Multi-loop control of UPS inverter with a plug-in odd-harmonic repetitive controller.

PubMed

Razi, Reza; Karbasforooshan, Mohammad-Sadegh; Monfared, Mohammad

2017-03-01

This paper proposes an improved multi-loop control scheme for the single-phase uninterruptible power supply (UPS) inverter by using a plug-in odd-harmonic repetitive controller to regulate the output voltage. In the suggested control method, the output voltage and the filter capacitor current are used as the outer and inner loop feedback signals, respectively and the instantaneous value of the reference voltage feedforwarded to the output of the controller. Instead of conventional linear (proportional-integral/-resonant) and conventional repetitive controllers, a plug-in odd-harmonic repetitive controller is employed in the outer loop to regulate the output voltage, which occupies less memory space and offers faster tracking performance compared to the conventional one. Also, a simple proportional controller is used in the inner loop for active damping of possible resonances and improving the transient performance. The feedforward of the converter reference voltage enhances the robust performance of the system and simplifies the system modelling and the controller design. A step-by-step design procedure is presented for the proposed controller, which guarantees stability of the system under worst-case scenarios. Simulation and experimental results validate the excellent steady-state and transient performance of the proposed control scheme and provide the exact comparison of the proposed method with the conventional multi-loop control method. Copyright © 2017 ISA. Published by Elsevier Ltd. All rights reserved.

Network efficient power control for wireless communication systems.

PubMed

Campos-Delgado, Daniel U; Luna-Rivera, Jose Martin; Martinez-Sánchez, C J; Gutierrez, Carlos A; Tecpanecatl-Xihuitl, J L

2014-01-01

We introduce a two-loop power control that allows an efficient use of the overall power resources for commercial wireless networks based on cross-layer optimization. This approach maximizes the network's utility in the outer-loop as a function of the averaged signal to interference-plus-noise ratio (SINR) by considering adaptively the changes in the network characteristics. For this purpose, the concavity property of the utility function was verified with respect to the SINR, and an iterative search was proposed with guaranteed convergence. In addition, the outer-loop is in charge of selecting the detector that minimizes the overall power consumption (transmission and detection). Next the inner-loop implements a feedback power control in order to achieve the optimal SINR in the transmissions despite channel variations and roundtrip delays. In our proposal, the utility maximization process and detector selection and feedback power control are decoupled problems, and as a result, these strategies are implemented at two different time scales in the two-loop framework. Simulation results show that substantial utility gains may be achieved by improving the power management in the wireless network.

Network Efficient Power Control for Wireless Communication Systems

PubMed Central

Campos-Delgado, Daniel U.; Luna-Rivera, Jose Martin; Martinez-Sánchez, C. J.; Gutierrez, Carlos A.; Tecpanecatl-Xihuitl, J. L.

2014-01-01

We introduce a two-loop power control that allows an efficient use of the overall power resources for commercial wireless networks based on cross-layer optimization. This approach maximizes the network's utility in the outer-loop as a function of the averaged signal to interference-plus-noise ratio (SINR) by considering adaptively the changes in the network characteristics. For this purpose, the concavity property of the utility function was verified with respect to the SINR, and an iterative search was proposed with guaranteed convergence. In addition, the outer-loop is in charge of selecting the detector that minimizes the overall power consumption (transmission and detection). Next the inner-loop implements a feedback power control in order to achieve the optimal SINR in the transmissions despite channel variations and roundtrip delays. In our proposal, the utility maximization process and detector selection and feedback power control are decoupled problems, and as a result, these strategies are implemented at two different time scales in the two-loop framework. Simulation results show that substantial utility gains may be achieved by improving the power management in the wireless network. PMID:24683350

Watch what you type: the role of visual feedback from the screen and hands in skilled typewriting.

PubMed

Snyder, Kristy M; Logan, Gordon D; Yamaguchi, Motonori

2015-01-01

Skilled typing is controlled by two hierarchically structured processing loops (Logan & Crump, 2011): The outer loop, which produces words, commands the inner loop, which produces keystrokes. Here, we assessed the interplay between the two loops by investigating how visual feedback from the screen (responses either were or were not echoed on the screen) and the hands (the hands either were or were not covered with a box) influences the control of skilled typing. Our results indicated, first, that the reaction time of the first keystroke was longer when responses were not echoed than when they were. Also, the interkeystroke interval (IKSI) was longer when the hands were covered than when they were visible, and the IKSI for responses that were not echoed was longer when explicit error monitoring was required (Exp. 2) than when it was not required (Exp. 1). Finally, explicit error monitoring was more accurate when response echoes were present than when they were absent, and implicit error monitoring (i.e., posterror slowing) was not influenced by visual feedback from the screen or the hands. These findings suggest that the outer loop adjusts the inner-loop timing parameters to compensate for reductions in visual feedback. We suggest that these adjustments are preemptive control strategies designed to execute keystrokes more cautiously when visual feedback from the hands is absent, to generate more cautious motor programs when visual feedback from the screen is absent, and to enable enough time for the outer loop to monitor keystrokes when visual feedback from the screen is absent and explicit error reports are required.

Feedback control laws for highly maneuverable aircraft

NASA Technical Reports Server (NTRS)

Garrard, William L.; Balas, Gary J.

1994-01-01

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

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.

Study of a control strategy for grid side converter in doubly- fed wind power system

NASA Astrophysics Data System (ADS)

Zhu, D. J.; Tan, Z. L.; Yuan, F.; Wang, Q. Y.; Ding, M.

2016-08-01

The grid side converter is an important part of the excitation system of doubly-fed asynchronous generator used in wind power system. As a three-phase voltage source PWM converter, it can not only transfer slip power in the form of active power, but also adjust the reactive power of the grid. This paper proposed a control approach for improving its performance. In this control approach, the dc voltage is regulated by a sliding mode variable structure control scheme and current by a variable structure controller based on the input output linearization. The theoretical bases of the sliding mode variable structure control were introduced, and the stability proof was presented. Switching function of the system has been deduced, sliding mode voltage controller model has been established, and the output of the outer voltage loop is the instruction of the inner current loop. Affine nonlinear model of two input two output equations on d-q axis for current has been established its meeting conditions of exact linearization were proved. In order to improve the anti-jamming capability of the system, a variable structure control was added in the current controller, the control law was deduced. The dual-loop control with sliding mode control in outer voltage loop and linearization variable structure control in inner current loop was proposed. Simulation results demonstrate the effectiveness of the proposed control strategy even during the dc reference voltage and system load variation.

Aircraft flight test trajectory control

NASA Technical Reports Server (NTRS)

Menon, P. K. A.; Walker, R. A.

1988-01-01

Two control law design techniques are compared and the performance of the resulting controllers evaluated. The design requirement is for a flight test trajectory controller (FTTC) capable of closed-loop, outer-loop control of an F-15 aircraft performing high-quality research flight test maneuvers. The maneuver modeling, linearization, and design methodologies utilized in this research, are detailed. The results of applying these FTTCs to a nonlinear F-15 simulation are presented.

Intelligent flight control systems

NASA Technical Reports Server (NTRS)

Stengel, Robert F.

1993-01-01

The capabilities of flight control systems can be enhanced by designing them to emulate functions of natural intelligence. Intelligent control functions fall in three categories. Declarative actions involve decision-making, providing models for system monitoring, goal planning, and system/scenario identification. Procedural actions concern skilled behavior and have parallels in guidance, navigation, and adaptation. Reflexive actions are spontaneous, inner-loop responses for control and estimation. Intelligent flight control systems learn knowledge of the aircraft and its mission and adapt to changes in the flight environment. Cognitive models form an efficient basis for integrating 'outer-loop/inner-loop' control functions and for developing robust parallel-processing algorithms.

A three-level support method for smooth switching of the micro-grid operation model

NASA Astrophysics Data System (ADS)

Zong, Yuanyang; Gong, Dongliang; Zhang, Jianzhou; Liu, Bin; Wang, Yun

2018-01-01

Smooth switching of micro-grid between the grid-connected operation mode and off-grid operation mode is one of the key technologies to ensure it runs flexible and efficiently. The basic control strategy and the switching principle of micro-grid are analyzed in this paper. The reasons for the fluctuations of the voltage and the frequency in the switching process are analyzed from views of power balance and control strategy, and the operation mode switching strategy has been improved targeted. From the three aspects of controller’s current inner loop reference signal, voltage outer loop control strategy optimization and micro-grid energy balance management, a three-level security strategy for smooth switching of micro-grid operation mode is proposed. From the three aspects of controller’s current inner loop reference signal tracking, voltage outer loop control strategy optimization and micro-grid energy balance management, a three-level strategy for smooth switching of micro-grid operation mode is proposed. At last, it is proved by simulation that the proposed control strategy can make the switching process smooth and stable, the fluctuation problem of the voltage and frequency has been effectively improved.

Feedback control laws for highly maneuverable aircraft

NASA Technical Reports Server (NTRS)

Garrard, William L.; Balas, Gary J.

1995-01-01

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

Optimized Assistive Human-Robot Interaction Using Reinforcement Learning.

PubMed

Modares, Hamidreza; Ranatunga, Isura; Lewis, Frank L; Popa, Dan O

2016-03-01

An intelligent human-robot interaction (HRI) system with adjustable robot behavior is presented. The proposed HRI system assists the human operator to perform a given task with minimum workload demands and optimizes the overall human-robot system performance. Motivated by human factor studies, the presented control structure consists of two control loops. First, a robot-specific neuro-adaptive controller is designed in the inner loop to make the unknown nonlinear robot behave like a prescribed robot impedance model as perceived by a human operator. In contrast to existing neural network and adaptive impedance-based control methods, no information of the task performance or the prescribed robot impedance model parameters is required in the inner loop. Then, a task-specific outer-loop controller is designed to find the optimal parameters of the prescribed robot impedance model to adjust the robot's dynamics to the operator skills and minimize the tracking error. The outer loop includes the human operator, the robot, and the task performance details. The problem of finding the optimal parameters of the prescribed robot impedance model is transformed into a linear quadratic regulator (LQR) problem which minimizes the human effort and optimizes the closed-loop behavior of the HRI system for a given task. To obviate the requirement of the knowledge of the human model, integral reinforcement learning is used to solve the given LQR problem. Simulation results on an x - y table and a robot arm, and experimental implementation results on a PR2 robot confirm the suitability of the proposed method.

A novel double loop control model design for chemical unstable processes.

PubMed

Cong, Er-Ding; Hu, Ming-Hui; Tu, Shan-Tung; Xuan, Fu-Zhen; Shao, Hui-He

2014-03-01

In this manuscript, based on Smith predictor control scheme for unstable process in industry, an improved double loop control model is proposed for chemical unstable processes. Inner loop is to stabilize integrating the unstable process and transform the original process to first-order plus pure dead-time dynamic stable process. Outer loop is to enhance the performance of set point response. Disturbance controller is designed to enhance the performance of disturbance response. The improved control system is simple with exact physical meaning. The characteristic equation is easy to realize stabilization. Three controllers are separately design in the improved scheme. It is easy to design each controller and good control performance for the respective closed-loop transfer function separately. The robust stability of the proposed control scheme is analyzed. Finally, case studies illustrate that the improved method can give better system performance than existing design methods. © 2013 ISA Published by ISA All rights reserved.

Coronagraphic Wavefront Control for the ATLAST-9.2m Telescope

NASA Technical Reports Server (NTRS)

Lyon, RIchard G.; Oegerle, William R.; Feinberg, Lee D.; Bolcar, Matthew R.; Dean, Bruce H.; Mosier, Gary E.; Postman, Marc

2010-01-01

The Advanced Technology for Large Aperture Space Telescope (ATLAST) concept was assessed as one of the NASA Astrophysics Strategic Mission Concepts (ASMC) studies. Herein we discuss the 9.2-meter diameter segmented aperture version and its wavefront sensing and control (WFSC) with regards to coronagraphic detection and spectroscopic characterization of exoplanets. The WFSC would consist of at least two levels of sensing and control: (i) an outer coarser level of sensing and control to phase and control the segments and secondary mirror in a manner similar to the James Webb Space Telescope but operating at higher temporal bandwidth, and (ii) an inner, coronagraphic instrument based, fine level of sensing and control for both amplitude and wavefront errors operating at higher temporal bandwidths. The outer loop would control rigid-body actuators on the primary and secondary mirrors while the inner loop would control one or more segmented deformable mirror to suppress the starlight within the coronagraphic field-of view. Herein we discuss the visible nulling coronagraph (VNC) and the requirements it levies on wavefront sensing and control and show the results of closed-loop simulations to assess performance and evaluate the trade space of system level stability versus control bandwidth.

Balanced bridge feedback control system

NASA Technical Reports Server (NTRS)

Lurie, Boris J. (Inventor)

1990-01-01

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

TRACING THE DEVELOPMENT OF TYPEWRITING SKILLS IN AN ADAPTIVE E-LEARNING ENVIRONMENT.

PubMed

van den Bergh, Mattis; Hofman, Abe D; Schmittmann, Verena D; van der Maas, Han L J

2015-12-01

Typewriting studies which compare novice and expert typists have suggested that highly trained typing skills involve cognitive process with an inner and outer loop, which regulate keystrokes and words, respectively. The present study investigates these loops longitudinally, using multi-level modeling of 1,091,707 keystroke latencies from 62 children (M age=12.6 yr.) following an online typing course. Using finger movement repetition as indicator of the inner loop and words typed as indicator of the outer loop, practicing keystroke latencies resulted in different developmental curves for each loop. Moreover, based on plateaus in the developmental curves, the inner loop seemed to require less practice to develop than the outer loop.

Double closed-loop cascade control for lower limb exoskeleton with elastic actuation.

PubMed

Zhu, Yanhe; Zheng, Tianjiao; Jin, Hongzhe; Yang, Jixing; Zhao, Jie

2015-01-01

Unlike traditional rigid actuators, the significant features of Series Elastic Actuator (SEA) are stable torque control, lower output impedance, impact resistance and energy storage. Recently, SEA has been applied in many exoskeletons. In such applications, a key issue is how to realize the human-exoskeleton movement coordination. In this paper, double closed-loop cascade control for lower limb exoskeleton with SEA is proposed. This control method consists of inner SEA torque loop and outer contact force loop. Utilizing the SEA torque control with a motor velocity loop, actuation performances of SEA are analyzed. An integrated exoskeleton control system is designed, in which joint angles are calculated by internal encoders and resolvers and contact forces are gathered by external pressure sensors. The double closed-loop cascade control model is established based on the feedback signals of internal and external sensor. Movement experiments are accomplished in our prototype of lower limb exoskeleton. Preliminary results indicate the exoskeleton movements with pilot can be realized stably by utilizing this double closed-loop cascade control method. Feasibility of the SEA in our exoskeleton robot and effectiveness of the control method are verified.

Vibration suppression using a proofmass actuator operating in stroke/force saturation

NASA Technical Reports Server (NTRS)

Lindner, D. K.; Celano, T. P.; Ide, E. N.

1991-01-01

The design of the control-loop structure for a feedback control system which contains a proofmass actuator for suppressing vibration is discussed. The loop structure is composed of inner control loops, which determine the frequency of the actuator and which are directly related to the actuator and the outer loops which add damping to the structure. When the frequency response of the actuator is matched to the stroke/force saturation curve, the actuator is most effective in the vibration suppression loops, and, since the stroke/force saturation curve is characterized by the stroke length, the mass of the proofmass, and the maximum current delivered by the motor electronics, the size of the actuator can be easily determined. The results of the loop-structure model calculations are verified by examining linear DC motors as proofmass actuators for the Mast in NASA's Control of Flexible Structures program.

Application of frequency domain handling qualities criteria to the longitudinal landing task

NASA Technical Reports Server (NTRS)

Sarrafian, S. K.; Powers, B. G.

1985-01-01

Three frequency-domain handling qualities criteria have been applied to the observed data to correlate the actual pilot ratings assigned to generic transport configurations with stability augmentation during the longitudinal landing task. The criteria are based on closed-loop techniques using pitch attitude, altitude rate at the pilot station, and altitude at the pilot station as dominating control parameters during this task. It is found that most promising results are obtained with altitude control performed by closing an inner loop on pitch attitude and closing an outer loop on altitude.

4D Hybrid Ensemble-Variational Data Assimilation for the NCEP GFS: Outer Loops and Variable Transforms

NASA Astrophysics Data System (ADS)

Kleist, D. T.; Ide, K.; Mahajan, R.; Thomas, C.

2014-12-01

The use of hybrid error covariance models has become quite popular for numerical weather prediction (NWP). One such method for incorporating localized covariances from an ensemble within the variational framework utilizes an augmented control variable (EnVar), and has been implemented in the operational NCEP data assimilation system (GSI). By taking the existing 3D EnVar algorithm in GSI and allowing for four-dimensional ensemble perturbations, coupled with the 4DVAR infrastructure already in place, a 4D EnVar capability has been developed. The 4D EnVar algorithm has a few attractive qualities relative to 4DVAR, including the lack of need for tangent-linear and adjoint model as well as reduced computational cost. Preliminary results using real observations have been encouraging, showing forecast improvements nearly as large as were found in moving from 3DVAR to hybrid 3D EnVar. 4D EnVar is the method of choice for the next generation assimilation system for use with the operational NCEP global model, the global forecast system (GFS). The use of an outer-loop has long been the method of choice for 4DVar data assimilation to help address nonlinearity. An outer loop involves the re-running of the (deterministic) background forecast from the updated initial condition at the beginning of the assimilation window, and proceeding with another inner loop minimization. Within 4D EnVar, a similar procedure can be adopted since the solver evaluates a 4D analysis increment throughout the window, consistent with the valid times of the 4D ensemble perturbations. In this procedure, the ensemble perturbations are kept fixed and centered about the updated background state. This is analogous to the quasi-outer loop idea developed for the EnKF. Here, we present results for both toy model and real NWP systems demonstrating the impact from incorporating outer loops to address nonlinearity within the 4D EnVar context. The appropriate amplitudes for observation and background error covariances in subsequent outer loops will be explored. Lastly, variable transformations on the ensemble perturbations will be utilized to help address issues of non-Gaussianity. This may be particularly important for variables that clearly have non-Gaussian error characteristics such as water vapor and cloud condensate.

