investigated using the head-disk interface of hard disk drives, wherein the head and the disk are less than 10 nm apart and move at sliding speeds of 5-10 m/s relative to each other. While the spacing between the sliding surfaces is of the same order of magnitude as various AFM based fundamental studies on friction, the sliding speed is nearly six orders of magnitude larger, allowing a unique set-up for a systematic study of nanoscale wear at high sliding speeds. In a hard disk drive, the physical contact between the head and the disk leads to friction, wear, and degradation of the head overcoat material (typically diamond like carbon). In this work, strain gauge based friction measurements are performed; the friction coefficient as well as the adhering shear strength at the head-disk interface is extracted; and an experimental set-up for studying friction between high speed sliding surfaces is exemplified.

  3. Utilizing Whole Slide Images for Pathology Peer Review and Working Groups.

    PubMed

    Malarkey, David E; Willson, Gabrielle A; Willson, Cynthia J; Adams, E Terence; Olson, Greg R; Witt, William M; Elmore, Susan A; Hardisty, Jerry F; Boyle, Michael C; Crabbs, Torrie A; Miller, Rodney A

    2015-12-01

    This article describes the results of comparisons of digitally scanned whole slide images (WSIs) and glass microscope slides for diagnosis of tissues under peer review by the National Toxicology Program. Findings in this article were developed as a result of the data collected from 6 pathology working groups (PWGs), 1 pathology peer review, and survey comments from over 25 participating pathologists. For each PWG, 6-14 pathologists examined 10-143 tissues per study from 6- and 9-month perinatal studies and 2-year carcinogenicity studies. Overall it was found that evaluation of WSIs is generally equivalent to using glass slides. Concordance of PWG consensus diagnoses based upon review of WSIs versus glass slides ranged from 74% to 100% (median 86%). The intra- and interobserver diagnostic variation did not appear to influence the conclusions of any study. Based upon user opinions collected from surveys, WSIs may be less optimal than glass slides for evaluation of subtle lesions, large complex lesions, small lesions in a large section of tissue, and foci of altered hepatocytes. These results indicate that, although there may be some limitations, the use of WSIs can effectively accomplish the objectives of a conventional glass slide review and definitely serves as a useful adjunct to the conduct of PWGs. © 2015 by The Author(s).

  4. On The TerraSAR-X Dual-Mode For Oil Slick Observation

    NASA Astrophysics Data System (ADS)

    Velotto, D.; Migliaccio, M.; Nunziata, F.; Lehner, S.

    2010-04-01

    In this study a polarimetric approach is for the first time developed and applied to X-band Synthetic Aperture Radar (SAR) data for sea oil slick observation. Following this an electromagnetic model which, based on the Co-polarized Phase Difference (CPD), allows describing the slick-free and slick-covered sea surface scattering is proposed. Single Look Complex (SSC) TerraSAR-X (TSX) data, gathered in dual polarimetric mode, in which both certified oil slicks and look-alikes are present, are analyzed. Several experiments are shown here and discussed in detail.

  5. Immunophenotyping by slide-based cytometry and by flow cytometry are comparable

    NASA Astrophysics Data System (ADS)

    Gerstner, Andreas O.; Laffers, Wiebke; Mittag, Anja; Daehnert, Ingo; Lenz, Domnik; Bootz, Friedrich; Bocsi, Jozsef; Tarnok, Attila

    2005-03-01

    Immunophenotyping of peripheral blood leukocytes (PBLs) is performed by flow cytometry (FCM) as the golden standard. Slide based cytometry systems for example laser scanning cytometer (LSC) can give additional information (repeated staining and scanning, morphology). In order to adequately judge on the clinical usefulness of immunophenotyping by LSC it is obligatory to compare it with the long established FCM assays. We performed this study to systematically compare the two methods, FCM and LSC for immunophenotyping and to test the correlation of the results. Leucocytes were stained with directly labeled monoclonal antibodies with whole blood staining method. Aliquots of the same paraformaldehyde fixed specimens were analyzed in a FACScan (BD-Biosciences) using standard protocols and parallel with LSC (CompuCyte) after placing to glass slide, drying and fixation by aceton and 7-AAD staining. Calculating the percentage distribution of PBLs obtained by LSC and by FCM shows very good correlation with regression coefficients close to 1.0 for the major populations (neutrophils, lymphocytes, and monocytes), as well as for the lymphocyte sub-populations (T-helper-, T-cytotoxic-, B-, NK-cells). LSC can be recommended for immunophenotyping of PBLs especially in cases where only very limited sample volumes are available or where additional analysis of the cells" morphology is important. There are limitations in the detection of rare leucocytes or weak antigens where appropriate amplification steps for immunofluorescence should be engaged.

  6. Relative sliding durability of candidate high temperature fiber seal materials

    NASA Technical Reports Server (NTRS)

    Dellacorte, Christopher; Steinetz, Bruce M.

    1992-01-01

    The relative sliding durability behavior of six candidate ceramic fibers for high temperature sliding seal applications is reviewed and compared. Pin on disk tests were used to evaluate potential seal materials by sliding a tow or bundle of the candidate ceramic fiber against a superalloy test disk. Tests were conducted in air under a 2.65 N load, at a sliding velocity of 0.025 m/sec and at temperatures from 25 to 900 C. Friction was measured during the tests and fiber wear, indicated by the extent of fibers broken in the tow or bundle, was measured at the end of each test. For most of the fibers, friction and wear increase with test temperature. The relative fiber durability ranking correlates with tensile strength, indicating that tensile data, which is more readily available than sliding durability data, may be useful in predicting fiber wear behavior under various conditions. A dimensional analysis of the wear data shows that the fiber durability is related to a dimensionless durability ratio which represents the ratio of the fiber strength to the fiber stresses imposed by sliding. The analysis is applicable to fibers with similar diameters and elastic moduli. Based upon the results of the research program, three fiber candidates are recommended for further study as potential seal materials. They are a silicon based complex carbide-oxide fiber, an alumina-boria-silica and an aluminosilicate fiber.

  7. All-fiber-based selective mode multiplexer and demultiplexer for weakly-coupled mode-division multiplexed systems

    NASA Astrophysics Data System (ADS)

    Igarashi, Koji; Park, Kyung Jun; Tsuritani, Takahiro; Morita, Itsuro; Kim, Byoung Yoon

    2018-02-01

    We show all-fiber-based selective mode multiplexers and demultiplexers for weakly-coupled mode-division multiplexed systems. We fabricate a set of six-mode multiplexer and demultiplexer based on fiber mode selective couplers, and experimentally evaluate the performance for the six-mode dual-polarization (DP) quadrature phase shift keying (QPSK) optical signals. In the mode multiplexer and demultiplexer, the mode couplings between the lower three modes and the higher three modes are suppressed to be less than -20 dB, which enables us to apply partial 6 ×6 MIMO equalizers even for the six-mode demultiplexing. For the six-mode DP-QPSK signals, the penalty of optical signal-to-noise ratio by replacing the full 12 ×12MIMO to the partial 6 ×6 MIMO is suppressed by less than 1 dB.

  8. Seismic isolation of nuclear power plants using sliding isolation bearings

    NASA Astrophysics Data System (ADS)

    Kumar, Manish

    Nuclear power plants (NPP) are designed for earthquake shaking with very long return periods. Seismic isolation is a viable strategy to protect NPPs from extreme earthquake shaking because it filters a significant fraction of earthquake input energy. This study addresses the seismic isolation of NPPs using sliding bearings, with a focus on the single concave Friction Pendulum(TM) (FP) bearing. Friction at the sliding surface of an FP bearing changes continuously during an earthquake as a function of sliding velocity, axial pressure and temperature at the sliding surface. The temperature at the sliding surface, in turn, is a function of the histories of coefficient of friction, sliding velocity and axial pressure, and the travel path of the slider. A simple model to describe the complex interdependence of the coefficient of friction, axial pressure, sliding velocity and temperature at the sliding surface is proposed, and then verified and validated. Seismic hazard for a seismically isolated nuclear power plant is defined in the United States using a uniform hazard response spectrum (UHRS) at mean annual frequencies of exceedance (MAFE) of 10-4 and 10 -5. A key design parameter is the clearance to the hard stop (CHS), which is influenced substantially by the definition of the seismic hazard. Four alternate representations of seismic hazard are studied, which incorporate different variabilities and uncertainties. Response-history analyses performed on single FP-bearing isolation systems using ground motions consistent with the four representations at the two shaking levels indicate that the CHS is influenced primarily by whether the observed difference between the two horizontal components of ground motions in a given set is accounted for. The UHRS at the MAFE of 10-4 is increased by a design factor (≥ 1) for conventional (fixed base) nuclear structure to achieve a target annual frequency of unacceptable performance. Risk oriented calculations are performed for

  9. Reproducibility of the NEPTUNE descriptor-based scoring system on whole-slide images and histologic and ultrastructural digital images.

    PubMed

    Barisoni, Laura; Troost, Jonathan P; Nast, Cynthia; Bagnasco, Serena; Avila-Casado, Carmen; Hodgin, Jeffrey; Palmer, Matthew; Rosenberg, Avi; Gasim, Adil; Liensziewski, Chrysta; Merlino, Lino; Chien, Hui-Ping; Chang, Anthony; Meehan, Shane M; Gaut, Joseph; Song, Peter; Holzman, Lawrence; Gibson, Debbie; Kretzler, Matthias; Gillespie, Brenda W; Hewitt, Stephen M

    2016-07-01

    The multicenter Nephrotic Syndrome Study Network (NEPTUNE) digital pathology scoring system employs a novel and comprehensive methodology to document pathologic features from whole-slide images, immunofluorescence and ultrastructural digital images. To estimate inter- and intra-reader concordance of this descriptor-based approach, data from 12 pathologists (eight NEPTUNE and four non-NEPTUNE) with experience from training to 30 years were collected. A descriptor reference manual was generated and a webinar-based protocol for consensus/cross-training implemented. Intra-reader concordance for 51 glomerular descriptors was evaluated on jpeg images by seven NEPTUNE pathologists scoring 131 glomeruli three times (Tests I, II, and III), each test following a consensus webinar review. Inter-reader concordance of glomerular descriptors was evaluated in 315 glomeruli by all pathologists; interstitial fibrosis and tubular atrophy (244 cases, whole-slide images) and four ultrastructural podocyte descriptors (178 cases, jpeg images) were evaluated once by six and five pathologists, respectively. Cohen's kappa for inter-reader concordance for 48/51 glomerular descriptors with sufficient observations was moderate (0.40based on similar pathologic features improved concordance. Concordance was independent of years of experience, and increased with webinar cross-training. Excellent concordance was achieved for interstitial fibrosis and tubular atrophy. Moderate-to-excellent concordance was achieved for all ultrastructural podocyte descriptors, with good-to-excellent concordance for descriptors commonly used in clinical practice, foot process effacement, and microvillous transformation. NEPTUNE digital pathology scoring system enables novel morphologic profiling of renal structures. For all histologic and ultrastructural descriptors tested with

  10. Adaptive variational mode decomposition method for signal processing based on mode characteristic

    NASA Astrophysics Data System (ADS)

    Lian, Jijian; Liu, Zhuo; Wang, Haijun; Dong, Xiaofeng

    2018-07-01

    Variational mode decomposition is a completely non-recursive decomposition model, where all the modes are extracted concurrently. However, the model requires a preset mode number, which limits the adaptability of the method since a large deviation in the number of mode set will cause the discard or mixing of the mode. Hence, a method called Adaptive Variational Mode Decomposition (AVMD) was proposed to automatically determine the mode number based on the characteristic of intrinsic mode function. The method was used to analyze the simulation signals and the measured signals in the hydropower plant. Comparisons have also been conducted to evaluate the performance by using VMD, EMD and EWT. It is indicated that the proposed method has strong adaptability and is robust to noise. It can determine the mode number appropriately without modulation even when the signal frequencies are relatively close.

  11. Numerical analysis of the transportation characteristics of a self-running sliding stage based on near-field acoustic levitation.