A dual-loop adaptive control for minimizing time response delay in real-time structural vibration control with magnetorheological (MR) devices

NASA Astrophysics Data System (ADS)

Chen, Xi; Li, Yancheng; Li, Jianchun; Gu, Xiaoyu

2018-01-01

Time delay is a challenge issue faced by the real-time control application of the magnetorheological (MR) devices. Not to deal with it properly may jeopardize the effectiveness of the control, even lead to instability of the control system or catastrophic failure. This paper proposes a dual-loop adaptive control to address the response time delay associated with MR devices. In the proposed dual-loop control, the inner loop is designed to compensate the time delay of MR device induced by the PWM current driver. While the outer loop control can be any structural control algorithm with aims to reducing structural responses of a building during extreme loadings. Here an adaptive control strategy is adopted. To verify the proposed dual-loop control, a smart base isolation system employing magnetorheological elastomer base isolators is used as an example to illustrate the control effect. Numerical study is then conducted using a 5 -storey shear building model equipped with smart base isolation system. The result shows that with the implementation of the inner loop, the control current can instantly follow the control command which reduce the possibility of instability caused by the time delay. Comparative studies are conducted between three control strategies, i.e. dual-loop control, Lyapunov’s direct method based control and optimal passive base isolation control. The results of the study have demonstrated that the proposed dual-loop control strategy can achieve much better performance than the other two control strategies.

Control of a flexible link by shaping the closed loop frequency response function through optimised feedback filters

NASA Astrophysics Data System (ADS)

Del Vescovo, D.; D'Ambrogio, W.

1995-01-01

A frequency domain method is presented to design a closed-loop control for vibration reduction flexible mechanisms. The procedure is developed on a single-link flexible arm, driven by one rotary degree of freedom servomotor, although the same technique may be applied to similar systems such as supports for aerospace antennae or solar panels. The method uses the structural frequency response functions (FRFs), thus avoiding system identification, that produces modeling uncertainties. Two closed-loops are implemented: the inner loop uses acceleration feedback with the aim of making the FRF similar to that of an equivalent rigid link; the outer loop feeds back displacements to achieve a fast positioning response and null steady state error. In both cases, the controller type is established a priori, while actual characteristics are defined by an optimisation procedure in which the relevant FRF is constrained into prescribed bounds and stability is taken into account.

Motor Control and Regulation for a Flywheel Energy Storage System

NASA Technical Reports Server (NTRS)

Kenny, Barbara; Lyons, Valerie

2003-01-01

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

Cascade generalized predictive control strategy for boiler drum level.

PubMed

Xu, Min; Li, Shaoyuan; Cai, Wenjian

2005-07-01

This paper proposes a cascade model predictive control scheme for boiler drum level control. By employing generalized predictive control structures for both inner and outer loops, measured and unmeasured disturbances can be effectively rejected, and drum level at constant load is maintained. In addition, nonminimum phase characteristic and system constraints in both loops can be handled effectively by generalized predictive control algorithms. Simulation results are provided to show that cascade generalized predictive control results in better performance than that of well tuned cascade proportional integral differential controllers. The algorithm has also been implemented to control a 75-MW boiler plant, and the results show an improvement over conventional control schemes.

Full quaternion based finite-time cascade attitude control approach via pulse modulation synthesis for a spacecraft.

PubMed

Mazinan, A H; Pasand, M; Soltani, B

2015-09-01

In the aspect of further development of investigations in the area of spacecraft modeling and analysis of the control scheme, a new hybrid finite-time robust three-axis cascade attitude control approach is proposed via pulse modulation synthesis. The full quaternion based control approach proposed here is organized in association with both the inner and the outer closed loops. It is shown that the inner closed loop, which consists of the sliding mode finite-time control approach, the pulse width pulse frequency modulator, the control allocation and finally the dynamics of the spacecraft is realized to track the three-axis referenced commands of the angular velocities. The pulse width pulse frequency modulators are in fact employed in the inner closed loop to accommodate the control signals to a number of on-off thrusters, while the control allocation algorithm provides the commanded firing times for the reaction control thrusters in the overactuated spacecraft. Hereinafter, the outer closed loop, which consists of the proportional linear control approach and the kinematics of the spacecraft is correspondingly designed to deal with the attitude angles that are presented by quaternion vector. It should be noted that the main motivation of the present research is to realize a hybrid control method by using linear and nonlinear terms and to provide a reliable and robust control structure, which is able to track time varying three-axis referenced commands. Subsequently, a stability analysis is presented to verify the performance of the overall proposed cascade attitude control approach. To prove the effectiveness of the presented approach, a thorough investigation is presented compared to a number of recent corresponding benchmarks. Copyright © 2015 ISA. Published by Elsevier Ltd. All rights reserved.

Data preprocessing for determining outer/inner parallelization in the nested loop problem using OpenMP

NASA Astrophysics Data System (ADS)

Handhika, T.; Bustamam, A.; Ernastuti, Kerami, D.

2017-07-01

Multi-thread programming using OpenMP on the shared-memory architecture with hyperthreading technology allows the resource to be accessed by multiple processors simultaneously. Each processor can execute more than one thread for a certain period of time. However, its speedup depends on the ability of the processor to execute threads in limited quantities, especially the sequential algorithm which contains a nested loop. The number of the outer loop iterations is greater than the maximum number of threads that can be executed by a processor. The thread distribution technique that had been found previously only be applied by the high-level programmer. This paper generates a parallelization procedure for low-level programmer in dealing with 2-level nested loop problems with the maximum number of threads that can be executed by a processor is smaller than the number of the outer loop iterations. Data preprocessing which is related to the number of the outer loop and the inner loop iterations, the computational time required to execute each iteration and the maximum number of threads that can be executed by a processor are used as a strategy to determine which parallel region that will produce optimal speedup.

Multivariable control of the Space Shuttle Remote Manipulator System using linearization by state feedback. M.S. Thesis

NASA Technical Reports Server (NTRS)

Gettman, Chang-Ching LO

1993-01-01

This thesis develops and demonstrates an approach to nonlinear control system design using linearization by state feedback. The design provides improved transient response behavior allowing faster maneuvering of payloads by the SRMS. Modeling uncertainty is accounted for by using a second feedback loop designed around the feedback linearized dynamics. A classical feedback loop is developed to provide the easy implementation required for the relatively small on board computers. Feedback linearization also allows the use of higher bandwidth model based compensation in the outer loop, since it helps maintain stability in the presence of the nonlinearities typically neglected in model based designs.

Responses of microbial community functional structures to pilot-scale uranium in situ bioremediation

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

Xu, M.; Wu, W.-M.; Wu, L.

2010-02-15

A pilot-scale field test system with an inner loop nested within an outer loop was constructed for in situ U(VI) bioremediation at a US Department of Energy site, Oak Ridge, TN. The outer loop was used for hydrological protection of the inner loop where ethanol was injected for biostimulation of microorganisms for U(VI) reduction/immobilization. After 2 years of biostimulation with ethanol, U(VI) levels were reduced to below drinking water standard (<30 {micro}gl{sup -1}) in the inner loop monitoring wells. To elucidate the microbial community structure and functions under in situ uranium bioremediation conditions, we used a comprehensive functional gene arraymore » (GeoChip) to examine the microbial functional gene composition of the sediment samples collected from both inner and outer loop wells. Our study results showed that distinct microbial communities were established in the inner loop wells. Also, higher microbial functional gene number, diversity and abundance were observed in the inner loop wells than the outer loop wells. In addition, metal-reducing bacteria, such as Desulfovibrio, Geobacter, Anaeromyxobacter and Shewanella, and other bacteria, for example, Rhodopseudomonas and Pseudomonas, are highly abundant in the inner loop wells. Finally, the richness and abundance of microbial functional genes were highly correlated with the mean travel time of groundwater from the inner loop injection well, pH and sulfate concentration in groundwater. These results suggest that the indigenous microbial communities can be successfully stimulated for U bioremediation in the groundwater ecosystem, and their structure and performance can be manipulated or optimized by adjusting geochemical and hydrological conditions.« less

Adaptive Inner-Loop Rover Control

NASA Technical Reports Server (NTRS)

Kulkarni, Nilesh; Ippolito, Corey; Krishnakumar, Kalmanje; Al-Ali, Khalid M.

2006-01-01

Adaptive control technology is developed for the inner-loop speed and steering control of the MAX Rover. MAX, a CMU developed rover, is a compact low-cost 4-wheel drive, 4-wheel steer (double Ackerman), high-clearance agile durable chassis, outfitted with sensors and electronics that make it ideally suited for supporting research relevant to intelligent teleoperation and as a low-cost autonomous robotic test bed and appliance. The design consists of a feedback linearization based controller with a proportional - integral (PI) feedback that is augmented by an online adaptive neural network. The adaptation law has guaranteed stability properties for safe operation. The control design is retrofit in nature so that it fits inside the outer-loop path planning algorithms. Successful hardware implementation of the controller is illustrated for several scenarios consisting of actuator failures and modeling errors in the nominal design.

A new class of energy based control laws for revolute robot arms - Tracking control, robustness enhancement and adaptive control

NASA Technical Reports Server (NTRS)

Wen, John T.; Kreutz, Kenneth; Bayard, David S.

1988-01-01

A class of joint-level control laws for all-revolute robot arms is introduced. The analysis is similar to the recently proposed energy Liapunov function approach except that the closed-loop potential function is shaped in accordance with the underlying joint space topology. By using energy Liapunov functions with the modified potential energy, a much simpler analysis can be used to show closed-loop global asymptotic stability and local exponential stability. When Coulomb and viscous friction and model parameter errors are present, a sliding-mode-like modification of the control law is proposed to add a robustness-enhancing outer loop. Adaptive control is also addressed within the same framework. A linear-in-the-parameters formulation is adopted, and globally asymptotically stable adaptive control laws are derived by replacing the model parameters in the nonadaptive control laws by their estimates.

OUTER LOOP LANDFILL CASE STUDY

EPA Science Inventory

This presentation will describe the interim data reaulting from a CRADA between USEPA and Waste Management, Inc. at the outer Loop Landfill Bioreactor research project located in Louisville, KY. Recently updated data will be presented covering landfill solids, gas being collecte...

BIOREACTOR DESIGN - OUTER LOOP LANDFILL, LOUISVILLE, KY

EPA Science Inventory

Bioreactor field demonstration projects are underway at the Outer Loop Landfill in Louisville, KY, USA. The research effort is a cooperative research effort between US EPA and Waste Management Inc. Two primary kinds of municipal waste bioreactors are under study at this site. ...

Control theory analysis of a three-axis VTOL flight director. M.S. Thesis - Pennsylvania State Univ.

NASA Technical Reports Server (NTRS)

Niessen, F. R.

1971-01-01

A control theory analysis of a VTOL flight director and the results of a fixed-based simulator evaluation of the flight-director commands are discussed. The VTOL configuration selected for this study is a helicopter-type VTOL which controls the direction of the thrust vector by means of vehicle-attitude changes and, furthermore, employs high-gain attitude stabilization. This configuration is the same as one which was simulated in actual instrument flight tests with a variable stability helicopter. Stability analyses are made for each of the flight-director commands, assuming a single input-output, multi-loop system model for each control axis. The analyses proceed from the inner-loops to the outer-loops, using an analytical pilot model selected on the basis of the innermost-loop dynamics. The time response of the analytical model of the system is primarily used to adjust system gains, while root locus plots are used to identify dominant modes and mode interactions.

A description of the "event manager" role in resuscitations: A qualitative study of interviews and focus groups of resuscitation participants.

PubMed

Taylor, Katherine L; Parshuram, Christopher S; Ferri, Susan; Mema, Briseida

2017-06-01

Communication during resuscitation is essential for the provision of coordinated, effective care. Previously, we observed 44% of resuscitation communication originated from participants other than the physician team leader; 65% of which was directed to the team, exclusive of the team leader. We called this outer-loop communication. This institutional review board-approved qualitative study used grounded theory analysis of focus groups and interviews to describe and define outer-loop communication and the role of "event manager" as an additional "leader." Participants were health care staff involved in the medical management of resuscitations in a quaternary pediatric academic hospital. The following 3 domains were identified: the existence and rationale of outer-loop communication; the functions fulfilled by outer-loop communication; and the leadership and learning of event manager skills. The role was recognized by all team members and evolved organically as resuscitation complexity increased. A "good" manager has similar qualities to a "good team leader" with strong nontechnical skills. Event managers were not formally identified and no specific training had occurred. "Outer-loop" communication supports resuscitation activities. An event manager gives direction to the team, coordinates activities, and supports the team leader. We describe a new role in resuscitation in light of structural organizational theory and cognitive load with a view to incorporating this structure into resuscitation training. Copyright © 2017 Elsevier Inc. All rights reserved.

Blowout Surge due to Interaction between a Solar Filament and Coronal Loops

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

Li, Haidong; Jiang, Yunchun; Yang, Jiayan

2017-06-20

We present an observation of the interaction between a filament and the outer spine-like loops that produces a blowout surge within one footpoint of large-scale coronal loops on 2015 February 6. Based the observation of the AIA 304 and 94 Å, the activated filament is initially embedded below a dome of a fan-spine configuration. Due to the ascending motion, the erupting filament reconnects with the outer spine-like field. We note that the material in the filament blows out along the outer spine-like field to form the surge with a wider spire, and a two-ribbon flare appears at the site ofmore » the filament eruption. In this process, small bright blobs appear at the interaction region and stream up along the outer spine-like field and down along the eastern fan-like field. As a result, a leg of the filament becomes radial and the material in it erupts, while another leg forms the new closed loops. Our results confirm that the successive reconnection occurring between the erupting filament and the coronal loops may lead to a strong thermal/magnetic pressure imbalance, resulting in a blowout surge.« less

Artificial Intelligence for Controlling Robotic Aircraft

NASA Technical Reports Server (NTRS)

Krishnakumar, Kalmanje

2005-01-01

A document consisting mostly of lecture slides presents overviews of artificial-intelligence-based control methods now under development for application to robotic aircraft [called Unmanned Aerial Vehicles (UAVs) in the paper] and spacecraft and to the next generation of flight controllers for piloted aircraft. Following brief introductory remarks, the paper presents background information on intelligent control, including basic characteristics defining intelligent systems and intelligent control and the concept of levels of intelligent control. Next, the paper addresses several concepts in intelligent flight control. The document ends with some concluding remarks, including statements to the effect that (1) intelligent control architectures can guarantee stability of inner control loops and (2) for UAVs, intelligent control provides a robust way to accommodate an outer-loop control architecture for planning and/or related purposes.

Control of wheeled mobile robot in restricted environment

NASA Astrophysics Data System (ADS)

Ali, Mohammed A. H.; En, Chang Yong

2018-03-01

This paper presents a simulation and practical control system for wheeled mobile robot in restricted environment. A wheeled mobile robot with 3 wheels is fabricated and controlled by proportional derivative active force control (PD-AFC) to move in a pre-planned restricted environment to maintain the tracking errors at zero level. A control system with two loops, outer by PD controller and inner loop by Active Force Control, are designed to control the wheeled mobile robot. Fuzzy logic controller is implemented in the Active force Control to estimate the inertia matrix that will be used to calculate the actual torque applied on the wheeled mobile robot. The mobile robot is tested in two different trajectories, namely are circular and straight path. The actual path and desired path are compared.

Thermal performance of a multi-evaporator loop heat pipe with thermal masses and thermal electrical coolers

NASA Technical Reports Server (NTRS)

Ku, Jentung; Ottenstein, Laura; Birur, Gajanana

2004-01-01

This paper describes thermal performance of a loop heat pipe (LHP) with two evaporators and two condensers in ambient testing. Each evaporator has an outer diameter of 15mm and a length of 76mm, and has an integral compensation chamber (CC). An aluminum mass of 500 grams is attached to each evaporator to simulate the instrument mass. A thermal electric cooler (TEC) is installed on each CC to provide heating as well as cooling for CC temperature control. A flow regulator is installed in the condenser section to prevent vapor from going back to the evaporators in the event that one of condenser is fully utilized. Ammonia was used ad the working fluid. Tests conducted included start-up, power cycle, heat load sharing, sink temperature cycle, operating temperature control with TECs, and capillary limit tests. Experimental data showed that the loop could start with a heat load of less than 1OW even with added thermal masses. The loop operated stably with even and uneven evaporator heat loads, and even and uneven condenser sink temperatures. The operating temperature could be controlled within +/-0.5K of the set point temperature using either or both TECs, and the required TEC control heater power was less than 2W under most test conditions. Heat load sharing between the two evaporators was also successfully demonstrated. The loop had a heat transport capability of 120W to 140W, and could recover from a dry-out when the heat load was reduced. The 500-gram aluminum mass on each evaporator had a negligible effect on the loop operation. Existing LHPs servicing the orbiting spacecraft have a single evaporator with an outer diameter of about 25mm. Important performance characteristics demonstrated by this LHP included: 1) Operation of an LHP with 15mm diameter evaporators; 2) Robustness and reliability of an LHP with multiple evaporators and multiple condensers under various test conditions; 3) Heat load sharing among LHP evaporators; 4) Effectiveness of TECs in controlling the LHP operating temperature; and 5) Effectiveness of the flow regulator in preventing vapor from going back the evaporators.

Thermal Performance of a Multi-Evaporator Loop Heat Pipe with Thermal Masses and Thermoelectric Coolers

NASA Technical Reports Server (NTRS)

Ku, Jen-Tung; Ottenstein, Laura; Birur, Gajanana

2004-01-01

This paper describes thermal performance of a loop heat pipe (LHP) with two evaporators and two condensers in ambient testing. Each evaporator has an outer diameter of 15mm and a length of 76mm, and has an integral compensation chamber (CC). An aluminum mass of 500 grams is attached to each evaporator to simulate the instrument mass. A thermoelectric cooler (TEC) is installed on each CC to provide heating as well as cooling for CC temperature control. A flow regulator is installed in the condenser section to prevent vapor from going back to the evaporators in the event that one of the condensers is fully utilized. Ammonia was used as the working fluid. Tests conducted included start-up, power cycle, heat load sharing, sink temperature cycle, operating temperature control with TECs, and capillary limit tests. Experimental data showed that the loop could start with a heat load of less than 10W even with added thermal masses. The loop operated stably with even and uneven evaporator heat loads, and even and uneven condenser sink temperatures. The operating temperature could be controlled within +/- 0.5K of the set point temperature using either or both TECs, and the required TEC control heater power was less than 2W under most test conditions. Heat load sharing between the two evaporators was also successfully demonstrated. The loop had a heat transport capability of 120W to 140W, and could recover from a dry-out when the heat load was reduced. The 500-gram aluminum mass on each evaporator had a negligible effect on the loop operation. Existing LHPs servicing orbiting spacecraft have a single evaporator with an outer diameter of about 25mm. Important performance characteristics demonstrated by this LHP included: 1) Operation of an LHP with 15mm diameter evaporators; 2) Robustness and reliability of an LHP with multiple evaporators and multiple condensers under various test conditions; 3) Heat load sharing among LHP evaporators; 4) Effectiveness of TECs in controlling the LHP operating temperature; and 5 ) Effectiveness of the flow regulator in preventing vapor from going back the evaporators.

Validation of Digital Systems in Avionics and Flight Control Applications Handbook. Volume 1.