    PubMed

    Feng, Kai; Liu, Yuanyuan; Cheng, Miaomiao

    2015-12-01

    Owing to its distinct non-contact and oil-free characteristics, a self-running sliding stage based on near-field acoustic levitation can be used in an environment, which demands clean rooms and zero noise. This paper presents a numerical analysis on the lifting and transportation capacity of a non-contact transportation system. Two simplified structure models, namely, free vibration and force vibration models, are proposed for the study of the displacement amplitude distribution of two cases using the finite element method. After coupling the stage displacement into the film thickness, the Reynolds equation is solved by the finite difference method to obtain the lifting and thrusting forces. Parametric analyses of the effects of amplitude, frequency, and standing wave ratio (SWR) on the sliding stage dynamic performance are investigated. Numerical results show good agreement with published experimental values. The predictions also reveal that greater transportation capacity of the self-running sliding stage is generally achieved at less SWR and at higher amplitude.

  12. Prototype Slide Stainer

    NASA Technical Reports Server (NTRS)

    1971-01-01

    The prototype slide staining system capable of performing both one-component Wright's staining of blood smears and eight-step Gram staining of heat fixed slides of microorganisms is described. Attention was given to liquid containment, waste handling, absence of contamination from previous staining, and stability of the staining reagents. The unit is self-contained, capable of independent operation under one- or zero-g conditions, and compatible with Skylab A.

  13. Multiscale Characterization of PM2.5 in Southern Taiwan based on Noise-assisted Multivariate Empirical Mode Decomposition and Time-dependent Intrinsic Correlation

    NASA Astrophysics Data System (ADS)

    Hsiao, Y. R.; Tsai, C.

    2017-12-01

    As the WHO Air Quality Guideline indicates, ambient air pollution exposes world populations under threat of fatal symptoms (e.g. heart disease, lung cancer, asthma etc.), raising concerns of air pollution sources and relative factors. This study presents a novel approach to investigating the multiscale variations of PM2.5 in southern Taiwan over the past decade, with four meteorological influencing factors (Temperature, relative humidity, precipitation and wind speed),based on Noise-assisted Multivariate Empirical Mode Decomposition(NAMEMD) algorithm, Hilbert Spectral Analysis(HSA) and Time-dependent Intrinsic Correlation(TDIC) method. NAMEMD algorithm is a fully data-driven approach designed for nonlinear and nonstationary multivariate signals, and is performed to decompose multivariate signals into a collection of channels of Intrinsic Mode Functions (IMFs). TDIC method is an EMD-based method using a set of sliding window sizes to quantify localized correlation coefficients for multiscale signals. With the alignment property and quasi-dyadic filter bank of NAMEMD algorithm, one is able to produce same number of IMFs for all variables and estimates the cross correlation in a more accurate way. The performance of spectral representation of NAMEMD-HSA method is compared with Complementary Empirical Mode Decomposition/ Hilbert Spectral Analysis (CEEMD-HSA) and Wavelet Analysis. The nature of NAMAMD-based TDICC analysis is then compared with CEEMD-based TDIC analysis and the traditional correlation analysis.

  14. Spatial mode discriminator based on leaky waveguides

    NASA Astrophysics Data System (ADS)

    Xu, Jing; Liu, Jialing; Shi, Hongkang; Chen, Yuntian

    2018-06-01

    We propose a conceptually simple and experimentally compatible configuration to discriminate the spatial mode based on leaky waveguides, which are inserted in-between the transmission link. The essence of such a spatial mode discriminator is to introduce the leakage of the power flux on purpose for detection. Importantly, the leaky angle of each individual spatial mode with respect to the propagation direction are different for non-degenerated modes, while the radiation patterns of the degenerated spatial modes in the plane perpendicular to the propagation direction are also distinguishable. Based on these two facts, we illustrate the operation principle of the spatial mode discriminators via two concrete examples; a w-type slab leaky waveguide without degeneracy, and a cylindrical leaky waveguide with degeneracy. The correlation between the leakage angle and the spatial mode distribution for a slab leaky waveguide, as well as differences between the in-plane radiation patterns of degenerated modes in a cylindrical leaky waveguide, are verified numerically and analytically. Such findings can be readily useful in discriminating the spatial modes for optical communication or optical sensing.

  15. Slide-Ring Materials Using Cyclodextrin.

    PubMed

    Ito, Kohzo

    2017-01-01

    We have recently synthesized slide-ring materials using cyclodextrin by cross-linking polyrotaxanes, a typical supramolecule. The slide-ring materials have polymer chains with bulky end groups topologically interlocked by figure-of-eight shaped junctions. This indicates that the cross-links can pass through the polymer chains similar to pulleys to relax the tension of the backbone polymer chains. The slide-ring materials also differ from conventional polymers in that the entropy of rings affects the elasticity. As a result, the slide-ring materials show quite small Young's modulus not proportional to the cross-linking density. This concept can be applied to a wide variety of polymeric materials as well as gels. In particular, the slide-ring materials show remarkable scratch-proof properties for coating materials for automobiles, cell phones, mobile computers, and so on. Further current applications include vibration-proof insulation materials for sound speakers, highly abrasive polishing media, dielectric actuators, and so on.

  16. Few-mode fiber based Raman distributed temperature sensing.

    PubMed

    Wang, Meng; Wu, Hao; Tang, Ming; Zhao, Zhiyong; Dang, Yunli; Zhao, Can; Liao, Ruolin; Chen, Wen; Fu, Songnian; Yang, Chen; Tong, Weijun; Shum, Perry Ping; Liu, Deming

    2017-03-06

    We proposed and experimentally demonstrated a few mode fiber (FMF) based Raman distributed temperature sensor (RDTS) to extend the sensing distance with enhanced signal-to-noise ratio (SNR) of backscattered anti-Stokes spontaneous Raman scattering. Operating in the quasi-single mode (QSM) with efficient fundamental mode excitement, the FMF allows much larger input pump power before the onset of stimulated Raman scattering compared with the standard single mode fiber (SSMF) and mitigates the detrimental differential mode group delay (DMGD) existing in the conventional multimode fiber (MMF) based RDTS system. Comprehensive theoretical analysis has been conducted to reveal the benefits of RDTS brought by QSM operated FMFs with the consideration of geometric/optical parameters of different FMFs. The measurement uncertainty of FMF based scheme has also been evaluated. Among fibers being investigated and compared (SSMF, 2-mode and 4-mode FMFs, respectively), although an ideal 4-mode FMF based RDTS has the largest SNR enhancement in principle, real fabrication imperfections and larger splicing loss degrade its performance. While the 2-mode FMF based system outperforms in longer distance measurement, which agrees well with the theoretical calculations considering real experimental parameters. Using the conventional RDTS hardware, a 30-ns single pulse at 1550nm has been injected as the pump; the obtained temperature resolutions at 20km distance are estimated to be about 10°C, 7°C and 6°C for the SSMF, 4-mode and 2-mode FMFs, respectively. About 4°C improvement over SSMF on temperature resolution at the fiber end with 3m spatial resolution within 80s measuring time over 20km 2-mode FMFs have been achieved.