DTIC Science & Technology

1983-07-01

will also be available to Airways Facilities, Systems Research and Development Service, Air Traffic Control Service, and Flight Standards elements...2114, March 12-14, 1979. 3. Validation Methods Research for Fault-Tolerant Avionics and Control Systems-- *r Working Group Meeting II, NASA...command generation with the multiple methods becoming avail- able for closure of the outer control loop necessitates research on alternative integration

Adaptive cruise control with stop&go function using the state-dependent nonlinear model predictive control approach.

PubMed

Shakouri, Payman; Ordys, Andrzej; Askari, Mohamad R

2012-09-01

In the design of adaptive cruise control (ACC) system two separate control loops - an outer loop to maintain the safe distance from the vehicle traveling in front and an inner loop to control the brake pedal and throttle opening position - are commonly used. In this paper a different approach is proposed in which a single control loop is utilized. The objective of the distance tracking is incorporated into the single nonlinear model predictive control (NMPC) by extending the original linear time invariant (LTI) models obtained by linearizing the nonlinear dynamic model of the vehicle. This is achieved by introducing the additional states corresponding to the relative distance between leading and following vehicles, and also the velocity of the leading vehicle. Control of the brake and throttle position is implemented by taking the state-dependent approach. The model demonstrates to be more effective in tracking the speed and distance by eliminating the necessity of switching between the two controllers. It also offers smooth variation in brake and throttle controlling signal which subsequently results in a more uniform acceleration of the vehicle. The results of proposed method are compared with other ACC systems using two separate control loops. Furthermore, an ACC simulation results using a stop&go scenario are shown, demonstrating a better fulfillment of the design requirements. Copyright © 2012 ISA. Published by Elsevier Ltd. All rights reserved.

Regulative Loops, Step Loops and Task Loops

ERIC Educational Resources Information Center

VanLehn, Kurt

2016-01-01

This commentary suggests a generalization of the conception of the behavior of tutoring systems, which the target article characterized as having an outer loop that was executed once per task and an inner loop that was executed once per step of the task. A more general conception sees these two loops as instances of regulative loops, which…

Fast steering and quick positioning of large field-of-regard, two-axis, four-gimbaled sight

NASA Astrophysics Data System (ADS)

Ansari, Zahir Ahmed; Nigam, Madhav Ji; Kumar, Avnish

2017-07-01

Fast steering and quick positioning are prime requirements of the current electro-optical tracking system to achieve quick target acquisition. A scheme has been proposed for realizing these features using two-axis, four-gimbaled sight. For steering the line of sight in the stabilization mode, outer gimbal is slaved to the gyro stabilized inner gimbal. Typically, the inner gimbals have direct drives and outer gimbals have geared drives, which result in a mismatch in the acceleration capability of their servo loops. This limits the allowable control bandwidth for the inner gimbal. However, to achieve high stabilization accuracy, high bandwidth control loops are essential. This contradictory requirement has been addressed by designing a suitable command conditioning module for the inner gimbals. Also, large line-of-sight freedom in pitch axis is required to provide a wide area surveillance capacity for airborne application. This leads to a loss of freedom along the yaw axis as the pitch angle goes beyond 70 deg or so. This is addressed by making the outer gimbal master after certain pitch angle. Moreover, a mounting scheme for gyro has been proposed to accomplish yaw axis stabilization for 110-deg pitch angle movement with a single two-axis gyro.

Study of Fluid Cooling Loop System in Chinese Manned Spacecraft

NASA Astrophysics Data System (ADS)

Jiang, Jun; Xu, Jiwan; Fan, Hanlin; Huang, Jiarong

2002-01-01

change. To solve the questions, a fluid cooling loop system must be applied to Chinese manned spacecraft besides other conventional thermal control methods, such as thermal control coatings, multiplayer insulation blankets, heat pipes, electro-heating adjustment temperature devices, and so on. The paper will introduce the thermal design of inner and outer fluid loop including their constitution and fundamental, etc. The capability of heat transportation and the accuracy of control temperature for the fluid loop will be evaluated and analyzed. To insure the air temperature of sealed cabins within 21+/-4, the inlet liquid temperature of condensing heat exchanger needs to be controlled within 9+/-2. To insure this, the inlet liquid temperature of middle heat exchanger needs to be controlled within 8+/-1.8. The inlet temperature point is controlled by a subsidiary loop adjusting: when the computer receives feedbacks of the deviation and the variety rate of deviation from the controlled temperature point. It drives the temperature control valve to adjust the flow flux distribution between the main loop through radiator and the subsidiary loop which isn't through radiator to control the temperature of the mixed fluid within 8+/-1.8. The paper will also introduce thermal designs of key parts in the cooling loop, such as space radiators, heat exchangers and cooling plates. Thermal simulated tests on the ground and flight tests have been performed to verify correctness of thermal designs. rational and the loop system works order. It realizes the circulation of absorbing heat dissipation to the loop and transferring it to radiator then radiating it to space. (2) loop control system controls inlet temperature of middle heat exchanger within 8+/-1.8 under various thermal cases. Thermal design of the middle heat exchanger insures inlet temperature of condensing heat within 9+/-2. Thereby, the air temperature of sealed cabins is controlled within about 21+/-4 accurately. (3) The thermal designs of the key heat exchanging parts (such as radiator, heat exchangers and cooling plates) in the cooling loop are rational and effective, they meet the requirements of heat exchanging and assure the entire system work order.

Genetic algorithm for nuclear data evaluation

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

Arthur, Jennifer Ann

These are slides on genetic algorithm for nuclear data evaluation. The following is covered: initial population, fitness (outer loop), calculate fitness, selection (first part of inner loop), reproduction (second part of inner loop), solution, and examples.

Multi-Objective Hybrid Optimal Control for Multiple-Flyby Interplanetary Mission Design Using Chemical Propulsion

NASA Technical Reports Server (NTRS)

Englander, Jacob; Vavrina, Matthew

2015-01-01

The customer (scientist or project manager) most often does not want just one point solution to the mission design problem Instead, an exploration of a multi-objective trade space is required. For a typical main-belt asteroid mission the customer might wish to see the trade-space of: Launch date vs. Flight time vs. Deliverable mass, while varying the destination asteroid, planetary flybys, launch year, etcetera. To address this question we use a multi-objective discrete outer-loop which defines many single objective real-valued inner-loop problems.

Androgynous, Reconfigurable Closed Loop Feedback Controlled Low Impact Docking System With Load Sensing Electromagnetic Capture Ring

NASA Technical Reports Server (NTRS)

Lewis, James L. (Inventor); Carroll, Monty B. (Inventor); Morales, Ray H. (Inventor); Le, Thang D. (Inventor)

2002-01-01

The present invention relates to a fully androgynous, reconfigurable closed loop feedback controlled low impact docking system with load sensing electromagnetic capture ring. The docking system of the present invention preferably comprises two Docking- assemblies, each docking assembly comprising a load sensing ring having an outer face, one of more electromagnets, one or more load cells coupled to said load sensing ring. The docking assembly further comprises a plurality of actuator arms coupled to said load sensing ring and capable of dynamically adjusting the orientation of said load sensing ring and a reconfigurable closed loop control system capable of analyzing signals originating from said plurality of load cells and of outputting real time control for each of the actuators. The docking assembly of the present invention incorporates an active load sensing system to automatically dynamically adjust the load sensing ring during capture instead of requiring significant force to push and realign the ring.

Dual-loop self-optimizing robust control of wind power generation with Doubly-Fed Induction Generator.

PubMed

Chen, Quan; Li, Yaoyu; Seem, John E

2015-09-01

This paper presents a self-optimizing robust control scheme that can maximize the power generation for a variable speed wind turbine with Doubly-Fed Induction Generator (DFIG) operated in Region 2. A dual-loop control structure is proposed to synergize the conversion from aerodynamic power to rotor power and the conversion from rotor power to the electrical power. The outer loop is an Extremum Seeking Control (ESC) based generator torque regulation via the electric power feedback. The ESC can search for the optimal generator torque constant to maximize the rotor power without wind measurement or accurate knowledge of power map. The inner loop is a vector-control based scheme that can both regulate the generator torque requested by the ESC and also maximize the conversion from the rotor power to grid power. An ℋ(∞) controller is synthesized for maximizing, with performance specifications defined based upon the spectrum of the rotor power obtained by the ESC. Also, the controller is designed to be robust against the variations of some generator parameters. The proposed control strategy is validated via simulation study based on the synergy of several software packages including the TurbSim and FAST developed by NREL, Simulink and SimPowerSystems. Copyright © 2015 ISA. Published by Elsevier Ltd. All rights reserved.

Development of a Design Methodology for Reconfigurable Flight Control Systems

NASA Technical Reports Server (NTRS)

Hess, Ronald A.; McLean, C.

2000-01-01

A methodology is presented for the design of flight control systems that exhibit stability and performance-robustness in the presence of actuator failures. The design is based upon two elements. The first element consists of a control law that will ensure at least stability in the presence of a class of actuator failures. This law is created by inner-loop, reduced-order, linear dynamic inversion, and outer-loop compensation based upon Quantitative Feedback Theory. The second element consists of adaptive compensators obtained from simple and approximate time-domain identification of the dynamics of the 'effective vehicle' with failed actuator(s). An example involving the lateral-directional control of a fighter aircraft is employed both to introduce the proposed methodology and to demonstrate its effectiveness and limitations.

Passivity-based control of linear time-invariant systems modelled by bond graph

NASA Astrophysics Data System (ADS)

Galindo, R.; Ngwompo, R. F.

2018-02-01

Closed-loop control systems are designed for linear time-invariant (LTI) controllable and observable systems modelled by bond graph (BG). Cascade and feedback interconnections of BG models are realised through active bonds with no loading effect. The use of active bonds may lead to non-conservation of energy and the overall system is modelled by proposed pseudo-junction structures. These structures are build by adding parasitic elements to the BG models and the overall system may become singularly perturbed. The structures for these interconnections can be seen as consisting of inner structures that satisfy energy conservation properties and outer structures including multiport-coupled dissipative fields. These fields highlight energy properties like passivity that are useful for control design. In both interconnections, junction structures and dissipative fields for the controllers are proposed, and passivity is guaranteed for the closed-loop systems assuring robust stability. The cascade interconnection is applied to the structural representation of closed-loop transfer functions, when a stabilising controller is applied to a given nominal plant. Applications are given when the plant and the controller are described by state-space realisations. The feedback interconnection is used getting necessary and sufficient stability conditions based on the closed-loop characteristic polynomial, solving a pole-placement problem and achieving zero-stationary state error.

Lyapunov function-based control laws for revolute robot arms - Tracking control, robustness, and adaptive control

NASA Technical Reports Server (NTRS)

Wen, John T.; Kreutz-Delgado, Kenneth; Bayard, David S.

1992-01-01

A new class of joint level control laws for all-revolute robot arms is introduced. The analysis is similar to a recently proposed energy-like Liapunov function approach, except that the closed-loop potential function is shaped in accordance with the underlying joint space topology. This approach gives way to a much simpler analysis and leads to a new class of control designs which guarantee both global asymptotic stability and local exponential stability. When Coulomb and viscous friction and parameter uncertainty are present as model perturbations, a sliding mode-like modification of the control law results in a robustness-enhancing outer loop. Adaptive control is formulated within the same framework. A linear-in-the-parameters formulation is adopted and globally asymptotically stable adaptive control laws are derived by simply replacing unknown model parameters by their estimates (i.e., certainty equivalence adaptation).

A Pilot Model for the NASA Simplified Aid for EVA Rescue (SAFER) (Single-Axis Pitch Task)

NASA Astrophysics Data System (ADS)

Handley, Patrick Mark

This thesis defines, tests, and validates a descriptive pilot model for a single-axis pitch control task of the Simplified Aid for EVA Rescue (SAFER). SAFER is a small propulsive jetpack used by astronauts for self-rescue. Pilot model research supports development of improved self-rescue strategies and technologies through insights into pilot behavior.This thesis defines a multi-loop pilot model. The innermost loop controls the hand controller, the middle loop controls pitch rate, and the outer loop controls pitch angle. A human-in-the-loop simulation was conducted to gather data from a human pilot. Quantitative and qualitative metrics both indicate that the model is an acceptable fit to the human data. Fuel consumption was nearly identical; time to task completion matched very well. There is some evidence that the model responds faster to initial pitch rates than the human, artificially decreasing the model's time to task completion. This pilot model is descriptive, not predictive, of the human pilot. Insights are made into pilot behavior from this research. Symmetry implies that the human responds to positive and negative initial conditions with the same strategy. The human pilot appears indifferent to pitch angles within 0.5 deg, coasts at a constant pitch rate 1.09 deg/s, and has a reaction delay of 0.1 s.

High Torque-to-Inertia Servo System for Stabilizing Sensor Systems. Candidate Systems Include Missile Guidance, Surveillance, and Tracking

DTIC Science & Technology

1980-04-01

specifications ... 3-10 25. Typical isolation curve ... 3-12 26. Servo amp/motor/load frequency response (inner gimbal) ... 4-3 27. Slave loop ( open loop...slave loop ( open loop) frequency response (inner gimbal) . . . 4-4 30. Slave loop (closed loop) frequency response (inner gimbal) ... 4-5 3 . Slave...loop inner gimbal time response ... 4-5 32. Servo amp/motor/load frequency response (outer gimbal) ... 4-6 33. Slave loop ( open loop) uncompensated

X-38 Experimental Controls Laws

NASA Technical Reports Server (NTRS)

Munday, Steve; Estes, Jay; Bordano, Aldo J.

2000-01-01

X-38 Experimental Control Laws X-38 is a NASA JSC/DFRC experimental flight test program developing a series of prototypes for an International Space Station (ISS) Crew Return Vehicle, often called an ISS "lifeboat." X- 38 Vehicle 132 Free Flight 3, currently scheduled for the end of this month, will be the first flight test of a modem FCS architecture called Multi-Application Control-Honeywell (MACH), originally developed by the Honeywell Technology Center. MACH wraps classical P&I outer attitude loops around a modem dynamic inversion attitude rate loop. The dynamic inversion process requires that the flight computer have an onboard aircraft model of expected vehicle dynamics based upon the aerodynamic database. Dynamic inversion is computationally intensive, so some timing modifications were made to implement MACH on the slower flight computers of the subsonic test vehicles. In addition to linear stability margin analyses and high fidelity 6-DOF simulation, hardware-in-the-loop testing is used to verify the implementation of MACH and its robustness to aerodynamic and environmental uncertainties and disturbances.

A Reconfiguration Scheme for Accommodating Actuator Failures in Multi-Input, Multi-Output Flight Control Systems

NASA Technical Reports Server (NTRS)

Siwakosit, W.; Hess, R. A.; Bacon, Bart (Technical Monitor); Burken, John (Technical Monitor)

2000-01-01

A multi-input, multi-output reconfigurable flight control system design utilizing a robust controller and an adaptive filter is presented. The robust control design consists of a reduced-order, linear dynamic inversion controller with an outer-loop compensation matrix derived from Quantitative Feedback Theory (QFT). A principle feature of the scheme is placement of the adaptive filter in series with the QFT compensator thus exploiting the inherent robustness of the nominal flight control system in the presence of plant uncertainties. An example of the scheme is presented in a pilot-in-the-loop computer simulation using a simplified model of the lateral-directional dynamics of the NASA F18 High Angle of Attack Research Vehicle (HARV) that included nonlinear anti-wind up logic and actuator limitations. Prediction of handling qualities and pilot-induced oscillation tendencies in the presence of these nonlinearities is included in the example.

Model identification of terfenol-D magnetostrictive actuator for precise positioning control

NASA Astrophysics Data System (ADS)

Saleem, Ashraf; Ghodsi, Mojtaba; Mesbah, Mostefa; Ozer, Abdullah

2016-04-01

Feedback control strategies are desirable for disturbance rejection of human-induced vibrations in civil engineering structures as human walking forces cannot easily be measured. In relation to human-induced vibration control studies, most past researches have focused on floors and footbridges and the widely used linear controller implemented in the trials has been the direct velocity feedback (DVF) scheme. With appropriate compensation to enhance its robustness, it has been shown to be effective at damping out the problematic modes of vibration of the structures in which the active vibration control systems have been implemented. The work presented here introduces a disturbance observer (DOB) that is used with an outer-loop DVF controller. Results of analytical studies presented in this work based on the dynamic properties of a walkway bridge structure demonstrate the potential of this approach for enhancing the vibration mitigation performance offered by a purely DVF controller. For example, estimates of controlled frequency response functions indicate improved attenuation of vibration around the dominant frequency of the walkway bridge structure as well as at higher resonant frequencies. Controlled responses from three synthesized walking excitation forces on a walkway bridge structure model show that the inclusion of the disturbance observer with an outer loop DVF has potential to improve on the vibration mitigation performance by about 3.5% at resonance and 6-10% off-resonance. These are realised with hard constraints being imposed on the low frequency actuator displacements.

Incorporating a disturbance observer with direct velocity feedback for control of human-induced vibrations

NASA Astrophysics Data System (ADS)

Nyawako, Donald; Reynolds, Paul; Hudson, Emma

2016-04-01

Feedback control strategies are desirable for disturbance rejection of human-induced vibrations in civil engineering structures as human walking forces cannot easily be measured. In relation to human-induced vibration control studies, most past researches have focused on floors and footbridges and the widely used linear controller implemented in the trials has been the direct velocity feedback (DVF) scheme. With appropriate compensation to enhance its robustness, it has been shown to be effective at damping out the problematic modes of vibration of the structures in which the active vibration control systems have been implemented. The work presented here introduces a disturbance observer (DOB) that is used with an outer-loop DVF controller. Results of analytical studies presented in this work based on the dynamic properties of a walkway bridge structure demonstrate the potential of this approach for enhancing the vibration mitigation performance offered by a purely DVF controller. For example, estimates of controlled frequency response functions indicate improved attenuation of vibration around the dominant frequency of the walkway bridge structure as well as at higher resonant frequencies. Controlled responses from three synthesized walking excitation forces on a walkway bridge structure model show that the inclusion of the disturbance observer with an outer loop DVF has potential to improve on the vibration mitigation performance by about 3.5% at resonance and 6-10% off-resonance. These are realised with hard constraints being imposed on the low frequency actuator displacements.

Calculation of gyrosynchrotron radiation brightness temperature for outer bright loop of ICME

NASA Astrophysics Data System (ADS)

Sun, Weiying; Wu, Ji; Wang, C. B.; Wang, S.

:Solar polar orbit radio telescope (SPORT) is proposed to detect the high density plasma clouds of outer bright loop of ICMEs from solar orbit with large inclination. Of particular interest is following the propagation of the plasma clouds with remote sensor in radio wavelength band. Gyrosynchrotron emission is a main radio radiation mechanism of the plasma clouds and can provide information of interplanetary magnetic field. In this paper, we statistically analyze the electron density, electron temperature and magnetic field of background solar wind in time of quiet sun and ICMEs propagation. We also estimate the fluctuation range of the electron density, electron temperature and magnetic field of outer bright loop of ICMEs. Moreover, we calculate and analyze the emission brightness temperature and degree of polarization on the basis of the study of gyrosynchrotron emission, absorption and polarization characteristics as the optical depth is less than or equal to 1.