  17. 45 CFR 98.42 - Sliding fee scales.

    Code of Federal Regulations, 2010 CFR

    2010-10-01

    ... provides for cost sharing by families that receive CCDF child care services. (b) A sliding fee scale(s) shall be based on income and the size of the family and may be based on other factors as appropriate. (c... a family of the same size. ...

  18. Tribological evaluation of PS300: A new chrome oxide based solid lubricant coating sliding against Al2O3 From 25 to 650 C

    NASA Technical Reports Server (NTRS)

    DellaCorte, C.; Laskowski, J. A.

    1996-01-01

    This paper presents the tribological characteristics of Al203 sliding against PS300; a chrome oxide based self lubricating coating. Al203 pins were slid against PS300 coated superalloy disks in air, under a 4.9 N load at velocities of 1 to 8 m/s. At a sliding velocity of 1 m/s, friction ranged from 0.6 at 25 C to 0.2 at 650 C. Wear factors for the Al203 pins were in the 10(exp -7) mm(exp 3)/N-m range and for the PS300 coating was in the 10(exp -5) mm(exp 3)/N-m range. The test results suggest that increased surface temperature resulting from either frictional heating, generated by increased sliding velocity, or ambient heating caused a reduction in friction and wear of the sliding couple. Based upon these results, the tested material combination is a promising candidate for high temperature wear applications.

  19. Transition between 'base' and 'tip' carbon nanofiber growth modes

    NASA Astrophysics Data System (ADS)

    Melechko, Anatoli V.; Merkulov, Vladimir I.; Lowndes, Douglas H.; Guillorn, Michael A.; Simpson, Michael L.

    2002-04-01

    Carbon nanofibers (CNFs) have been synthesized by catalytically controlled dc glow discharge plasma-enhanced chemical vapor deposition (PECVD). Both base-type and tip-type nanofibers have been produced on identical substrates. We have observed a sharp transition between these two growth modes by controlling the kinetics of the growth process without changing the substrate and catalyst materials. This transition is brought about by changing the parameters used in the deposition process such as the flow ratio of the carbonaceous and etchant gasses and others. This study of the initial growth stages as a function of time for both regimes provides a basis for a model of the growth mode transition.

  20. Observation of Trapped-Electron Mode Microturbulence in Improved Confinement Reversed-Field Pinch Plasmas

    NASA Astrophysics Data System (ADS)

    Duff, James R.

    This is a dissertation for the completion of a Doctorate of Philosophy in Physics degree granted at the University of Wisconsin-Madison. Density fluctuations in the large-density-gradient region of improved confinement Madison Sym- metric Torus (MST) RFP plasmas exhibit multiple features that are characteristic of the trapped- electron mode (TEM). In fusion relevant plasmas, thermal transport is a key avenue of research in order to achieve a burning plasma. In the reversed field pinch (RFP) magnetic geometry, the dy- namics of conventional plasma discharges are primarily governed by magnetic stochasticity stem- ming from multiple long-wavelength tearing modes, that sustain the RFP discharge but have an adverse effect on the plasma confinement. Using inductive current profile control, these tearing modes are reduced, and global confinement is increased to that expected for comparable tokamak plasma. Under these conditions with certain plasma equilibria, new short-wavelength fluctuations distinct from global tearing modes appear in the spectrum at frequencies f 50 kHz that have normalized perpendicular wavenumbers k⊥rhos ≤ 0.2, and propagate in the electron diamagnetic drift direction. By adjusting the plasma current or the inductive suppression, there are observable variations in the spectral features. They exhibit a critical-gradient threshold, and the fluctuation amplitude increases with a local density gradient dependent parameter. These characteristics are consistent with the predictions of unstable TEMs based on gyrokinetic analysis using the GENE code. This thesis represents the first observation and description of TEM-like instabilities in the RFP geometry.

  1. Color accuracy and reproducibility in whole slide imaging scanners

    PubMed Central

    Shrestha, Prarthana; Hulsken, Bas

    2014-01-01

    Abstract We propose a workflow for color reproduction in whole slide imaging (WSI) scanners, such that the colors in the scanned images match to the actual slide color and the inter-scanner variation is minimum. We describe a new method of preparation and verification of the color phantom slide, consisting of a standard IT8-target transmissive film, which is used in color calibrating and profiling the WSI scanner. We explore several International Color Consortium (ICC) compliant techniques in color calibration/profiling and rendering intents for translating the scanner specific colors to the standard display (sRGB) color space. Based on the quality of the color reproduction in histopathology slides, we propose the matrix-based calibration/profiling and absolute colorimetric rendering approach. The main advantage of the proposed workflow is that it is compliant to the ICC standard, applicable to color management systems in different platforms, and involves no external color measurement devices. We quantify color difference using the CIE-DeltaE2000 metric, where DeltaE values below 1 are considered imperceptible. Our evaluation on 14 phantom slides, manufactured according to the proposed method, shows an average inter-slide color difference below 1 DeltaE. The proposed workflow is implemented and evaluated in 35 WSI scanners developed at Philips, called the Ultra Fast Scanners (UFS). The color accuracy, measured as DeltaE between the scanner reproduced colors and the reference colorimetric values of the phantom patches, is improved on average to 3.5 DeltaE in calibrated scanners from 10 DeltaE in uncalibrated scanners. The average inter-scanner color difference is found to be 1.2 DeltaE. The improvement in color performance upon using the proposed method is apparent with the visual color quality of the tissue scans. PMID:26158041

  2. Friction and wear behaviour of Mo-W doped carbon-based coating during boundary lubricated sliding

    NASA Astrophysics Data System (ADS)

    Hovsepian, Papken Eh.; Mandal, Paranjayee; Ehiasarian, Arutiun P.; Sáfrán, G.; Tietema, R.; Doerwald, D.

    2016-03-01

    A molybdenum and tungsten doped carbon-based coating (Mo-W-C) was developed in order to provide low friction in boundary lubricated sliding condition at ambient and at high temperature. The Mo-W-C coating showed the lowest friction coefficient among a number of commercially available state-of-the-art DLC coatings at ambient temperature. At elevated temperature (200 °C), Mo-W-C coating showed a significant reduction in friction coefficient with sliding distance in contrast to DLC coatings. Raman spectroscopy revealed the importance of combined Mo and W doping for achieving low friction at both ambient and high temperature. The significant decrease in friction and wear rate was attributed to the presence of graphitic carbon debris (from coating) and 'in situ' formed metal sulphides (WS2 and MoS2, where metals were supplied from coating and sulphur from engine oil) in the transfer layer.

  3. Zooming in: high resolution 3D reconstruction of differently stained histological whole slide images

    NASA Astrophysics Data System (ADS)

    Lotz, Johannes; Berger, Judith; Müller, Benedikt; Breuhahn, Kai; Grabe, Niels; Heldmann, Stefan; Homeyer, André; Lahrmann, Bernd; Laue, Hendrik; Olesch, Janine; Schwier, Michael; Sedlaczek, Oliver; Warth, Arne

    2014-03-01

    Much insight into metabolic interactions, tissue growth, and tissue organization can be gained by analyzing differently stained histological serial sections. One opportunity unavailable to classic histology is three-dimensional (3D) examination and computer aided analysis of tissue samples. In this case, registration is needed to reestablish spatial correspondence between adjacent slides that is lost during the sectioning process. Furthermore, the sectioning introduces various distortions like cuts, folding, tearing, and local deformations to the tissue, which need to be corrected in order to exploit the additional information arising from the analysis of neighboring slide images. In this paper we present a novel image registration based method for reconstructing a 3D tissue block implementing a zooming strategy around a user-defined point of interest. We efficiently align consecutive slides at increasingly fine resolution up to cell level. We use a two-step approach, where after a macroscopic, coarse alignment of the slides as preprocessing, a nonlinear, elastic registration is performed to correct local, non-uniform deformations. Being driven by the optimization of the normalized gradient field (NGF) distance measure, our method is suitable for differently stained and thus multi-modal slides. We applied our method to ultra thin serial sections (2 μm) of a human lung tumor. In total 170 slides, stained alternately with four different stains, have been registered. Thorough visual inspection of virtual cuts through the reconstructed block perpendicular to the cutting plane shows accurate alignment of vessels and other tissue structures. This observation is confirmed by a quantitative analysis. Using nonlinear image registration, our method is able to correct locally varying deformations in tissue structures and exceeds the limitations of globally linear transformations.

  4. The Observing Modes of JWST/NIRISS

    NASA Astrophysics Data System (ADS)

    Taylor, Joanna M.; NIRISS Team

    2018-06-01

    The Near Infrared Imager and Slitless Spectrograph (NIRISS) is a contribution of the Canadian Space Agency to the James Webb Space Telescope (JWST). NIRISS complements the other near-infrared science instruments onboard JWST by providing capabilities for (a) low resolution grism spectroscopy between 0.8 and 2.2 µm over the entire field of view, with the possibility of observing the same scene with orthogonal dispersion directions to disentangle blended objects; (b) medium-resolution grism spectroscopy between 0.6 and 2.8 µm that has been optimized to provide high spectrophotometric stability for time-series observations of transiting exoplanets; (c) aperture masking interferometry that provides high angular resolution of 70 - 400 mas at wavelengths between 2.8 and 4.8 µm and (d) parallel imaging through a set of filters that are closely matched to NIRCam's.In this poster, we discuss each of these modes and present simulations of how they might typically be used to address specific scientific questions.

  5. Baseball and softball sliding injuries: incidence and correlates during one high school league varsity season.

    PubMed

    Stovak, Mark; Parikh, Amit; Harvey, Anne T

    2012-11-01

    To estimate injury rates associated with sliding in high school baseball and softball. Prospective cohort study. Community high school athletic events. Ten high school varsity baseball and softball teams over 1 season. All sliding attempts were recorded during each game and recorded as headfirst, feetfirst, or diveback. Base type, playing surface, and field conditions were also noted. Injury exposure rates by game exposures and sliding/diveback exposures. Data were collected from 153 baseball games and 166 softball games. A greater proportion of slides were associated with injury in softball than in baseball (42.0 and 4.9 per 1000 slides; P < 0.05). Headfirst slides led to more injuries than feetfirst slides in baseball (16.8 vs 0 per 1000 slides; P < 0.05) but not in softball (55 vs 35 per 1000 slides; P = 0.74). More powerful studies are required to determine whether efforts to prevent baseball sliding injuries at the high school level should focus on better education in sliding technique or changes in equipment. Softball players are vulnerable to injury when wearing inadequate protective sliding apparel.

  6. A new drag spool for measuring basal sliding and till deformation

    NASA Astrophysics Data System (ADS)

    Truffer, M.; Pomraning, D.; Dushime, B.; Amundson, J. M.; Motyka, R. J.; Larsen, C.