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).

Failure detection and identification for a reconfigurable flight control system

NASA Technical Reports Server (NTRS)

Dallery, Francois

1987-01-01

Failure detection and identification logic for a fault-tolerant longitudinal control system were investigated. Aircraft dynamics were based upon the cruise condition for a hypothetical transonic business jet transport configuration. The fault-tolerant control system consists of conventional control and estimation plus a new outer loop containing failure detection, identification, and reconfiguration (FDIR) logic. It is assumed that the additional logic has access to all measurements, as well as to the outputs of the control and estimation logic. The pilot may also command the FDIR logic to perform special tests.

USAF Dehumidification Efforts for Corrosion Control

DTIC Science & Technology

2011-08-16

Stored AGE Renewable energy powers dehumidification equipment (DH) DH maintains dry air in storage booths, protecting AGE equipment from...lighting also powered by renewable energy 11 CHP Shelters • Used to prevent corrosion on outer skin • Being developed for the F-22 at...DH can be Sheltered or Unsheltered • Air Dehydration Units - Uses a self rejuvenating desiccant wheel dehumidifier - Closed or open loop

Circuit Regulates Speed Of dc Motor

NASA Technical Reports Server (NTRS)

Weaver, Charles; Padden, Robin; Brown, Floyd A., Jr.

1990-01-01

Driving circuit regulates speed of small dc permanent-magnet motor in tape recorder. Two nested feedback loops maintain speed within 1 percent of constant value. Inner loop provides coarse regulation, while outer loop removes most of variation in speed that remains in the presence of regulation by the inner loop. Compares speed of motor with commanded speed and adjusts current supplied to motor accordingly.

Combining a Disturbance Observer with Triple-Loop Control Based on MEMS Accelerometers for Line-of-Sight Stabilization

PubMed Central

Huang, Yongmei; Deng, Chao; Ren, Wei; Wu, Qiongyan

2017-01-01

In the CCD-based fine tracking optical system (FTOS), the whole disturbance suppression ability (DSA) is the product of the inner loop and outer position loop. Traditionally, high sampling fiber-optic gyroscopes (FOGs) are added to the platform to stabilize the line-of-sight (LOS). However, because of the FOGs’ high cost and relatively big volume relative to the back narrow space of small rotating mirrors, we attempt in this work to utilize a cheaper and smaller micro-electro-mechanical system (MEMS) accelerometer to build the inner loop, replacing the FOG. Unfortunately, since accelerometers are susceptible to the low-frequency noise, according to the classical way of using accelerometers, the crucial low-frequency DSA of the system is insufficient. To solve this problem, in this paper, we propose an approach based on MEMS accelerometers combining disturbance observer (DOB) with triple-loop control (TLC) in which the composite velocity loop is built by acceleration integration and corrected by CCD. The DOB is firstly used to reform the platform, greatly improving the medium-frequency DSA. Then the composite velocity loop exchanges a part of medium-frequency performance for the low-frequency DSA. A detailed analysis and experiments verify the proposed method has a better DSA than the traditional way and could totally substitute FOG in the LOS stabilization. PMID:29149050

Investigation of Multi-Input Multi-Output Robust Control Methods to Handle Parametric Uncertainties in Autopilot Design.

PubMed

Kasnakoğlu, Coşku

2016-01-01

Some level of uncertainty is unavoidable in acquiring the mass, geometry parameters and stability derivatives of an aerial vehicle. In certain instances tiny perturbations of these could potentially cause considerable variations in flight characteristics. This research considers the impact of varying these parameters altogether. This is a generalization of examining the effects of particular parameters on selected modes present in existing literature. Conventional autopilot designs commonly assume that each flight channel is independent and develop single-input single-output (SISO) controllers for every one, that are utilized in parallel for actual flight. It is demonstrated that an attitude controller built like this can function flawlessly on separate nominal cases, but can become unstable with a perturbation no more than 2%. Two robust multi-input multi-output (MIMO) design strategies, specifically loop-shaping and μ-synthesis are outlined as potential substitutes and are observed to handle large parametric changes of 30% while preserving decent performance. Duplicating the loop-shaping procedure for the outer loop, a complete flight control system is formed. It is confirmed through software-in-the-loop (SIL) verifications utilizing blade element theory (BET) that the autopilot is capable of navigation and landing exposed to high parametric variations and powerful winds.

Investigation of Multi-Input Multi-Output Robust Control Methods to Handle Parametric Uncertainties in Autopilot Design

PubMed Central

Kasnakoğlu, Coşku

2016-01-01

Some level of uncertainty is unavoidable in acquiring the mass, geometry parameters and stability derivatives of an aerial vehicle. In certain instances tiny perturbations of these could potentially cause considerable variations in flight characteristics. This research considers the impact of varying these parameters altogether. This is a generalization of examining the effects of particular parameters on selected modes present in existing literature. Conventional autopilot designs commonly assume that each flight channel is independent and develop single-input single-output (SISO) controllers for every one, that are utilized in parallel for actual flight. It is demonstrated that an attitude controller built like this can function flawlessly on separate nominal cases, but can become unstable with a perturbation no more than 2%. Two robust multi-input multi-output (MIMO) design strategies, specifically loop-shaping and μ-synthesis are outlined as potential substitutes and are observed to handle large parametric changes of 30% while preserving decent performance. Duplicating the loop-shaping procedure for the outer loop, a complete flight control system is formed. It is confirmed through software-in-the-loop (SIL) verifications utilizing blade element theory (BET) that the autopilot is capable of navigation and landing exposed to high parametric variations and powerful winds. PMID:27783706

Identification of outer membrane proteins with emulsifying activity by prediction of beta-barrel regions.

PubMed

Walzer, Gil; Rosenberg, Eugene; Ron, Eliora Z

2009-01-01

Microbial bioemulsifiers are secreted by many bacteria and are important for bacterial interactions with hydrophobic substrates or nutrients and for a variety of biotechnological applications. We have recently shown that the OmpA protein in several members of the Acinetobacter family has emulsifying properties. These properties of OmpA depend on the amino acid composition of four putative extra-membrane loops, which in various strains of Acinetobacter, but not in E. coli, are highly hydrophobic. As many Acinetobacter strains can utilize hydrophobic carbon sources, such as oil, the emulsifying activity of their OmpA may be important for the utilization and uptake of hydrocarbons. We assumed that if outer membrane proteins with emulsifying activity are physiologically important, they may exist in additional oil degrading bacteria. In order to identify such proteins, it was necessary to obtain bioinformatics-based predictions for hydrophobic extra-membrane loops. Here we describe a method for using protein sequence data for predicting the hydrophobic properties of the extra-membrane loops of outer membrane proteins. The feasibility of this method is demonstrated by its use to identify a new microbial bioemulsifier - OprG - an outer membrane protein of the oil degrading Pseudomonas putida KT2440.

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.

Nonlinear feedback control for high alpha flight

NASA Technical Reports Server (NTRS)

Stalford, Harold

1990-01-01

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

Microcomputer based controller for the Langley 0.3-meter Transonic Cryogenic Tunnel

NASA Technical Reports Server (NTRS)

Balakrishna, S.; Kilgore, W. Allen

1989-01-01

Flow control of the Langley 0.3-meter Transonic Cryogenic Tunnel (TCT) is a multivariable nonlinear control problem. Globally stable control laws were generated to hold tunnel conditions in the presence of geometrical disturbances in the test section and precisely control the tunnel states for small and large set point changes. The control laws are mechanized as four inner control loops for tunnel pressure, temperature, fan speed, and liquid nitrogen supply pressure, and two outer loops for Mach number and Reynolds number. These integrated control laws have been mechanized on a 16-bit microcomputer working on DOS. This document details the model of the 0.3-m TCT, control laws, microcomputer realization, and its performance. The tunnel closed loop responses to small and large set point changes were presented. The controller incorporates safe thermal management of the tunnel cooldown based on thermal restrictions. The controller was shown to provide control of temperature to + or - 0.2K, pressure to + or - 0.07 psia, and Mach number to + or - 0.002 of a given set point during aerodynamic data acquisition in the presence of intrusive geometrical changes like flexwall movement, angle-of-attack changes, and drag rake traverse. The controller also provides a new feature of Reynolds number control. The controller provides a safe, reliable, and economical control of the 0.3-m TCT.

On the dependence of information display quality requirements upon human characteristics and pilot/automatics relations

NASA Technical Reports Server (NTRS)

Wilckens, V.

1972-01-01

Present information display concepts for pilot landing guidance are outlined considering manual control as well as substitution of man by fully competent automatics. Display improvements are achieved by compressing the distributed indicators into an accumulative display and thus reducing information scanning. Complete integration of quantitative indications, outer loop information, and real world display in a pictorial information channel geometry constitutes an interface with human ability to differentiate and integrate for optimal manual control of the aircraft.

Trajectory following and stabilization control of fully actuated AUV using inverse kinematics and self-tuning fuzzy PID.

PubMed

Hammad, Mohanad M; Elshenawy, Ahmed K; El Singaby, M I

2017-01-01

In this work a design for self-tuning non-linear Fuzzy Proportional Integral Derivative (FPID) controller is presented to control position and speed of Multiple Input Multiple Output (MIMO) fully-actuated Autonomous Underwater Vehicles (AUV) to follow desired trajectories. Non-linearity that results from the hydrodynamics and the coupled AUV dynamics makes the design of a stable controller a very difficult task. In this study, the control scheme in a simulation environment is validated using dynamic and kinematic equations for the AUV model and hydrodynamic damping equations. An AUV configuration with eight thrusters and an inverse kinematic model from a previous work is utilized in the simulation. In the proposed controller, Mamdani fuzzy rules are used to tune the parameters of the PID. Nonlinear fuzzy Gaussian membership functions are selected to give better performance and response in the non-linear system. A control architecture with two feedback loops is designed such that the inner loop is for velocity control and outer loop is for position control. Several test scenarios are executed to validate the controller performance including different complex trajectories with and without injection of ocean current disturbances. A comparison between the proposed FPID controller and the conventional PID controller is studied and shows that the FPID controller has a faster response to the reference signal and more stable behavior in a disturbed non-linear environment.

Trajectory following and stabilization control of fully actuated AUV using inverse kinematics and self-tuning fuzzy PID

PubMed Central

Elshenawy, Ahmed K.; El Singaby, M.I.

2017-01-01

In this work a design for self-tuning non-linear Fuzzy Proportional Integral Derivative (FPID) controller is presented to control position and speed of Multiple Input Multiple Output (MIMO) fully-actuated Autonomous Underwater Vehicles (AUV) to follow desired trajectories. Non-linearity that results from the hydrodynamics and the coupled AUV dynamics makes the design of a stable controller a very difficult task. In this study, the control scheme in a simulation environment is validated using dynamic and kinematic equations for the AUV model and hydrodynamic damping equations. An AUV configuration with eight thrusters and an inverse kinematic model from a previous work is utilized in the simulation. In the proposed controller, Mamdani fuzzy rules are used to tune the parameters of the PID. Nonlinear fuzzy Gaussian membership functions are selected to give better performance and response in the non-linear system. A control architecture with two feedback loops is designed such that the inner loop is for velocity control and outer loop is for position control. Several test scenarios are executed to validate the controller performance including different complex trajectories with and without injection of ocean current disturbances. A comparison between the proposed FPID controller and the conventional PID controller is studied and shows that the FPID controller has a faster response to the reference signal and more stable behavior in a disturbed non-linear environment. PMID:28683071

Multiphase soft switched DC/DC converter and active control technique for fuel cell ripple current elimination

DOEpatents

Lai, Jih-Sheng; Liu, Changrong; Ridenour, Amy

2009-04-14

DC/DC converter has a transformer having primary coils connected to an input side and secondary coils connected to an output side. Each primary coil connects a full-bridge circuit comprising two switches on two legs, the primary coil being connected between the switches on each leg, each full-bridge circuit being connected in parallel wherein each leg is disposed parallel to one another, and the secondary coils connected to a rectifying circuit. An outer loop control circuit that reduces ripple in a voltage reference has a first resistor connected in series with a second resistor connected in series with a first capacitor which are connected in parallel with a second capacitor. An inner loop control circuit that reduces ripple in a current reference has a third resistor connected in series with a fourth resistor connected in series with a third capacitor which are connected in parallel with a fourth capacitor.

Design and Analysis of Morpheus Lander Flight Control System

NASA Technical Reports Server (NTRS)

Jang, Jiann-Woei; Yang, Lee; Fritz, Mathew; Nguyen, Louis H.; Johnson, Wyatt R.; Hart, Jeremy J.

2014-01-01

The Morpheus Lander is a vertical takeoff and landing test bed vehicle developed to demonstrate the system performance of the Guidance, Navigation and Control (GN&C) system capability for the integrated autonomous landing and hazard avoidance system hardware and software. The Morpheus flight control system design must be robust to various mission profiles. This paper presents a design methodology for employing numerical optimization to develop the Morpheus flight control system. The design objectives include attitude tracking accuracy and robust stability with respect to rigid body dynamics and propellant slosh. Under the assumption that the Morpheus time-varying dynamics and control system can be frozen over a short period of time, the flight controllers are designed to stabilize all selected frozen-time control systems in the presence of parametric uncertainty. Both control gains in the inner attitude control loop and guidance gains in the outer position control loop are designed to maximize the vehicle performance while ensuring robustness. The flight control system designs provided herein have been demonstrated to provide stable control systems in both Draper Ares Stability Analysis Tool (ASAT) and the NASA/JSC Trick-based Morpheus time domain simulation.

Tuning energy relaxation along quantum Hall channels.

PubMed

Altimiras, C; le Sueur, H; Gennser, U; Cavanna, A; Mailly, D; Pierre, F

2010-11-26

The chiral edge channels in the quantum Hall regime are considered ideal ballistic quantum channels, and have quantum information processing potentialities. Here, we demonstrate experimentally, at a filling factor of ν(L)=2, the efficient tuning of the energy relaxation that limits quantum coherence and permits the return toward equilibrium. Energy relaxation along an edge channel is controllably enhanced by increasing its transmission toward a floating Ohmic contact, in quantitative agreement with predictions. Moreover, by forming a closed inner edge channel loop, we freeze energy exchanges in the outer channel. This result also elucidates the inelastic mechanisms at work at ν(L)=2, informing us, in particular, that those within the outer edge channel are negligible.

Variable Speed CMG Control of a Dual-Spin Stabilized Unconventional VTOL Air Vehicle

NASA Technical Reports Server (NTRS)

Lim, Kyong B.; Moerder, Daniel D.; Shin, J-Y.

2004-01-01

This paper describes an approach based on using both bias momentum and multiple control moment gyros for controlling the attitude of statically unstable thrust-levitated vehicles in hover or slow translation. The stabilization approach described in this paper uses these internal angular momentum transfer devices for stability, augmented by thrust vectoring for trim and other outer loop control functions, including CMG stabilization/ desaturation under persistent external disturbances. Simulation results show the feasibility of (1) improved vehicle performance beyond bias momentum assisted vector thrusting control, and (2) using control moment gyros to significantly reduce the external torque required from the vector thrusting machinery.

Electromagnetic Modeling of the Passive Stabilization Loop at EAST

NASA Astrophysics Data System (ADS)

Ji, Xiang; Song, Yuntao; Wu, Songtao; Wang, Zhibin; Shen, Guang; Liu, Xufeng; Cao, Lei; Zhou, Zibo; Peng, Xuebing; Wang, Chenghao

2012-09-01

A passive stabilization loop (PSL) has been designed and manufactured in order to enhance the control of vertical instability and accommodate the new stage for high-performance plasma at EAST. Eddy currents are induced by vertical displacement events (VDEs) and disruption, which can produce a magnetic field to control the vertical instability of the plasma in a short timescale. A finite element model is created and meshed using ANSYS software. Based on the simulation of plasma VDEs and disruption, the distribution and decay curve of the eddy currents on the PSL are obtained. The largest eddy current is 200 kA and the stress is 68 MPa at the outer current bridge, which is the weakest point of the PSL because of the eddy currents and the magnetic fields. The analysis results provide the supporting data for the structural design.

Deciphering the roles of outer membrane protein A extracellular loops in the pathogenesis of Escherichia coli K1 meningitis.

PubMed

Mittal, Rahul; Krishnan, Subramanian; Gonzalez-Gomez, Ignacio; Prasadarao, Nemani V

2011-01-21

Outer membrane protein A (OmpA) has been implicated as an important virulence factor in several gram-negative bacterial infections such as Escherichia coli K1, a leading cause of neonatal meningitis associated with significant mortality and morbidity. In this study, we generated E. coli K1 mutants that express OmpA in which three or four amino acids from various extracellular loops were changed to alanines, and we examined their ability to survive in several immune cells. We observed that loop regions 1 and 2 play an important role in the survival of E. coli K1 inside neutrophils and dendritic cells, and loop regions 1 and 3 are needed for survival in macrophages. Concomitantly, E. coli K1 mutants expressing loop 1 and 2 mutations were unable to cause meningitis in a newborn mouse model. Of note, mutations in loop 4 of OmpA enhance the severity of the pathogenesis by allowing the pathogen to survive better in circulation and to produce high bacteremia levels. These results demonstrate, for the first time, the roles played by different regions of extracellular loops of OmpA of E. coli K1 in the pathogenesis of meningitis and may help in designing effective preventive strategies against this deadly disease.

Concerted loop motion triggers induced fit of FepA to ferric enterobactin

PubMed Central

Smallwood, Chuck R.; Jordan, Lorne; Trinh, Vy; Schuerch, Daniel W.; Gala, Amparo; Hanson, Mathew; Shipelskiy, Yan; Majumdar, Aritri; Newton, Salete M.C.

2014-01-01

Spectroscopic analyses of fluorophore-labeled Escherichia coli FepA described dynamic actions of its surface loops during binding and transport of ferric enterobactin (FeEnt). When FeEnt bound to fluoresceinated FepA, in living cells or outer membrane fragments, quenching of fluorophore emissions reflected conformational motion of the external vestibular loops. We reacted Cys sulfhydryls in seven surface loops (L2, L3, L4, L5, L7 L8, and L11) with fluorophore maleimides. The target residues had different accessibilities, and the labeled loops themselves showed variable extents of quenching and rates of motion during ligand binding. The vestibular loops closed around FeEnt in about a second, in the order L3 > L11 > L7 > L2 > L5 > L8 > L4. This sequence suggested that the loops bind the metal complex like the fingers of two hands closing on an object, by individually adsorbing to the iron chelate. Fluorescence from L3 followed a biphasic exponential decay as FeEnt bound, but fluorescence from all the other loops followed single exponential decay processes. After binding, the restoration of fluorescence intensity (from any of the labeled loops) mirrored cellular uptake that depleted FeEnt from solution. Fluorescence microscopic images also showed FeEnt transport, and demonstrated that ferric siderophore uptake uniformly occurs throughout outer membrane, including at the poles of the cells, despite the fact that TonB, its inner membrane transport partner, was not detectable at the poles. PMID:24981231

Concerted loop motion triggers induced fit of FepA to ferric enterobactin.