    2017-12-01

    Direct observation of subglacial processes are challenging due to significant problems of access. A primary method of access are boreholes drilled through the ice with hot water. A variety of instruments have been developed to monitor ice deformation, till deformation, sliding of ice over subglacial till, water pressure in boreholes, and pore water pressure in subglacial till. It is not common to measure all of these parameters in one single borehole. However, ignorance about one of these parameters can hamper the interpretation of others. For example, it is desirable to monitor all components of basal motion (ice deformation near the base, till deformation, and sliding) simultaneously. Here we present a newly developed drag spool that attempts this. The spool consists of an anchor that is hammered into subglacial till. The anchor is instrumented with tilt sensors and a pore water pressure sensor. It is connected to a probe in the bottom part of the ice via a signal wire. This main probe measures the payout of the signal wire as well as tilt in the basal ice and water pressure in the borehole. A prototype of this instrument was tested on Taku Glacier, Alaska, under about 200 m of ice and operated successfully for several months. Data show deformation of ice and the upper till layer. Sliding at the interface is intermittent and accounts for less than 10% of the observed surface motion. Deformation of ice and till occurs more continuously but is interrupted by specific events. These events are sometimes - but not always - related to speed-up events at the surface. This indicates that occasionally the basal system evolves on spatial scales that are not sufficiently large to be observed at the surface.

  7. Surface profiles and modulation of ultra-thin perfluoropolyether lubricant in contact sliding

    NASA Astrophysics Data System (ADS)

    Sinha, S. K.; Kawaguchi, M.; Kato, T.

    2004-08-01

    Deformation in shear and associated tribological behaviours of ultra-thin lubricants are of significant importance for the lubrication of magnetic hard disks and for other applications such as micro-electromechanical systems, nano-fluidics and nanotechnology. This paper presents the characteristics of the perfluoropolyether ultra-thin lubricant, in terms of its surface profiles when subjected to a contact sliding test. The results indicate that for a several-monolayers thick (~4.0-4.5 nm) lubricant film, sliding produces a considerable amount of surface roughness due to peaks of lubricant that persist during sliding; however, it can flow back or return to a smooth profile after a lapse of time when the sliding is stopped. For a monolayer-thin (~1.4-1.57 nm) film, the lubricant flow is restricted, and the rough profile created due to sliding persists and almost becomes permanent on the wear track. During sliding, due to high shear stress, a characteristic feature of lubricant profile modulation is observed. This modulation, or waviness, is due to the accumulation of lubricant in piles or islands, giving certain amplitudes and frequencies, which themselves depend upon the percentage of lubricant molecules that are chemically bonded to the substrate and the lubricant thickness. The results indicate that ultra-thin lubricants (monolayer and thicker) behave more like a semi-solid (having some sliding characteristics similar to those of rubbers) than a liquid when subjected to a high shear rate during contact sliding.

  8. Clustering methods applied in the detection of Ki67 hot-spots in whole tumor slide images: an efficient way to characterize heterogeneous tissue-based biomarkers.

    PubMed

    Lopez, Xavier Moles; Debeir, Olivier; Maris, Calliope; Rorive, Sandrine; Roland, Isabelle; Saerens, Marco; Salmon, Isabelle; Decaestecker, Christine

    2012-09-01

    Whole-slide scanners allow the digitization of an entire histological slide at very high resolution. This new acquisition technique opens a wide range of possibilities for addressing challenging image analysis problems, including the identification of tissue-based biomarkers. In this study, we use whole-slide scanner technology for imaging the proliferating activity patterns in tumor slides based on Ki67 immunohistochemistry. Faced with large images, pathologists require tools that can help them identify tumor regions that exhibit high proliferating activity, called "hot-spots" (HSs). Pathologists need tools that can quantitatively characterize these HS patterns. To respond to this clinical need, the present study investigates various clustering methods with the aim of identifying Ki67 HSs in whole tumor slide images. This task requires a method capable of identifying an unknown number of clusters, which may be highly variable in terms of shape, size, and density. We developed a hybrid clustering method, referred to as Seedlink. Compared to manual HS selections by three pathologists, we show that Seedlink provides an efficient way of detecting Ki67 HSs and improves the agreement among pathologists when identifying HSs. Copyright © 2012 International Society for Advancement of Cytometry.

  9. Diseases of Landscape Ornamentals. Slide Script.

    ERIC Educational Resources Information Center

    Powell, Charles C.; Sydnor, T. Davis

    This slide script, part of a series of slide scripts designed for use in vocational agriculture classes, deals with recognizing and controlling diseases found on ornamental landscape plants. Included in the script are narrations for use with a total of 80 slides illustrating various foliar diseases (anthracnose, black spot, hawthorn leaf blight,…

  10. Comparing whole slide digital images versus traditional glass slides in the detection of common microscopic features seen in dermatitis

    PubMed Central

    Vyas, Nikki S.; Markow, Michael; Prieto-Granada, Carlos; Gaudi, Sudeep; Turner, Leslie; Rodriguez-Waitkus, Paul; Messina, Jane L.; Jukic, Drazen M.

    2016-01-01

    Background: The quality and limitations of digital slides are not fully known. We aimed to estimate intrapathologist discrepancy in detecting specific microscopic features on glass slides and digital slides created by scanning at ×20. Methods: Hematoxylin and eosin and periodic acid–Schiff glass slides were digitized using the Mirax Scan (Carl Zeiss Inc., Germany). Six pathologists assessed 50–71 digital slides. We recorded objective magnification, total time, and detection of the following: Mast cells; eosinophils; plasma cells; pigmented macrophages; melanin in the epidermis; fungal bodies; neutrophils; civatte bodies; parakeratosis; and sebocytes. This process was repeated using the corresponding glass slides after 3 weeks. The diagnosis was not required. Results: The mean time to assess digital slides was 176.77 s and 137.61 s for glass slides (P < 0.001, 99% confidence interval [CI]). The mean objective magnification used to detect features using digital slides was 18.28 and 14.07 for glass slides (P < 0.001, 99.99% CI). Parakeratosis, civatte bodies, pigmented macrophages, melanin in the epidermis, mast cells, eosinophils, plasma cells, and neutrophils, were identified at lower objectives on glass slides (P = 0.023–0.001, 95% CI). Average intraobserver concordance ranged from κ = 0.30 to κ = 0.78. Features with poor to fair average concordance were: Melanin in the epidermis (κ = 0.15–0.58); plasma cells (κ = 0.15–0.49); and neutrophils (κ = 0.12–0.48). Features with moderate average intrapathologist concordance were: parakeratosis (κ = 0.21–0.61); civatte bodies (κ = 0.21–0.71); pigment-laden macrophages (κ = 0.34–0.66); mast cells (κ = 0.29–0.78); and eosinophils (κ = 0.31–0.79). The average intrapathologist concordance was good for sebocytes (κ = 0.51–1.00) and fungal bodies (κ = 0.47–0.76). Conclusions: Telepathology using digital slides scanned at ×20 is sufficient for detection of histopathologic features routinely