PubMed

Smallwood, Chuck R; Jordan, Lorne; Trinh, Vy; Schuerch, Daniel W; Gala, Amparo; Hanson, Mathew; Hanson, Matthew; Shipelskiy, Yan; Majumdar, Aritri; Newton, Salete M C; Klebba, Phillip E

2014-07-01

Spectroscopic analyses of fluorophore-labeled Escherichia coli FepA described dynamic actions of its surface loops during binding and transport of ferric enterobactin (FeEnt). When FeEnt bound to fluoresceinated FepA, in living cells or outer membrane fragments, quenching of fluorophore emissions reflected conformational motion of the external vestibular loops. We reacted Cys sulfhydryls in seven surface loops (L2, L3, L4, L5, L7 L8, and L11) with fluorophore maleimides. The target residues had different accessibilities, and the labeled loops themselves showed variable extents of quenching and rates of motion during ligand binding. The vestibular loops closed around FeEnt in about a second, in the order L3 > L11 > L7 > L2 > L5 > L8 > L4. This sequence suggested that the loops bind the metal complex like the fingers of two hands closing on an object, by individually adsorbing to the iron chelate. Fluorescence from L3 followed a biphasic exponential decay as FeEnt bound, but fluorescence from all the other loops followed single exponential decay processes. After binding, the restoration of fluorescence intensity (from any of the labeled loops) mirrored cellular uptake that depleted FeEnt from solution. Fluorescence microscopic images also showed FeEnt transport, and demonstrated that ferric siderophore uptake uniformly occurs throughout outer membrane, including at the poles of the cells, despite the fact that TonB, its inner membrane transport partner, was not detectable at the poles. © 2014 Smallwood et al.

Advanced spacecraft thermal control techniques

NASA Technical Reports Server (NTRS)

Fritz, C. H.

1977-01-01

The problems of rejecting large amounts of heat from spacecraft were studied. Shuttle Space Laboratory heat rejection uses 1 kW for pumps and fans for every 5 kW (thermal) heat rejection. This is rather inefficient, and for future programs more efficient methods were examined. Two advanced systems were studied and compared to the present pumped-loop system. The advanced concepts are the air-cooled semipassive system, which features rejection of a large percentage of the load through the outer skin, and the heat pipe system, which incorporates heat pipes for every thermal control function.

Bioelectric Control of a 757 Class High Fidelity Aircraft Simulation

NASA Technical Reports Server (NTRS)

Jorgensen, Charles; Wheeler, Kevin; Stepniewski, Slawomir; Norvig, Peter (Technical Monitor)

2000-01-01

This paper presents results of a recent experiment in fine grain Electromyographic (EMG) signal recognition, We demonstrate bioelectric flight control of 757 class simulation aircraft landing at San Francisco International Airport. The physical instrumentality of a pilot control stick is not used. A pilot closes a fist in empty air and performs control movements which are captured by a dry electrode array on the arm, analyzed and routed through a flight director permitting full pilot outer loop control of the simulation. A Vision Dome immersive display is used to create a VR world for the aircraft body mechanics and flight changes to pilot movements. Inner loop surfaces and differential aircraft thrust is controlled using a hybrid neural network architecture that combines a damage adaptive controller (Jorgensen 1998, Totah 1998) with a propulsion only based control system (Bull & Kaneshige 1997). Thus the 757 aircraft is not only being flown bioelectrically at the pilot level but also demonstrates damage adaptive neural network control permitting adaptation to severe changes in the physical flight characteristics of the aircraft at the inner loop level. To compensate for accident scenarios, the aircraft uses remaining control surface authority and differential thrust from the engines. To the best of our knowledge this is the first time real time bioelectric fine-grained control, differential thrust based control, and neural network damage adaptive control have been integrated into a single flight demonstration. The paper describes the EMG pattern recognition system and the bioelectric pattern recognition methodology.

A Role of Base Plate Jerk Feedback Scheme for Suppression of the Self Vibration in a Pneumatic Positioning Stage

NASA Astrophysics Data System (ADS)

Wali, Mohebullah; Nakamura, Yukinori; Wakui, Shinji

In this study, a positioning stage is considered, which is actuated by four pneumatic cylinders and vertically supported by four coil-type spring isolators. Previously, we realized the base plate jerk feedback (BPJFB) to be analogues to a Master-Slave system which can synchronize the motion of the stage as a Slave to the motion of the base plate as a Master. However, in the case of real positioning, the stage had slightly self oscillation with higher frequency due to the higher gains set to the outer feedback loop controller besides its oscillation due to the natural vibration of the base plate. The self oscillation of stage was misunderstood to be the natural vibration of base plate due to the reaction force. However, according to the experimental results, the BPJFB scheme was able to control both of the mentioned vibrations. Suppression of the self vibration of stage is an interesting phenomenon, which should be experimentally investigated. Therefore, the current study focuses on the suppression of the self vibration of stage by using the BPJFB scheme. The experimental results show that besides operating as a Master-Slave synchronizing system, the PBJFB scheme is able to increase the damping ratio and stiffness of stage against its self vibration. This newly recognized phenomenon contributes to further increase the proportional gain of the outer feedback loop controller. As a result, the positioning speed and stability can be improved.

Closed loop control of the induction heating process using miniature magnetic sensors

DOEpatents

Bentley, Anthony E.; Kelley, John Bruce; Zutavern, Fred J.

2003-05-20

A method and system for providing real-time, closed-loop control of the induction hardening process. A miniature magnetic sensor located near the outer surface of the workpiece measures changes in the surface magnetic field caused by changes in the magnetic properties of the workpiece as it heats up during induction heating (or cools down during quenching). A passive miniature magnetic sensor detects a distinct magnetic spike that appears when the saturation field, B.sub.sat, of the workpiece has been exceeded. This distinct magnetic spike disappears when the workpiece's surface temperature exceeds its Curie temperature, due to the sudden decrease in its magnetic permeability. Alternatively, an active magnetic sensor can measure changes in the resonance response of the monitor coil when the excitation coil is linearly swept over 0-10 MHz, due to changes in the magnetic permeability and electrical resistivity of the workpiece as its temperature increases (or decreases).

A Cognitive-System Model for En Route Air Traffic Management

NASA Technical Reports Server (NTRS)

Corker, Kevin M.; Pisanich, Gregory; Lebacqz, J. Victor (Technical Monitor)

1998-01-01

NASA Ames Research Center has been engaged in the development of advanced air traffic management technologies whose basic form is cognitive aiding systems for air traffic controller and flight deck operations. In the design and evaluation of such systems the dynamic interaction between the airborne aiding system and the ground-based aiding systems forms a critical coupling for control. The human operator is an integral control element in the system and the optimal integration of human decision and performance parameters with those of the automation aiding systems offers a significant challenge to cognitive engineering. This paper presents a study in full mission simulation and the development of a predictive computational model of human performance. We have found that this combination of methodologies provide a powerful design-aiding process. We have extended the computational model Man Machine Integrated Design and Analysis System (N13DAS) to include representation of multiple cognitive agents (both human operators and intelligent aiding systems), operating aircraft airline operations centers and air traffic control centers in the evolving airspace. The demands of this application require the representation of many intelligent agents sharing world-models, and coordinating action/intention with cooperative scheduling of goals and actions in a potentially unpredictable world of operations. The operator's activity structures have been developed to include prioritization and interruption of multiple parallel activities among multiple operators, to provide for anticipation (knowledge of the intention and action of remote operators), and to respond to failures of the system and other operators in the system in situation-specific paradigms. We have exercised this model in a multi-air traffic sector scenario with potential conflict among aircraft at and across sector boundaries. We have modeled the control situation as a multiple closed loop system. The inner and outer loop alerting structure of air traffic management has many implications that need to be investigated to assure adequate design. First, there are control and stability factors implicit in the design. As the inner loop response time approaches that of the outer loop, system stability may be compromised in that controllers may be solving a problem the nature of which has already been changed by pilot action. Second, information exchange and information presentation for both air and ground must be designed to complement as opposed to compete with each other. Third, the level of individual and shared awareness in trajectory modification and flight conformance needs to be defined. Fourth, the level of required awareness and performance impact of mixed fleet operations and failed-mode recovery must be explored.

Significant Association between Sulfate-Reducing Bacteria and Uranium-Reducing Microbial Communities as Revealed by a Combined Massively Parallel Sequencing-Indicator Species Approach▿ †

PubMed Central

Cardenas, Erick; Wu, Wei-Min; Leigh, Mary Beth; Carley, Jack; Carroll, Sue; Gentry, Terry; Luo, Jian; Watson, David; Gu, Baohua; Ginder-Vogel, Matthew; Kitanidis, Peter K.; Jardine, Philip M.; Zhou, Jizhong; Criddle, Craig S.; Marsh, Terence L.; Tiedje, James M.

2010-01-01

Massively parallel sequencing has provided a more affordable and high-throughput method to study microbial communities, although it has mostly been used in an exploratory fashion. We combined pyrosequencing with a strict indicator species statistical analysis to test if bacteria specifically responded to ethanol injection that successfully promoted dissimilatory uranium(VI) reduction in the subsurface of a uranium contamination plume at the Oak Ridge Field Research Center in Tennessee. Remediation was achieved with a hydraulic flow control consisting of an inner loop, where ethanol was injected, and an outer loop for flow-field protection. This strategy reduced uranium concentrations in groundwater to levels below 0.126 μM and created geochemical gradients in electron donors from the inner-loop injection well toward the outer loop and downgradient flow path. Our analysis with 15 sediment samples from the entire test area found significant indicator species that showed a high degree of adaptation to the three different hydrochemical-created conditions. Castellaniella and Rhodanobacter characterized areas with low pH, heavy metals, and low bioactivity, while sulfate-, Fe(III)-, and U(VI)-reducing bacteria (Desulfovibrio, Anaeromyxobacter, and Desulfosporosinus) were indicators of areas where U(VI) reduction occurred. The abundance of these bacteria, as well as the Fe(III) and U(VI) reducer Geobacter, correlated with the hydraulic connectivity to the substrate injection site, suggesting that the selected populations were a direct response to electron donor addition by the groundwater flow path. A false-discovery-rate approach was implemented to discard false-positive results by chance, given the large amount of data compared. PMID:20729318

Significant association between sulfate-reducing bacteria and uranium-reducing microbial communities as revealed by a combined massively parallel sequencing-indicator species approach.

PubMed

Cardenas, Erick; Wu, Wei-Min; Leigh, Mary Beth; Carley, Jack; Carroll, Sue; Gentry, Terry; Luo, Jian; Watson, David; Gu, Baohua; Ginder-Vogel, Matthew; Kitanidis, Peter K; Jardine, Philip M; Zhou, Jizhong; Criddle, Craig S; Marsh, Terence L; Tiedje, James M

2010-10-01

Massively parallel sequencing has provided a more affordable and high-throughput method to study microbial communities, although it has mostly been used in an exploratory fashion. We combined pyrosequencing with a strict indicator species statistical analysis to test if bacteria specifically responded to ethanol injection that successfully promoted dissimilatory uranium(VI) reduction in the subsurface of a uranium contamination plume at the Oak Ridge Field Research Center in Tennessee. Remediation was achieved with a hydraulic flow control consisting of an inner loop, where ethanol was injected, and an outer loop for flow-field protection. This strategy reduced uranium concentrations in groundwater to levels below 0.126 μM and created geochemical gradients in electron donors from the inner-loop injection well toward the outer loop and downgradient flow path. Our analysis with 15 sediment samples from the entire test area found significant indicator species that showed a high degree of adaptation to the three different hydrochemical-created conditions. Castellaniella and Rhodanobacter characterized areas with low pH, heavy metals, and low bioactivity, while sulfate-, Fe(III)-, and U(VI)-reducing bacteria (Desulfovibrio, Anaeromyxobacter, and Desulfosporosinus) were indicators of areas where U(VI) reduction occurred. The abundance of these bacteria, as well as the Fe(III) and U(VI) reducer Geobacter, correlated with the hydraulic connectivity to the substrate injection site, suggesting that the selected populations were a direct response to electron donor addition by the groundwater flow path. A false-discovery-rate approach was implemented to discard false-positive results by chance, given the large amount of data compared.

A grid-connected single-phase photovoltaic micro inverter

NASA Astrophysics Data System (ADS)

Wen, X. Y.; Lin, P. J.; Chen, Z. C.; Wu, L. J.; Cheng, S. Y.

2017-11-01

In this paper, the topology of a single-phase grid-connected photovoltaic (PV) micro-inverter is proposed. The PV micro-inverter consists of DC-DC stage with high voltage gain boost and DC-AC conversion stage. In the first stage, we apply the active clamp circuit and two voltage multipliers to achieve soft switching technology and high voltage gain. In addition, the flower pollination algorithm (FPA) is employed for the maximum power point tracking (MPPT) in the PV module in this stage. The second stage cascades a H-bridge inverter and LCL filter. To feed high quality sinusoidal power into the grid, the software phase lock, outer voltage loop and inner current loop control method are adopted as the control strategy. The performance of the proposed topology is tested by Matlab/Simulink. A PV module with maximum power 300W and maximum power point voltage 40V is applied as the input source. The simulation results indicate that the proposed topology and the control strategy are feasible.

Functional integration of vertical flight path and speed control using energy principles

NASA Technical Reports Server (NTRS)

Lambregts, A. A.

1984-01-01

A generalized automatic flight control system was developed which integrates all longitudinal flight path and speed control functions previously provided by a pitch autopilot and autothrottle. In this design, a net thrust command is computed based on total energy demand arising from both flight path and speed targets. The elevator command is computed based on the energy distribution error between flight path and speed. The engine control is configured to produce the commanded net thrust. The design incorporates control strategies and hierarchy to deal systematically and effectively with all aircraft operational requirements, control nonlinearities, and performance limits. Consistent decoupled maneuver control is achieved for all modes and flight conditions without outer loop gain schedules, control law submodes, or control function duplication.

A unified flight control methodology for a compound rotorcraft in fundamental and aerobatic maneuvering flight

NASA Astrophysics Data System (ADS)

Thorsen, Adam

This study investigates a novel approach to flight control for a compound rotorcraft in a variety of maneuvers ranging from fundamental to aerobatic in nature. Fundamental maneuvers are a class of maneuvers with design significance that are useful for testing and tuning flight control systems along with uncovering control law deficiencies. Aerobatic maneuvers are a class of aggressive and complex maneuvers with more operational significance. The process culminating in a unified approach to flight control includes various control allocation studies for redundant controls in trim and maneuvering flight, an efficient methodology to simulate non-piloted maneuvers with varying degrees of complexity, and the setup of an unconventional control inceptor configuration along with the use of a flight simulator to gather pilot feedback in order to improve the unified control architecture. A flight path generation algorithm was developed to calculate control inceptor commands required for a rotorcraft in aerobatic maneuvers. This generalized algorithm was tailored to generate flight paths through optimization methods in order to satisfy target terminal position coordinates or to minimize the total time of a particular maneuver. Six aerobatic maneuvers were developed drawing inspiration from air combat maneuvers of fighter jet aircraft: Pitch-Back Turn (PBT), Combat Ascent Turn (CAT), Combat Descent Turn (CDT), Weaving Pull-up (WPU), Combat Break Turn (CBT), and Zoom and Boom (ZAB). These aerobatic maneuvers were simulated at moderate to high advance ratios while fundamental maneuvers of the compound including level accelerations/decelerations, climbs, descents, and turns were investigated across the entire flight envelope to evaluate controller performance. The unified control system was developed to allow controls to seamlessly transition between manual and automatic allocations while ensuring that the axis of control for a particular inceptor remained constant with flight regime. An energy management system was developed in order to manage performance limits (namely power required) to promote carefree maneuvering and alleviate pilot workload. This system features limits on pilot commands and has additional logic for preserving control margins and limiting maximum speed in a dive. Nonlinear dynamic inversion (NLDI) is the framework of the unified controller, which incorporates primary and redundant controls. The inner loop of the NLDI controller regulates bank angle, pitch attitude, and yaw rate, while the outer loop command structure is varied (three modes). One version uses an outer loop that commands velocities in the longitudinal and vertical axes (velocity mode), another commands longitudinal acceleration and vertical speed (acceleration mode), and the third commands longitudinal acceleration and transitions from velocity to acceleration command in the vertical axis (aerobatic mode). The flight envelope is discretized into low, cruise, and high speed flight regimes. The unified outer loop primary control effectors for the longitudinal and vertical axes (collective pitch, pitch attitude, and propeller pitch) vary depending on flight regime. A weighted pseudoinverse is used to phase either the collective or propeller pitch in/out of a redundant control role. The controllers were evaluated in Penn State's Rotorcraft Flight Simulator retaining the cyclic stick for vertical and lateral axis control along with pedal inceptors for yaw axis control. A throttle inceptor was used in place of the pilot's traditional left hand inceptor for longitudinal axis control. Ultimately, a simple rigid body model of the aircraft was sufficient enough to design a controller with favorable performance and stability characteristics. This unified flight control system promoted a low enough pilot workload so that an untrained pilot (the author) was able to pilot maneuvers of varying complexity with ease. The framework of this unified system is generalized enough to be able to be applied to any rotorcraft with redundant controls. Minimum power propeller thrust shares ranged from 50% - 90% in high speed flight, while lift shares at high speeds tended towards 60% wing and 40% main rotor.

The Outer Loop bioreactor: a case study of settlement monitoring and solids decomposition.

PubMed

Abichou, Tarek; Barlaz, Morton A; Green, Roger; Hater, Gary

2013-10-01

The Outer Loop landfill bioreactor (OLLB) located in Louisville, KY, USA has been in operation since 2000 and represents an opportunity to evaluate long-term bioreactor monitoring data at a full-scale operational landfill. Three types of landfill units were studied including a Control cell, a new landfill area that had a piping network installed as waste was being placed to support leachate recirculation (As-Built cell), and a conventional landfill that was modified to allow for liquid recirculation (Retrofit cell). The objective of this study is to summarize the results of settlement data and assess how these data relate to solids decomposition monitoring at the OLLB. The Retrofit cells started to settle as soon as liquids were introduced. The cumulative settlement during the 8years of monitoring varied from 60 to 100cm. These results suggest that liquid recirculation in the Retrofit cells caused a 5-8% reduction in the thickness of the waste column. The average long-term settlement in the As-Built and Control Cells was about 37% and 19%, respectively. The modified compression index (Cα(')) was 0.17 for the Control cells and 0.2-0.48 for the As-Built cells. While the As-Built cells exhibited greater settlement than the Control cells, the data do not support biodegradation as the only explanation. The increased settlement in the As-Built bioreactor cell appeared to be associated with liquid movement and not with biodegradation because both chemical (biochemical methane potential) and physical (moisture content) indicators of decomposition were similar in the Control and As-Built cells. The solids data are consistent with the concept that bioreactor operations accelerate the rate of decomposition, but not necessarily the cumulative loss of anaerobically degradable solids. Copyright © 2013 Elsevier Ltd. All rights reserved.

Parallel tiled Nussinov RNA folding loop nest generated using both dependence graph transitive closure and loop skewing.

PubMed

Palkowski, Marek; Bielecki, Wlodzimierz

2017-06-02

RNA secondary structure prediction is a compute intensive task that lies at the core of several search algorithms in bioinformatics. Fortunately, the RNA folding approaches, such as the Nussinov base pair maximization, involve mathematical operations over affine control loops whose iteration space can be represented by the polyhedral model. Polyhedral compilation techniques have proven to be a powerful tool for optimization of dense array codes. However, classical affine loop nest transformations used with these techniques do not optimize effectively codes of dynamic programming of RNA structure predictions. The purpose of this paper is to present a novel approach allowing for generation of a parallel tiled Nussinov RNA loop nest exposing significantly higher performance than that of known related code. This effect is achieved due to improving code locality and calculation parallelization. In order to improve code locality, we apply our previously published technique of automatic loop nest tiling to all the three loops of the Nussinov loop nest. This approach first forms original rectangular 3D tiles and then corrects them to establish their validity by means of applying the transitive closure of a dependence graph. To produce parallel code, we apply the loop skewing technique to a tiled Nussinov loop nest. The technique is implemented as a part of the publicly available polyhedral source-to-source TRACO compiler. Generated code was run on modern Intel multi-core processors and coprocessors. We present the speed-up factor of generated Nussinov RNA parallel code and demonstrate that it is considerably faster than related codes in which only the two outer loops of the Nussinov loop nest are tiled.

An advanced robust method for speed control of switched reluctance motor

NASA Astrophysics Data System (ADS)

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

2018-05-01

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

A New Approach to Attitude Stability and Control for Low Airspeed Vehicles

NASA Technical Reports Server (NTRS)

Lim, K. B.; Shin, Y-Y.; Moerder, D. D.; Cooper, E. G.

2004-01-01

This paper describes an approach for controlling the attitude of statically unstable thrust-levitated vehicles in hover or slow translation. The large thrust vector that characterizes such vehicles can be modulated to provide control forces and moments to the airframe, but such modulation is accompanied by significant unsteady flow effects. These effects are difficult to model, and can compromise the practical value of thrust vectoring in closed-loop attitude stability, even if the thrust vectoring machinery has sufficient bandwidth for stabilization. The stabilization approach described in this paper is based on using internal angular momentum transfer devices for stability, augmented by thrust vectoring for trim and other "outer loop" control functions. The three main components of this approach are: (1) a z-body axis angular momentum bias enhances static attitude stability, reducing the amount of control activity needed for stabilization, (2) optionally, gimbaled reaction wheels provide high-bandwidth control torques for additional stabilization, or agility, and (3) the resulting strongly coupled system dynamics are controlled by a multivariable controller. A flight test vehicle is described, and nonlinear simulation results are provided that demonstrate the efficiency of the approach.

Control integration concept for hypersonic cruise-turn maneuvers

NASA Technical Reports Server (NTRS)

Raney, David L.; Lallman, Frederick J.

1992-01-01

Piloting difficulties associated with conducting aircraft maneuvers in hypersonic flight are caused in part by the nonintuitive nature of the aircraft response and the stringent constraints anticipated on allowable angle of attack and dynamic pressure variations. An approach is documented that provides precise, coordinated maneuver control during excursions from a hypersonic cruise flight path and the necessary flight condition constraints. The approach is to achieve specified guidance commands by resolving altitude and cross range errors into a load factor and bank angle command by using a coordinate transformation that acts as an interface between outer and inner loop flight controls. This interface, referred to as a 'resolver', applies constraints on angle of attack and dynamic pressure perturbations while prioritizing altitude regulation over cross range. An unpiloted test simulation, in which the resolver was used to drive inner loop flight controls, produced time histories of responses to guidance commands and atmospheric disturbances at Mach numbers of 6, 10, 15, and 20. Angle of attack and throttle perturbation constraints, combined with high speed flight effects and the desire to maintain constant dynamic pressure, significantly impact the maneuver envelope for a hypersonic vehicle.

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.

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.

Space Science

NASA Image and Video Library

2003-01-01

These banana-shaped loops are part of a computer-generated snapshot of our sun's magnetic field. The solar magnetic-field lines loop through the sun's corona, break through the sun's surface, and cornect regions of magnetic activity, such as sunspots. This image --part of a magnetic-field study of the sun by NASA's Allen Gary -- shows the outer portion (skins) of interconnecting systems of hot (2 million degrees Kelvin) coronal loops within and between two active magnetic regions on opposite sides of the sun's equator. The diameter of these coronal loops at their foot points is approximately the same size as the Earth's radius (about 6,000 kilometers).

Segmented surface coil resonator for in vivo EPR applications at 1.1GHz.

PubMed

Petryakov, Sergey; Samouilov, Alexandre; Chzhan-Roytenberg, Michael; Kesselring, Eric; Sun, Ziqi; Zweier, Jay L

2009-05-01

A four-loop segmented surface coil resonator (SSCR) with electronic frequency and coupling adjustments was constructed with 18mm aperture and loading capability suitable for in vivo Electron Paramagnetic Resonance (EPR) spectroscopy and imaging applications at L-band. Increased sample volume and loading capability were achieved by employing a multi-loop three-dimensional surface coil structure. Symmetrical design of the resonator with coupling to each loop resulted in high homogeneity of RF magnetic field. Parallel loops were coupled to the feeder cable via balancing circuitry containing varactor diodes for electronic coupling and tuning over a wide range of loading conditions. Manually adjusted high Q trimmer capacitors were used for initial tuning with subsequent tuning electronically controlled using varactor diodes. This design provides transparency and homogeneity of magnetic field modulation in the sample volume, while matching components are shielded to minimize interference with modulation and ambient RF fields. It can accommodate lossy samples up to 90% of its aperture with high homogeneity of RF and modulation magnetic fields and can function as a surface loop or a slice volume resonator. Along with an outer coaxial NMR surface coil, the SSCR enabled EPR/NMR co-imaging of paramagnetic probes in living rats to a depth of 20mm.

Segmented surface coil resonator for in vivo EPR applications at 1.1 GHz

PubMed Central

Petryakov, Sergey; Samouilov, Alexandre; Chzhan-Roytenberg, Michael; Kesselring, Eric; Sun, Ziqi; Zweier, Jay L.

2010-01-01

A four-loop segmented surface coil resonator (SSCR) with electronic frequency and coupling adjustments was constructed with 18 mm aperture and loading capability suitable for in vivo Electron Paramagnetic Resonance (EPR) spectroscopy and imaging applications at L-band. Increased sample volume and loading capability were achieved by employing a multi-loop three-dimensional surface coil structure. Symmetrical design of the resonator with coupling to each loop resulted in high homogeneity of RF magnetic field. Parallel loops were coupled to the feeder cable via balancing circuitry containing varactor diodes for electronic coupling and tuning over a wide range of loading conditions. Manually adjusted high Q trimmer capacitors were used for initial tuning with subsequent tuning electronically controlled using varactor diodes. This design provides transparency and homogeneity of magnetic field modulation in the sample volume, while matching components are shielded to minimize interference with modulation and ambient RF fields. It can accommodate lossy samples up to 90% of its aperture with high homogeneity of RF and modulation magnetic fields and can function as a surface loop or a slice volume resonator. Along with an outer coaxial NMR surface coil, the SSCR enabled EPR/NMR co-imaging of paramagnetic probes in living rats to a depth of 20 mm. PMID:19268615

Detecting vegetation cover change on the summit of Cadillac Mountain using multi-temporal remote sensing datasets: 1979, 2001, and 2007.

PubMed

Kim, Min-Kook; Daigle, John J

2011-09-01

This study examines the efficacy of management strategies implemented in 2000 to reduce visitor-induced vegetation impact and enhance vegetation recovery at the summit loop trail on Cadillac Mountain at Acadia National Park, Maine. Using single-spectral high-resolution remote sensing datasets captured in 1979, 2001, and 2007, pre-classification change detection analysis techniques were applied to measure fractional vegetation cover changes between the time periods. This popular sub-alpine summit with low-lying vegetation and attractive granite outcroppings experiences dispersed visitor use away from the designated trail, so three pre-defined spatial scales (small, 0-30 m; medium, 0-60 m; and large, 0-90 m) were examined in the vicinity of the summit loop trail with visitor use (experimental site) and a site chosen nearby in a relatively pristine undisturbed area (control site) with similar spatial scales. Results reveal significant changes in terms of rates of vegetation impact between 1979 and 2001 extending out to 90 m from the summit loop trail with no management at the site. No significant differences were detected among three spatial zones (inner, 0-30 m; middle, 30-60 m; and outer, 60-90 m) at the experimental site, but all were significantly higher rates of impact compared to similar spatial scales at the control site (all p < 0.001). In contrast, significant changes in rates of recovery between 2001 and 2007 were observed in the medium and large spatial scales at the experimental site under management as compared to the control site (all p < 0.05). Also during this later period a higher rate of recovery was observed in the outer zone as compared to the inner zone at the experimental site (p < 0.05). The overall study results suggest a trend in the desired direction for the site and visitor management strategies designed to reduce vegetation impact and enhance vegetation recovery at the summit loop trail of Cadillac Mountain since 2000. However, the vegetation recovery has been rather minimal and did not reach the level of cover observed during the 1979 time period. In addition, the advantages and some limitations of using remote sensing technologies are discussed in detecting vegetation change in this setting and potential application to other recreation settings.

Combining control input with flight path data to evaluate pilot performance in transport aircraft.

PubMed

Ebbatson, Matt; Harris, Don; Huddlestone, John; Sears, Rodney

2008-11-01

When deriving an objective assessment of piloting performance from flight data records, it is common to employ metrics which purely evaluate errors in flight path parameters. The adequacy of pilot performance is evaluated from the flight path of the aircraft. However, in large jet transport aircraft these measures may be insensitive and require supplementing with frequency-based measures of control input parameters. Flight path and control input data were collected from pilots undertaking a jet transport aircraft conversion course during a series of symmetric and asymmetric approaches in a flight simulator. The flight path data were analyzed for deviations around the optimum flight path while flying an instrument landing approach. Manipulation of the flight controls was subject to analysis using a series of power spectral density measures. The flight path metrics showed no significant differences in performance between the symmetric and asymmetric approaches. However, control input frequency domain measures revealed that the pilots employed highly different control strategies in the pitch and yaw axes. The results demonstrate that to evaluate pilot performance fully in large aircraft, it is necessary to employ performance metrics targeted at both the outer control loop (flight path) and the inner control loop (flight control) parameters in parallel, evaluating both the product and process of a pilot's performance.

Optimization of Sensing and Feedback Control for Vibration/Flutter of Rotating Disk by PZT Actuators via Air Coupled Pressure

PubMed Central

Yan, Tianhong; Xu, Xinsheng; Han, Jianqiang; Lin, Rongming; Ju, Bingfeng; Li, Qing

2011-01-01

In this paper, a feedback control mechanism and its optimization for rotating disk vibration/flutter via changes of air-coupled pressure generated using piezoelectric patch actuators are studied. A thin disk rotates in an enclosure, which is equipped with a feedback control loop consisting of a micro-sensor, a signal processor, a power amplifier, and several piezoelectric (PZT) actuator patches distributed on the cover of the enclosure. The actuator patches are mounted on the inner or the outer surfaces of the enclosure to produce necessary control force required through the airflow around the disk. The control mechanism for rotating disk flutter using enclosure surfaces bonded with sensors and piezoelectric actuators is thoroughly studied through analytical simulations. The sensor output is used to determine the amount of input to the actuator for controlling the response of the disk in a closed loop configuration. The dynamic stability of the disk-enclosure system, together with the feedback control loop, is analyzed as a complex eigenvalue problem, which is solved using Galerkin’s discretization procedure. The results show that the disk flutter can be reduced effectively with proper configurations of the control gain and the phase shift through the actuations of PZT patches. The effectiveness of different feedback control methods in altering system characteristics and system response has been investigated. The control capability, in terms of control gain, phase shift, and especially the physical configuration of actuator patches, are also evaluated by calculating the complex eigenvalues and the maximum displacement produced by the actuators. To achieve a optimal control performance, sizes, positions and shapes of PZT patches used need to be optimized and such optimization has been achieved through numerical simulations. PMID:22163788

Optimization of sensing and feedback control for vibration/flutter of rotating disk by PZT actuators via air coupled pressure.

PubMed

Yan, Tianhong; Xu, Xinsheng; Han, Jianqiang; Lin, Rongming; Ju, Bingfeng; Li, Qing

2011-01-01

In this paper, a feedback control mechanism and its optimization for rotating disk vibration/flutter via changes of air-coupled pressure generated using piezoelectric patch actuators are studied. A thin disk rotates in an enclosure, which is equipped with a feedback control loop consisting of a micro-sensor, a signal processor, a power amplifier, and several piezoelectric (PZT) actuator patches distributed on the cover of the enclosure. The actuator patches are mounted on the inner or the outer surfaces of the enclosure to produce necessary control force required through the airflow around the disk. The control mechanism for rotating disk flutter using enclosure surfaces bonded with sensors and piezoelectric actuators is thoroughly studied through analytical simulations. The sensor output is used to determine the amount of input to the actuator for controlling the response of the disk in a closed loop configuration. The dynamic stability of the disk-enclosure system, together with the feedback control loop, is analyzed as a complex eigenvalue problem, which is solved using Galerkin's discretization procedure. The results show that the disk flutter can be reduced effectively with proper configurations of the control gain and the phase shift through the actuations of PZT patches. The effectiveness of different feedback control methods in altering system characteristics and system response has been investigated. The control capability, in terms of control gain, phase shift, and especially the physical configuration of actuator patches, are also evaluated by calculating the complex eigenvalues and the maximum displacement produced by the actuators. To achieve a optimal control performance, sizes, positions and shapes of PZT patches used need to be optimized and such optimization has been achieved through numerical simulations.

A high-fidelity, six-degree-of-freedom batch simulation environment for tactical guidance research and evaluation

NASA Technical Reports Server (NTRS)

Goodrich, Kenneth H.

1993-01-01

A batch air combat simulation environment, the tactical maneuvering simulator (TMS), is presented. The TMS is a tool for developing and evaluating tactical maneuvering logics, but it can also be used to evaluate the tactical implications of perturbations to aircraft performance or supporting systems. The TMS can simulate air combat between any number of engagement participants, with practical limits imposed by computer memory and processing power. Aircraft are modeled using equations of motion, control laws, aerodynamics, and propulsive characteristics equivalent to those used in high-fidelity piloted simulations. Data bases representative of a modern high-performance aircraft with and without thrust-vectoring capability are included. To simplify the task of developing and implementing maneuvering logics in the TMS, an outer-loop control system, the tactical autopilot (TA), is implemented in the aircraft simulation model. The TA converts guidance commands by computerized maneuvering logics from desired angle of attack and wind-axis bank-angle inputs to the inner loop control augmentation system of the aircraft. The capabilities and operation of the TMS and the TA are described.

Applications of the hybrid coordinate method to the TOPS autopilot

NASA Technical Reports Server (NTRS)

Fleischer, G. E.

1978-01-01

Preliminary results are presented from the application of the hybrid coordinate method to modeling TOPS (thermoelectric outer planet spacecraft) structural dynamics. Computer simulated responses of the vehicle are included which illustrate the interaction of relatively flexible appendages with an autopilot control system. Comparisons were made between simplified single-axis models of the control loop, with spacecraft flexibility represented by hinged rigid bodies, and a very detailed three-axis spacecraft model whose flexible portions are described by modal coordinates. While single-axis system, root loci provided reasonable qualitative indications of stability margins in this case, they were quantitatively optimistic when matched against responses of the detailed model.

Thermal Vacuum Testing of a Proto-flight Miniature Loop Heat Pipe with Two Evaporators and Two Condensers

NASA Technical Reports Server (NTRS)

Ku, Jentung; Ottenstein, Laura

2011-01-01

This paper describes thermal vacuum testing of a proto-flight miniature loop heat pipe (MLHP) with two evaporators and two condensers designed for future small systems applications requiring low mass, low power and compactness. Each evaporator contains a wick with an outer diameter of 6.35 mm, and each has its own integral compensation chamber (CC). Miniaturization of the loop components reduces the volume and mass of the thermal system. Multiple evaporators provide flexibility for placement of instruments that need to be maintained at the same temperature, and facilitate heat load sharing among instruments, reducing the auxiliary heater power requirement. A flow regulator is used to regulate heat dissipations between the two condensers, allowing flexible placement of radiators on the spacecraft. A thermoelectric converter (TEC) is attached to each CC for control of the operating temperature and enhancement of start-up success. Tests performed include start-up, power cycle, sink temperature cycle, high power and low power operation, heat load sharing, and operating temperature control. The proto-flight MLHP demonstrated excellent performance in the thermal vacuum test. The loop started successfully and operated stably under various evaporator heat loads and condenser sink temperatures. The TECs were able to maintain the loop operating temperature within b1K of the desired set point temperature at all power levels and all sink temperatures. The un-powered evaporator would automatically share heat from the other powered evaporator. The flow regulator was able to regulate the heat dissipation among the radiators and prevent vapor from flowing into the liquid line.

Design of an antagonistic shape memory alloy actuator for flap type control surfaces

NASA Astrophysics Data System (ADS)

Dönmez, Burcu; Özkan, Bülent

2011-03-01

This paper deals with the flap control of unmanned aerial vehicles (UAVs) using shape memory alloy (SMA) actuators in an antagonistic configuration. The use of SMA actuators has the advantage of significant weight and cost reduction over the conventional actuation of the UAV flaps by electric motors or hydraulic actuators. In antagonistic configuration, two SMA actuators are used: one to rotate the flap clockwise and the other to rotate the flap counterclockwise. In this content, mathematical modeling of strain and power dissipation of SMA wire is obtained through characterization tests. Afterwards, the model of the antagonistic flap mechanism is derived. Later, based on these models both flap angle and power dissipation of the SMA wire are controlled in two different loops employing proportional-integral type and neural network based control schemes. The angle commands are converted to power commands through the outer loop controller later, which are updated using the error in the flap angle induced because of the indirect control and external effects. In this study, power consumption of the wire is introduced as a new internal feedback variable. Constructed simulation models are run and performance specifications of the proposed control systems are investigated. Consequently, it is shown that proposed controllers perform well in terms of achieving small tracking errors.