  11. The Epidemiology and Effect of Sliding Injuries in Major and Minor League Baseball Players.

    PubMed

    Camp, Christopher L; Curriero, Frank C; Pollack, Keshia M; Mayer, Stephanie W; Spiker, Andrea M; D'Angelo, John; Coleman, Struan H

    2017-08-01

    Although sliding occurs frequently in professional baseball, little is known about the epidemiology and effect of injuries that occur during sliding in this population of elite athletes. To describe the incidence and characteristics of sliding injuries, determine their effect in terms of time out of play, and identify common injury patterns that may represent appropriate targets for injury prevention programs in the future. Descriptive epidemiologic study. All offensive sliding injuries occurring in Major League Baseball (MLB) and Minor League Baseball (MLB) that resulted in time out of play during a span of 5 seasons (2011-2015) were identified. In addition to player demographics, data extracted included time out of play, location on field where injury occurred, level of play, treatment (surgical vs nonsurgical), direction of slide (head vs feet first), body region injured, and diagnosis. Descriptive statistics were used to describe the distribution of these injuries, and injury rates were calculated per slide. From 2011 to 2015, 1633 injuries occurred as a result of a slide. The total number of days missed per season was 4263. Surgical intervention was required for 134 (8.2%) injuries, and the mean days missed was 66.5 for players treated surgically and 12.3 days for players treated nonoperatively ( P < .001). MLB players were more likely than MiLB players to require surgical intervention (12.3% vs 7.5%, P = .019). Injuries to the hands/fingers represented 25.3% of all injuries and 31.3% of those requiring surgery. Although the majority of injuries occurred at second base (57%), the per-slide injury rate was similar across all bases ( P = .991). The estimated overall frequency of injury in MLB was once per every 336 slides, and the rate of injury for head- and feet-first slides was 1 in 249 and 413 slides, respectively ( P = .119). Injuries occurring while sliding in professional baseball result in a significant amount of time out of play for these elite athletes

  12. Fiber pressure sensors based on periodical mode coupling effects

    NASA Astrophysics Data System (ADS)

    Lotem, Haim; Wang, Wen C.; Wang, Michael; Schaafsma, David; Skolnick, Bob; Grebel, Haim

    2005-05-01

    Fiber optic sensor technology offers the possibility of implementing low weight, high performance and cost effective health and damage assessment for infrastructure elements. Common fiber sensors are based on the effect of external action on the spectral response of a Fabry-Perot or a Bragg grating section, or on the modal dynamics in multimode (MM) fiber. In the latter case, the fiber itself acts as the sensor, giving it the potential for large range coverage. We were interested in this type of sensor because of its cost advantage in monitoring structural health. In the course of the research, a new type of a rugged modal filter device, based on off-center splicing, was developed. This device, in combination with a MM fiber, was found to be a potential single point-pressure sensing device. Additionally, by translating the pressing point along a MM sensing fiber with a constant load and speed, a sinusoidal intensity modulation was observed. This harmonic behavior, during load translation, is explained by the theory of mode coupling and dispersion. The oscillation period, L~0.43. mm, obtained at 980 nm in a Corning SMF-28 fiber, corresponds to the wavevector difference, Db, between the two-coupled modes, by L = 2p/Db. An additional outcome of the present research is the observation that the response of the loaded MM fiber is strongly dependent on the polarization state of the light traveling along the MM fiber due to different response of the modes to polarization active elements. Our main conclusions are that in MM fiber optic sensor design, special cautions need to be taken in order to stabilize the system, and that the sensitivity along a MM fiber sensor is periodic with a period of ~ 0.4 - 0.5 mm, depending on various fiber parameters and excited modes.

  13. The Vaiont Slide. A Geotechnical Analysis Based on New Geologic Observations of the Failure Surface. Volume 2. Appendices A through G

    DTIC Science & Technology

    1985-06-01

    Al B , STATIC SLOPE ANALYSIS METHOD USED FOR THE WAONT SLIDE -ANALYSES~ty D. L. Anderson ................................... B1 C SECTIONS,,USED...years 1960, 1961, 1962 and 1963 are given in this appendix in Tables Al , A2, A3 and A4, respectively. These were supplied through the courtesy of E.N.E.L...Tables Table Al . Daily precipitation record, Erto - 1960 Table A2. Daily precipitation record, Erto - 1961 Table A3. Daily precipitation record, Erto

  14. Modeling the Physics of Sliding Objects on Rotating Space Elevators and Other Non-relativistic Strings

    NASA Astrophysics Data System (ADS)

    Golubovic, Leonardo; Knudsen, Steven

    2017-01-01

    We consider general problem of modeling the dynamics of objects sliding on moving strings. We introduce a powerful computational algorithm that can be used to investigate the dynamics of objects sliding along non-relativistic strings. We use the algorithm to numerically explore fundamental physics of sliding climbers on a unique class of dynamical systems, Rotating Space Elevators (RSE). Objects sliding along RSE strings do not require internal engines or propulsion to be transported from the Earth's surface into outer space. By extensive numerical simulations, we find that sliding climbers may display interesting non-linear dynamics exhibiting both quasi-periodic and chaotic states of motion. While our main interest in this study is in the climber dynamics on RSEs, our results for the dynamics of sliding object are of more general interest. In particular, we designed tools capable of dealing with strongly nonlinear phenomena involving moving strings of any kind, such as the chaotic dynamics of sliding climbers observed in our simulations.