Simulations of the effects of U.S. Highway 231 and the proposed Montgomery outer loop on flooding in the Catoma Creek and Little Catoma Creek Basins near Montgomery, Alabama

USGS Publications Warehouse

Hedgecock, T. Scott

1999-01-01

A two-dimensional finite-element surface-water model was used to study the effects of U.S. Highway 231 and the proposed Montgomery Outer Loop on the water-surface elevations and flow distributions during flooding in the Catoma Creek and Little Catoma Creek Basins southeast of Montgomery, Montgomery County, Alabama. The effects of flooding were simulated for two scenarios--existing and proposed conditions--for the 100- and 500-year recurrence intervals. The first scenario was to model the existing bridge and highway configuration for U.S. Highway 231 and the existing ponds that lie just upstream from this crossing. The second scenario was to model the proposed bridge and highway configuration for the Montgomery Outer Loop and the Montgomery Loop Interchange at U.S. Highway 231 as well as the proposed modifications to the ponds upstream. Simulation of floodflow for Little Catoma Creek for the existing conditions at U.S. Highway 231 indicates that, for the 100-year flood, 54 percent of the flow (8,140 cubic feet per second) was conveyed by the northernmost bridge, 21 percent (3,130 cubic feet per second) by the middle bridge, and 25 percent (3,780 cubic feet per second) by the southernmost bridge. No overtopping of U.S. Highway 231 occurred. However, the levees of the catfish ponds immediately upstream from the crossing were completely overtopped. The average water- surface elevations for the 100-year flood at the upstream limits of the study reach for Catoma Creek and Little Catoma Creek were 216.9 and 218.3 feet, respectively. For the 500-year flood, the simulatin indicates that 51 percent of the flow (11,200 cubic feet per second) was conveyed by the northernmost bridge, 25 percent (5,480 cubic feet per second) by the middle bridge, and 24 percent (5,120 cubic feet per second) by the southernmost bridge. The average water0surface elevations for the 500-year flood at the upstream limits of the study reach for Catoma Creek and Little Catoma Creek were 218.2 and 219.5 feet, respectively. For the 500-year flood, no overtopping of U.S. Highway 231 occurred. Simulation of the 100-year floodflow for Little Catoma Creek for the proposed conditions indicates that, for the existing bridges on U.S. Highway 231, 54 percent of the flow (8,190 cubic feet per second) was conveyed by the northernmost bridge, 22 percent (3,350 cubic feet per second) by the middle bridge, and 24 percent (3,490 cubic feet per second) by the southernmost bridge. The two proposed relief bridges on the Montgomery Outer Loop upstream from the proposed remaining catfish ponds conveyed about 7,750 cubic feet per second (3,400 cubic feet per second for the west relief bridge and 4,350 cubic feet per second for the east relief bridge) with an average depth of flow of about 7 feet. The average water-surface elevation at the upstream limit of the study reach for Little Catoma Creek was 218.8 feet, which is about 0.5 foot higher than the average water-surface elevation for the existing conditions. For the 100-year flood, there was no overtopping of either U.S. Highway 231 or the Montgomery Outer Loop. However, the levees of the proposed remaining catfish ponds were completely overtopped. For the Montgomery Outer Loop crossing of Catoma Creek, simulation of the 100-year floodflow indicates that about 58 percent of the flow (14,100 cubic feet per second) was conveyed by the proposed main channel bridge and 42 percent (10,200 cubic feet per second) by the proposed relief bridge. The average water-surface elevation at the upstream limit of the study reach for Catoma Creek was 216.9 feet, which is the same as the water-surface elevation for the existing conditions. Results of model simulations for the 500-year flood for the proposed conditions indicate that there was no overtopping on either U.S. Highway 231 or the Montgomery Outer Loop. For the existing bridges on U.S. Highway 231, 42 percent of the flow (11,300 cubic feet per second) was conveyed by the northernmost bridge

Computer Generated Snapshot of Our Sun's Magnetic Field

NASA Technical Reports Server (NTRS)

2003-01-01

These banana-shaped loops are part of a computer-generated snapshot of our sun's magnetic field. The solar magnetic-field lines loop through the sun's corona, break through the sun's surface, and cornect regions of magnetic activity, such as sunspots. This image --part of a magnetic-field study of the sun by NASA's Allen Gary -- shows the outer portion (skins) of interconnecting systems of hot (2 million degrees Kelvin) coronal loops within and between two active magnetic regions on opposite sides of the sun's equator. The diameter of these coronal loops at their foot points is approximately the same size as the Earth's radius (about 6,000 kilometers).

Crystal structure of an antigenic outer-membrane protein from Salmonella Typhi suggests a potential antigenic loop and an efflux mechanism.

PubMed

Guan, Hong-Hsiang; Yoshimura, Masato; Chuankhayan, Phimonphan; Lin, Chien-Chih; Chen, Nai-Chi; Yang, Ming-Chi; Ismail, Asma; Fun, Hoong-Kun; Chen, Chun-Jung

2015-11-13

ST50, an outer-membrane component of the multi-drug efflux system from Salmonella enterica serovar Typhi, is an obligatory diagnostic antigen for typhoid fever. ST50 is an excellent and unique diagnostic antigen with 95% specificity and 90% sensitivity and is used in the commercial diagnosis test kit (TYPHIDOT(TM)). The crystal structure of ST50 at a resolution of 2.98 Å reveals a trimer that forms an α-helical tunnel and a β-barrel transmembrane channel traversing the periplasmic space and outer membrane. Structural investigations suggest significant conformational variations in the extracellular loop regions, especially extracellular loop 2. This is the location of the most plausible antibody-binding domain that could be used to target the design of new antigenic epitopes for the development of better diagnostics or drugs for the treatment of typhoid fever. A molecule of the detergent n-octyl-β-D-glucoside is observed in the D-cage, which comprises three sets of Asp361 and Asp371 residues at the periplasmic entrance. These structural insights suggest a possible substrate transport mechanism in which the substrate first binds at the periplasmic entrance of ST50 and subsequently, via iris-like structural movements to open the periplasmic end, penetrates the periplasmic domain for efflux pumping of molecules, including poisonous metabolites or xenobiotics, for excretion outside the pathogen.

Architecture of kangaroo rat inner medulla: segmentation of descending thin limb of Henle's loop.

PubMed

Urity, Vinoo B; Issaian, Tadeh; Braun, Eldon J; Dantzler, William H; Pannabecker, Thomas L

2012-03-15

We hypothesize that the inner medulla of the kangaroo rat Dipodomys merriami, a desert rodent that concentrates its urine to more than 6,000 mosmol/kgH(2)O water, provides unique examples of architectural features necessary for production of highly concentrated urine. To investigate this architecture, inner medullary nephron segments in the initial 3,000 μm below the outer medulla were assessed with digital reconstructions from physical tissue sections. Descending thin limbs of Henle (DTLs), ascending thin limbs of Henle (ATLs), and collecting ducts (CDs) were identified by immunofluorescence using antibodies that label segment-specific proteins associated with transepithelial water flux (aquaporin 1 and 2, AQP1 and AQP2) and chloride flux (the chloride channel ClC-K1); all tubules and vessels were labeled with wheat germ agglutinin. In the outer 3,000 μm of the inner medulla, AQP1-positive DTLs lie at the periphery of groups of CDs. ATLs lie inside and outside the groups of CDs. Immunohistochemistry and reconstructions of loops that form their bends in the outer 3,000 μm of the inner medulla show that, relative to loop length, the AQP1-positive segment of the kangaroo rat is significantly longer than that of the Munich-Wistar rat. The length of ClC-K1 expression in the prebend region at the terminal end of the descending side of the loop in kangaroo rat is about 50% shorter than that of the Munich-Wistar rat. Tubular fluid of the kangaroo rat DTL may approach osmotic equilibrium with interstitial fluid by water reabsorption along a relatively longer tubule length, compared with Munich-Wistar rat. A relatively shorter-length prebend segment may promote a steeper reabsorptive driving force at the loop bend. These structural features predict functionality that is potentially significant in the production of a high urine osmolality in the kangaroo rat.

An experimental study on the performance of closed loop pulsating heat pipe (CLPHP) with methanol as a working fluid

NASA Astrophysics Data System (ADS)

Rahman, Md. Lutfor; Nourin, Farah Nazifa; Salsabil, Zaimaa; Yasmin, Nusrat; Ali, Mohammad

2016-07-01

Thermal control is an important topic for thermal management of small electrical and electronic devices. Closed loop pulsating heat pipe (CLPHP) arises as the best solution for thermal control. The aim of this experimental study is to search a CLPHP of better thermal performance for cooling different electrical and electronic devices. In this experiment, methanol is used as working fluid. The effect of using methanol as a working fluid is studied on thermal performance in different filling ratios and angles of inclination. A copper capillary tube is used where the inner diameter is 2mm,outer diameter is 2.5mm and 250mm long. The CLPHP has 8 loops where the evaporation section is 50mm, adiabatic section is 120mm and condensation section is 80mm. The experiment is done using FR of 40%-70% with 10% of interval and angles of inclination 0° (vertical), 30°, 45°, 60° varying heat input. The results are compared on the basis of evaporator temperature, condenser temperature and their differences, thermal resistance, heat transfer co-efficient, power input and pulsating time. The results demonstrate the effect of methanol in different filling ratios and angles of inclination. M ethanol shows better performance at 30° inclination with 40% FR.

Controlling water evaporation through self-assembly

PubMed Central

Roger, Kevin; Liebi, Marianne; Heimdal, Jimmy; Pham, Quoc Dat; Sparr, Emma

2016-01-01

Water evaporation concerns all land-living organisms, as ambient air is dryer than their corresponding equilibrium humidity. Contrarily to plants, mammals are covered with a skin that not only hinders evaporation but also maintains its rate at a nearly constant value, independently of air humidity. Here, we show that simple amphiphiles/water systems reproduce this behavior, which suggests a common underlying mechanism originating from responding self-assembly structures. The composition and structure gradients arising from the evaporation process were characterized using optical microscopy, infrared microscopy, and small-angle X-ray scattering. We observed a thin and dry outer phase that responds to changes in air humidity by increasing its thickness as the air becomes dryer, which decreases its permeability to water, thus counterbalancing the increase in the evaporation driving force. This thin and dry outer phase therefore shields the systems from humidity variations. Such a feedback loop achieves a homeostatic regulation of water evaporation. PMID:27573848

Controlling water evaporation through self-assembly.

PubMed

Roger, Kevin; Liebi, Marianne; Heimdal, Jimmy; Pham, Quoc Dat; Sparr, Emma

2016-09-13

Water evaporation concerns all land-living organisms, as ambient air is dryer than their corresponding equilibrium humidity. Contrarily to plants, mammals are covered with a skin that not only hinders evaporation but also maintains its rate at a nearly constant value, independently of air humidity. Here, we show that simple amphiphiles/water systems reproduce this behavior, which suggests a common underlying mechanism originating from responding self-assembly structures. The composition and structure gradients arising from the evaporation process were characterized using optical microscopy, infrared microscopy, and small-angle X-ray scattering. We observed a thin and dry outer phase that responds to changes in air humidity by increasing its thickness as the air becomes dryer, which decreases its permeability to water, thus counterbalancing the increase in the evaporation driving force. This thin and dry outer phase therefore shields the systems from humidity variations. Such a feedback loop achieves a homeostatic regulation of water evaporation.

Glu-311 in External Loop 4 of the Sodium/Proline Transporter PutP Is Crucial for External Gate Closure.

PubMed

Bracher, Susanne; Guérin, Kamila; Polyhach, Yevhen; Jeschke, Gunnar; Dittmer, Sophie; Frey, Sabine; Böhm, Maret; Jung, Heinrich

2016-03-04

The available structural information on LeuT and structurally related transporters suggests that external loop 4 (eL4) and the outer end of transmembrane domain (TM) 10' participate in the reversible occlusion of the outer pathway to the solute binding sites. Here, the functional significance of eL4 and the outer region of TM10' are explored using the sodium/proline symporter PutP as a model. Glu-311 at the tip of eL4, and various amino acids around the outer end of TM10' are identified as particularly crucial for function. Substitutions at these sites inhibit the transport cycle, and affect in part ligand binding. In addition, changes at selected sites induce a global structural alteration in the direction of an outward-open conformation. It is suggested that interactions between the tip of eL4 and the peptide backbone at the end of TM10' participate in coordinating conformational alterations underlying the alternating access mechanism of transport. Together with the structural information on LeuT-like transporters, the results further specify the idea that common design and functional principles are maintained across different transport families. © 2016 by The American Society for Biochemistry and Molecular Biology, Inc.

Glu-311 in External Loop 4 of the Sodium/Proline Transporter PutP Is Crucial for External Gate Closure*

PubMed Central

Bracher, Susanne; Guérin, Kamila; Polyhach, Yevhen; Jeschke, Gunnar; Dittmer, Sophie; Frey, Sabine; Böhm, Maret; Jung, Heinrich

2016-01-01

The available structural information on LeuT and structurally related transporters suggests that external loop 4 (eL4) and the outer end of transmembrane domain (TM) 10′ participate in the reversible occlusion of the outer pathway to the solute binding sites. Here, the functional significance of eL4 and the outer region of TM10′ are explored using the sodium/proline symporter PutP as a model. Glu-311 at the tip of eL4, and various amino acids around the outer end of TM10′ are identified as particularly crucial for function. Substitutions at these sites inhibit the transport cycle, and affect in part ligand binding. In addition, changes at selected sites induce a global structural alteration in the direction of an outward-open conformation. It is suggested that interactions between the tip of eL4 and the peptide backbone at the end of TM10′ participate in coordinating conformational alterations underlying the alternating access mechanism of transport. Together with the structural information on LeuT-like transporters, the results further specify the idea that common design and functional principles are maintained across different transport families. PMID:26728461

Numerical Estimation of the Outer Bank Resistance Characteristics in AN Evolving Meandering River

NASA Astrophysics Data System (ADS)

Wang, D.; Konsoer, K. M.; Rhoads, B. L.; Garcia, M. H.; Best, J.

2017-12-01

Few studies have examined the three-dimensional flow structure and its interaction with bed morphology within elongate loops of large meandering rivers. The present study uses a numerical model to simulate the flow pattern and sediment transport, especially the flow close to the outer-bank, at two elongate meandering loops in Wabash River, USA. The numerical grid for the model is based on a combination of airborne LIDAR data on floodplains and the multibeam data within the river channel. A Finite Element Method (FEM) is used to solve the non-hydrostatic RANS equation using a K-epsilon turbulence closure scheme. High-resolution topographic data allows detailed numerical simulation of flow patterns along the outer bank and model calibration involves comparing simulated velocities to ADCP measurements at 41 cross sections near this bank. Results indicate that flow along the outer bank is strongly influenced by large resistance elements, including woody debris, large erosional scallops within the bank face, and outcropping bedrock. In general, patterns of bank migration conform with zones of high near-bank velocity and shear stress. Using the existing model, different virtual events can be simulated to explore the impacts of different resistance characteristics on patterns of flow, sediment transport, and bank erosion.

Cascade control of superheated steam temperature with neuro-PID controller.

PubMed

Zhang, Jianhua; Zhang, Fenfang; Ren, Mifeng; Hou, Guolian; Fang, Fang

2012-11-01

In this paper, an improved cascade control methodology for superheated processes is developed, in which the primary PID controller is implemented by neural networks trained by minimizing error entropy criterion. The entropy of the tracking error can be estimated recursively by utilizing receding horizon window technique. The measurable disturbances in superheated processes are input to the neuro-PID controller besides the sequences of tracking error in outer loop control system, hence, feedback control is combined with feedforward control in the proposed neuro-PID controller. The convergent condition of the neural networks is analyzed. The implementation procedures of the proposed cascade control approach are summarized. Compared with the neuro-PID controller using minimizing squared error criterion, the proposed neuro-PID controller using minimizing error entropy criterion may decrease fluctuations of the superheated steam temperature. A simulation example shows the advantages of the proposed method. Copyright © 2012 ISA. Published by Elsevier Ltd. All rights reserved.

Adaptive super twisting vibration control of a flexible spacecraft with state rate estimation

NASA Astrophysics Data System (ADS)

Malekzadeh, Maryam; Karimpour, Hossein

2018-05-01

The robust attitude and vibration control of a flexible spacecraft trying to perform accurate maneuvers in spite of various sources of uncertainty is addressed here. Difficulties for achieving precise and stable pointing arise from noisy onboard sensors, parameters indeterminacy, outer disturbances as well as un-modeled or hidden dynamics interactions. Based on high-order sliding-mode methods, the non-minimum phase nature of the problem is dealt with through output redefinition. An adaptive super-twisting algorithm (ASTA) is incorporated with its observer counterpart on the system under consideration to get reliable attitude and vibration control in the presence of sensor noise and momentum coupling. The closed-loop efficiency is verified through simulations under various indeterminate situations and got compared to other methods.

Wzi is an outer membrane lectin that underpins group 1 capsule assembly in Escherichia coli.

PubMed

Bushell, Simon R; Mainprize, Iain L; Wear, Martin A; Lou, Hubing; Whitfield, Chris; Naismith, James H

2013-05-07

Many pathogenic bacteria encase themselves in a polysaccharide capsule that provides a barrier to the physical and immunological challenges of the host. The mechanism by which the capsule assembles around the bacterial cell is unknown. Wzi, an integral outer-membrane protein from Escherichia coli, has been implicated in the formation of group 1 capsules. The 2.6 Å resolution structure of Wzi reveals an 18-stranded β-barrel fold with a novel arrangement of long extracellular loops that blocks the extracellular entrance and a helical bundle that plugs the periplasmic end. Mutagenesis shows that specific extracellular loops are required for in vivo capsule assembly. The data show that Wzi binds the K30 carbohydrate polymer and, crucially, that mutants functionally deficient in vivo show no binding to K30 polymer in vitro. We conclude that Wzi is a novel outer-membrane lectin that assists in the formation of the bacterial capsule via direct interaction with capsular polysaccharides. Copyright © 2013 Elsevier Ltd. All rights reserved.

A numerical formulation and algorithm for limit and shakedown analysis of large-scale elastoplastic structures

NASA Astrophysics Data System (ADS)

Peng, Heng; Liu, Yinghua; Chen, Haofeng

2018-05-01

In this paper, a novel direct method called the stress compensation method (SCM) is proposed for limit and shakedown analysis of large-scale elastoplastic structures. Without needing to solve the specific mathematical programming problem, the SCM is a two-level iterative procedure based on a sequence of linear elastic finite element solutions where the global stiffness matrix is decomposed only once. In the inner loop, the static admissible residual stress field for shakedown analysis is constructed. In the outer loop, a series of decreasing load multipliers are updated to approach to the shakedown limit multiplier by using an efficient and robust iteration control technique, where the static shakedown theorem is adopted. Three numerical examples up to about 140,000 finite element nodes confirm the applicability and efficiency of this method for two-dimensional and three-dimensional elastoplastic structures, with detailed discussions on the convergence and the accuracy of the proposed algorithm.