  15. Fresh and aged human lymphocyte metaphase slides are equally usable for GTG banding.

    PubMed

    Sajjad, Naheed; Haque, Sayedul; SBurney, Syed Intesar; Shahid, Syed Muhammad; Zehra, Sitwat; Azhar, Abid

    2014-09-01

    The identification of chromosomes for routine cytogenetic analysis is based on quality of metaphases and good banding pattern. Fresh slides of human lymphocytes have been shown to produce good bands for the identification of chromosomes morphology. G-bands by Trypsin using Giemsa (GTG) banding of aged slides is generally considered hard to get desired band pattern of chromosomes persistently. The current study is focused on GTG banding of aged slides. A total of 340 subjects including 290 primary infertile and 50 fertile were selected. The blood samples were drawn aseptically for cytogenetic analysis. Lymphocytes were cultured and GTG banding was done on 1440 glass slides. Giemsa trypsin banding of aged slides were done by adjusting average trypsin time for each month according to the slide age and metaphase concentration. Correlation analyses showed a significant and positive correlation between slide ageing and trypsin pre-treatment time. The results of this study suggest that, the fresh and aged human lymphocyte metaphases are equally usable for GTG banding.

  16. A novel MUX/DEMUX based on few-mode FBG for mode division multiplexing system

    NASA Astrophysics Data System (ADS)

    Han, Yueyu; Hu, Guijun

    2016-05-01

    In this paper, a novel mode multiplexer/demultiplexer (MUX/DEMUX) based on few-mode fiber Bragg gratings (FBG) has been proposed. The principle of the MUX/DEMUX based on few-mode FBG has been described in detail, and crosstalk of better than -20 dB is obtained experimentally. Then a 2×2 division multiplexing (MDM) system has been established with the MUX/DEMUX we proposed. The transmission experiment of 2×10 Gbps PRBS has been achieved successfully, which are carried by LP01 mode and LP11 mode, respectively. When the receiver sensitivity is greater than -14 dB m and -10 dB m, the BER can both reach 10-3 for B2B and 10 km transmission, respectively.

  17. Microstructure-failure mode correlations in braided composites

    NASA Technical Reports Server (NTRS)

    Filatovs, G. J.; Sadler, Robert L.; El-Shiekh, Aly

    1992-01-01

    Explication of the fracture processes of braided composites is needed for modeling their behavior. Described is a systematic exploration of the relationship between microstructure, loading mode, and micro-failure mechanisms in carbon/epoxy braided composites. The study involved compression and fracture toughness tests and optical and scanning electron fractography, including dynamic in-situ testing. Principal failure mechanisms of low sliding, buckling, and unstable crack growth are correlated to microstructural parameters and loading modes; these are used for defining those microstructural conditions which are strength limiting.

  18. Tunable negative-tap photonic microwave filter based on a cladding-mode coupler and an optically injected laser of large detuning.

    PubMed

    Chan, Sze-Chun; Liu, Qing; Wang, Zhu; Chiang, Kin Seng

    2011-06-20

    A tunable negative-tap photonic microwave filter using a cladding-mode coupler together with optical injection locking of large wavelength detuning is demonstrated. Continuous and precise tunability of the filter is realized by physically sliding a pair of bare fibers inside the cladding-mode coupler. Signal inversion for the negative tap is achieved by optical injection locking of a single-mode semiconductor laser. To couple light into and out of the cladding-mode coupler, a pair of matching long-period fiber gratings is employed. The large bandwidth of the gratings requires injection locking of an exceptionally large wavelength detuning that has never been demonstrated before. Experimentally, injection locking with wavelength detuning as large as 27 nm was achieved, which corresponded to locking the 36-th side mode. Microwave filtering with a free-spectral range tunable from 88.6 MHz to 1.57 GHz and a notch depth larger than 35 dB was obtained.

  19. Higher-order mode photonic crystal based nanofluidic sensor

    NASA Astrophysics Data System (ADS)

    Peng, Wang; Chen, Youping; Ai, Wu

    2017-01-01

    A higher-order photonic crystal (PC) based nanofluidic sensor, which worked at 532 nm, was designed and demonstrated. A systematical and detailed method for sculpturing a PC sensor for a given peak wavelength value (PWV) and specified materials was illuminated. It was the first time that the higher order mode was used to design PC based nanofluidic sensor, and the refractive index (RI) sensitivity of this sensor had been verified with FDTD simulation software from Lumerical. The enhanced electrical field of higher order mode structure was mostly confined in the channel area, where the enhance field is wholly interacting with the analytes in the channels. The comparison of RI sensitivity between fundamental mode and higher order mode shows the RI variation of higher order mode is 124.5 nm/RIU which is much larger than the fundamental mode. The proposed PC based nanofluidic structure pioneering a novel style for future optofluidic design.

  20. MHD modeling of DIII-D QH-mode discharges and comparison to observations

    NASA Astrophysics Data System (ADS)

    King, Jacob

    2016-10-01

    MHD modeling of DIII-D QH-mode discharges and comparison to observations Nonlinear NIMROD simulations, initialized from a reconstruction of a DIII-D QH-mode discharge with broadband MHD, saturate into a turbulent state, but do not saturate when flow is not included. This is consistent with the experimental results of the quiescent regime observed on DIII-D with broadband MHD activity [Garofalo et al., PoP (2015) and refs. within]. These ELM-free discharges have the normalized pedestal-plasma confinement necessary for burning-plasma operation on ITER. Relative to QH-mode operation with more coherent MHD activity, operation with broadband MHD tends to occur at higher densities and lower rotation and thus may be more relevant to ITER. The nonlinear NIMROD simulations require highly accurate equilibrium reconstructions. Our equilibrium reconstructions include the scrape-off-layer profiles and the measured toroidal and poloidal rotation profiles. The simulation develops into a saturated turbulent state and the n=1 and 2 modes become dominant through an inverse cascade. Each toroidal mode in the range of n=1-5 is dominant at a different time. The perturbations are advected and sheared apart in the counter-clockwise direction consistent with the direction of the poloidal flow inside the LCFS. Work towards validation through comparison to magnetic coil and Doppler reflectometry measurements is presented. Consistent with experimental observations during QH-mode, the simulated state leads to large particle transport relative to the thermal transport. Analysis shows that the phase of the density and temperature perturbations differ resulting in greater convective particle transport relative to the convective thermal transport. This work supported by the U.S. Department of Energy Office of Science and the SciDAC Center for Extended MHD Modeling under Contract Numbers DE-FC02-06ER54875, DE-FC02-08ER54972 and DE-FC02-04ER54698.