More missing stellar opacity?

NASA Technical Reports Server (NTRS)

Stothers, Richard B.; Chin, Chao-Wen

1994-01-01

Observational data for Population I stars have shown that blue loops on the Hertzsprung-Russell (H-R) diagram form for stellar masses as low as approximately 4 solar mass. However, current state-of-the-art stellar models, unlike the older ones that were based on smaller opacities, fail to loop out of the red-giant region during core helium burning for masses less than 7 solar mass. A possible explanation is that the currently used Livermore opacities need to be further increased, by at least 70%, at temperatures characteristic of the base of the outer convection zone, around 1 x 10(exp 6) K. Indeed, no other suggested remedy seems to yield a blue loop at the lowest observed loop luminosities.

Gas turbine row #1 steam cooled vane

DOEpatents

Cunha, Frank J.

2000-01-01

A design for a vane segment having a closed-loop steam cooling system is provided. The vane segment comprises an outer shroud, an inner shroud and an airfoil, each component having a target surface on the inside surface of its walls. A plurality of rectangular waffle structures are provided on the target surface to enhance heat transfer between each component and cooling steam. Channel systems are provided in the shrouds to improve the flow of steam through the shrouds. Insert legs located in cavities in the airfoil are also provided. Each insert leg comprises outer channels located on a perimeter of the leg, each outer channel having an outer wall and impingement holes on the outer wall for producing impingement jets of cooling steam to contact the airfoil's target surface. Each insert leg further comprises a plurality of substantially rectangular-shaped ribs located on the outer wall and a plurality of openings located between outer channels of the leg to minimize cross flow degradation.

Parallelization strategies for continuum-generalized method of moments on the multi-thread systems

NASA Astrophysics Data System (ADS)

Bustamam, A.; Handhika, T.; Ernastuti, Kerami, D.

2017-07-01

Continuum-Generalized Method of Moments (C-GMM) covers the Generalized Method of Moments (GMM) shortfall which is not as efficient as Maximum Likelihood estimator by using the continuum set of moment conditions in a GMM framework. However, this computation would take a very long time since optimizing regularization parameter. Unfortunately, these calculations are processed sequentially whereas in fact all modern computers are now supported by hierarchical memory systems and hyperthreading technology, which allowing for parallel computing. This paper aims to speed up the calculation process of C-GMM by designing a parallel algorithm for C-GMM on the multi-thread systems. First, parallel regions are detected for the original C-GMM algorithm. There are two parallel regions in the original C-GMM algorithm, that are contributed significantly to the reduction of computational time: the outer-loop and the inner-loop. Furthermore, this parallel algorithm will be implemented with standard shared-memory application programming interface, i.e. Open Multi-Processing (OpenMP). The experiment shows that the outer-loop parallelization is the best strategy for any number of observations.

The Cosmic Battery in Astrophysical Accretion Disks

NASA Astrophysics Data System (ADS)

Contopoulos, Ioannis; Nathanail, Antonios; Katsanikas, Matthaios

2015-06-01

The aberrated radiation pressure at the inner edge of the accretion disk around an astrophysical black hole imparts a relative azimuthal velocity on the electrons with respect to the ions which gives rise to a ring electric current that generates large-scale poloidal magnetic field loops. This is the Cosmic Battery established by Contopoulos and Kazanas in 1998. In the present work we perform realistic numerical simulations of this important astrophysical mechanism in advection-dominated accretion flows, ADAFs. We confirm the original prediction that the inner parts of the loops are continuously advected toward the central black hole and contribute to the growth of the large-scale magnetic field, whereas the outer parts of the loops are continuously diffusing outward through the turbulent accretion flow. This process of inward advection of the axial field and outward diffusion of the return field proceeds all the way to equipartition, thus generating astrophysically significant magnetic fields on astrophysically relevant timescales. We confirm that there exists a critical value of the magnetic Prandtl number between unity and 10 in the outer disk above which the Cosmic Battery mechanism is suppressed.

The use of visual cues for vehicle control and navigation

NASA Technical Reports Server (NTRS)

Hart, Sandra G.; Battiste, Vernol

1991-01-01

At least three levels of control are required to operate most vehicles: (1) inner-loop control to counteract the momentary effects of disturbances on vehicle position; (2) intermittent maneuvers to avoid obstacles, and (3) outer-loop control to maintain a planned route. Operators monitor dynamic optical relationships in their immediate surroundings to estimate momentary changes in forward, lateral, and vertical position, rates of change in speed and direction of motion, and distance from obstacles. The process of searching the external scene to find landmarks (for navigation) is intermittent and deliberate, while monitoring and responding to subtle changes in the visual scene (for vehicle control) is relatively continuous and 'automatic'. However, since operators may perform both tasks simultaneously, the dynamic optical cues available for a vehicle control task may be determined by the operator's direction of gaze for wayfinding. An attempt to relate the visual processes involved in vehicle control and wayfinding is presented. The frames of reference and information used by different operators (e.g., automobile drivers, airline pilots, and helicopter pilots) are reviewed with particular emphasis on the special problems encountered by helicopter pilots flying nap of the earth (NOE). The goal of this overview is to describe the context within which different vehicle control tasks are performed and to suggest ways in which the use of visual cues for geographical orientation might influence visually guided control activities.

A vision-based end-point control for a two-link flexible manipulator. M.S. Thesis

NASA Technical Reports Server (NTRS)

Obergfell, Klaus

1991-01-01

The measurement and control of the end-effector position of a large two-link flexible manipulator are investigated. The system implementation is described and an initial algorithm for static end-point positioning is discussed. Most existing robots are controlled through independent joint controllers, while the end-effector position is estimated from the joint positions using a kinematic relation. End-point position feedback can be used to compensate for uncertainty and structural deflections. Such feedback is especially important for flexible robots. Computer vision is utilized to obtain end-point position measurements. A look-and-move control structure alleviates the disadvantages of the slow and variable computer vision sampling frequency. This control structure consists of an inner joint-based loop and an outer vision-based loop. A static positioning algorithm was implemented and experimentally verified. This algorithm utilizes the manipulator Jacobian to transform a tip position error to a joint error. The joint error is then used to give a new reference input to the joint controller. The convergence of the algorithm is demonstrated experimentally under payload variation. A Landmark Tracking System (Dickerson, et al 1990) is used for vision-based end-point measurements. This system was modified and tested. A real-time control system was implemented on a PC and interfaced with the vision system and the robot.

A High-Fidelity Batch Simulation Environment for Integrated Batch and Piloted Air Combat Simulation Analysis

NASA Technical Reports Server (NTRS)

Goodrich, Kenneth H.; McManus, John W.; Chappell, Alan R.

1992-01-01

A batch air combat simulation environment known as the Tactical Maneuvering Simulator (TMS) is presented. The TMS serves as a tool for developing and evaluating tactical maneuvering logics. The environment can also be used to evaluate the tactical implications of perturbations to aircraft performance or supporting systems. The TMS is capable of simulating air combat between any number of engagement participants, with practical limits imposed by computer memory and processing power. Aircraft are modeled using equations of motion, control laws, aerodynamics and propulsive characteristics equivalent to those used in high-fidelity piloted simulation. Databases representative of a modern high-performance aircraft with and without thrust-vectoring capability are included. To simplify the task of developing and implementing maneuvering logics in the TMS, an outer-loop control system known as the Tactical Autopilot (TA) is implemented in the aircraft simulation model. The TA converts guidance commands issued by computerized maneuvering logics in the form of desired angle-of-attack and wind axis-bank angle into inputs to the inner-loop control augmentation system of the aircraft. This report describes the capabilities and operation of the TMS.

Telescopic nanotube device for hot nanolithography

DOEpatents

Popescu, Adrian; Woods, Lilia M

2014-12-30

A device for maintaining a constant tip-surface distance for producing nanolithography patterns on a surface using a telescopic nanotube for hot nanolithography. An outer nanotube is attached to an AFM cantilever opposite a support end. An inner nanotube is telescopically disposed within the outer nanotube. The tip of the inner nanotube is heated to a sufficiently high temperature and brought in the vicinity of the surface. Heat is transmitted to the surface for thermal imprinting. Because the inner tube moves telescopically along the outer nanotube axis, a tip-surface distance is maintained constant due to the vdW force interaction, which in turn eliminates the need of an active feedback loop.

Multiple roles of mobile active center loops in the E1 component of the Escherichia coli pyruvate dehydrogenase complex - Linkage of protein dynamics to catalysis

PubMed Central

Jordan, Frank; Arjunan, Palaniappa; Kale, Sachin; Nemeria, Natalia S.; Furey, William

2009-01-01

The region encompassing residues 401–413 on the E1 component of the pyruvate dehydrogenase multienzyme complex from Escherichia coli comprises a loop (the inner loop) which was not seen in the X-ray structure in the presence of thiamin diphosphate, the required cofactor for the enzyme. This loop is seen in the presence of a stable analogue of the pre-decarboxylation intermediate, the covalent adduct between the substrate analogue methyl acetylphosphonate and thiamin diphosphate, C2α-phosphonolactylthiamin diphosphate. It has been shown that the residue H407 and several other residues on this loop are required to reduce the mobility of the loop so electron density corresponding to it can be seen once the pre-decarboxylation intermediate is formed. Concomitantly, the loop encompassing residues 541–557 (the outer loop) appears to work in tandem with the inner loop and there is a hydrogen bond between the two loops ensuring their correlated motion. The inner loop was shown to: a) sequester the active center from carboligase side reactions; b) assist the interaction between the E1 and the E2 components, thereby affecting the overall reaction rate of the entire multienzyme complex; c) control substrate access to the active center. Using viscosity effects on kinetics it was shown that formation of the pre-decarboxylation intermediate is specifically affected by loop movement. A cysteine-less variant was created for the E1 component, onto which cysteines were substituted at selected loop positions. Introducing an electron spin resonance spin label and an 19F NMR label onto these engineered cysteines, the loop mobility was examined: a) both methods suggested that in the absence of ligand, the loop exists in two conformations; b) line-shape analysis of the NMR signal at different temperatures, enabled estimation of the rate constant for loop movement, and this rate constant was found to be of the same order of magnitude as the turnover number for the enzyme under the same conditions. Furthermore, this analysis gave important insights into rate-limiting thermal loop dynamics. Overall, the results suggest that the dynamic properties correlate with catalytic events on the E1 component of the pyruvate dehydrogenase complex. PMID:20160956

Nonlinear SVM-DTC for induction motor drive using input-output feedback linearization and high order sliding mode control.

PubMed

Ammar, Abdelkarim; Bourek, Amor; Benakcha, Abdelhamid

2017-03-01

This paper presents a nonlinear Direct Torque Control (DTC) strategy with Space Vector Modulation (SVM) for an induction motor. A nonlinear input-output feedback linearization (IOFL) is implemented to achieve a decoupled torque and flux control and the SVM is employed to reduce high torque and flux ripples. Furthermore, the control scheme performance is improved by inserting a super twisting speed controller in the outer loop and a load torque observer to enhance the speed regulation. The combining of dual nonlinear strategies ensures a good dynamic and robustness against parameters variation and disturbance. The system stability has been analyzed using Lyapunov stability theory. The effectiveness of the control algorithm is investigated by simulation and experimental validation using Matlab/Simulink software with real-time interface based on dSpace 1104. Copyright © 2017 ISA. Published by Elsevier Ltd. All rights reserved.

An experimental study on the performance of closed loop pulsating heat pipe (CLPHP) with methanol as a working fluid

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

Rahman, Md. Lutfor; Nourin, Farah Nazifa, E-mail: farahnazifanourin@gmail.com; Salsabil, Zaimaa

Thermal control is an important topic for thermal management of small electrical and electronic devices. Closed loop pulsating heat pipe (CLPHP) arises as the best solution for thermal control. The aim of this experimental study is to search a CLPHP of better thermal performance for cooling different electrical and electronic devices. In this experiment, methanol is used as working fluid. The effect of using methanol as a working fluid is studied on thermal performance in different filling ratios and angles of inclination. A copper capillary tube is used where the inner diameter is 2 mm,outer diameter is 2.5 mm andmore » 250 mm long. The CLPHP has 8 loops where the evaporation section is 50 mm, adiabatic section is 120 mm and condensation section is 80 mm. The experiment is done using FR of 40%-70% with 10% of interval and angles of inclination 0° (vertical), 30°, 45°, 60° varying heat input. The results are compared on the basis of evaporator temperature, condenser temperature and their differences, thermal resistance, heat transfer co-efficient, power input and pulsating time. The results demonstrate the effect of methanol in different filling ratios and angles of inclination. M ethanol shows better performance at 30° inclination with 40% FR.« less

Clearing the Air: New Approaches to Life Support in Outer Space

NASA Technical Reports Server (NTRS)

Knox, J.; Howard, D.

2008-01-01

This article reports on research into atmospheric revitalization systems for long-term space travel and the use ofCOMSOL Multiphysics to understand how structured sorbents can be used to improve the performance of adsorption processes via thermal management. We are developing the next generation of atmosphere revitalization systems, which will reach for new levels of resource conservation via a high percentage of loop closure. For example, a high percentage of carbon dioxide, exhaled by crew, can be converted via reaction to drinking water, closing the loop from human metabolic waste to supply. Adsorption processes play a lead role in these new/closed loop systems.

Negative Charge Neutralization in the Loops and Turns of Outer Membrane Phospholipase A Impacts Folding Hysteresis at Neutral pH.

PubMed

McDonald, Sarah K; Fleming, Karen G

2016-11-08

Hysteresis in equilibrium protein folding titrations is an experimental barrier that must be overcome to extract meaningful thermodynamic quantities. Traditional approaches to solving this problem involve testing a spectrum of solution conditions to find ones that achieve path independence. Through this procedure, a specific pH of 3.8 was required to achieve path independence for the water-to-bilayer equilibrium folding of outer membrane protein OmpLA. We hypothesized that the neutralization of negatively charged side chains (Asp and Glu) at pH 3.8 could be the physical basis for path-independent folding at this pH. To test this idea, we engineered variants of OmpLA with Asp → Asn and Glu → Gln mutations to neutralize the negative charges within various regions of the protein and tested for reversible folding at neutral pH. Although not fully resolved, our results show that these mutations in the periplasmic turns and extracellular loops are responsible for 60% of the hysteresis in wild-type folding. Overall, our study suggests that negative charges impact the folding hysteresis in outer membrane proteins and their neutralization may aid in protein engineering applications.

Molecular basis for zinc potentiation at strychnine-sensitive glycine receptors.

PubMed

Miller, Paul S; Da Silva, Helena M A; Smart, Trevor G

2005-11-11

The divalent cation Zn(2+) is a potent potentiator at the strychnine-sensitive glycine receptor (GlyR). This occurs at nanomolar concentrations, which are the predicted endogenous levels of extracellular neuronal Zn(2+). Using structural modeling and functional mutagenesis, we have identified the molecular basis for the elusive Zn(2+) potentiation site on GlyRs and account for the differential sensitivity of GlyR alpha(1) and GlyR alpha(2) to Zn(2+) potentiation. In addition, juxtaposed to this Zn(2+) site, which is located externally on the N-terminal domain of the alpha subunit, another residue was identified in the nearby Cys loop, a region that is critical for receptor gating in all Cys loop ligand-gated ion channels. This residue acted as a key control element in the allosteric transduction pathway for Zn(2+) potentiation, enabling either potentiation or overt inhibition of receptor activation depending upon the moiety resident at this location. Overall, we propose that Zn(2+) binds to a site on the extracellular outer face of the GlyR alpha subunit and exerts its positive allosteric effect via an interaction with the Cys loop to increase the efficacy of glycine receptor gating.

Coupled Low-thrust Trajectory and System Optimization via Multi-Objective Hybrid Optimal Control

NASA Technical Reports Server (NTRS)

Vavrina, Matthew A.; Englander, Jacob Aldo; Ghosh, Alexander R.

2015-01-01

The optimization of low-thrust trajectories is tightly coupled with the spacecraft hardware. Trading trajectory characteristics with system parameters ton identify viable solutions and determine mission sensitivities across discrete hardware configurations is labor intensive. Local independent optimization runs can sample the design space, but a global exploration that resolves the relationships between the system variables across multiple objectives enables a full mapping of the optimal solution space. A multi-objective, hybrid optimal control algorithm is formulated using a multi-objective genetic algorithm as an outer loop systems optimizer around a global trajectory optimizer. The coupled problem is solved simultaneously to generate Pareto-optimal solutions in a single execution. The automated approach is demonstrated on two boulder return missions.

Stabilization of self-mode-locked quantum dash lasers by symmetric dual-loop optical feedback

NASA Astrophysics Data System (ADS)

Asghar, Haroon; Wei, Wei; Kumar, Pramod; Sooudi, Ehsan; McInerney, John. G.

2018-02-01

We report experimental studies of the influence of symmetric dual-loop optical feedback on the RF linewidth and timing jitter of self-mode-locked two-section quantum dash lasers emitting at 1550 nm. Various feedback schemes were investigated and optimum levels determined for narrowest RF linewidth and low timing jitter, for single-loop and symmetric dual-loop feedback. Two symmetric dual-loop configurations, with balanced and unbalanced feedback ratios, were studied. We demonstrate that unbalanced symmetric dual loop feedback, with the inner cavity resonant and fine delay tuning of the outer loop, gives narrowest RF linewidth and reduced timing jitter over a wide range of delay, unlike single and balanced symmetric dual-loop configurations. This configuration with feedback lengths 80 and 140 m narrows the RF linewidth by 4-67x and 10-100x, respectively, across the widest delay range, compared to free-running. For symmetric dual-loop feedback, the influence of different power split ratios through the feedback loops was determined. Our results show that symmetric dual-loop feedback is markedly more effective than single-loop feedback in reducing RF linewidth and timing jitter, and is much less sensitive to delay phase, making this technique ideal for applications where robustness and alignment tolerance are essential.

Transistorized PWM inverter-induction motor drive system

NASA Technical Reports Server (NTRS)

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

1982-01-01

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

The modified Altemeier procedure for a loop colostomy prolapse.

PubMed

Watanabe, Makoto; Murakami, Masahiko; Ozawa, Yoshiaki; Uchida, Marie; Yamazaki, Kimiyasu; Fujimori, Akira; Otsuka, Koji; Aoki, Takeshi

2015-11-01

Loop colostomy prolapse is associated with an impaired quality of life. Surgical treatment may sometimes be required for cases that cannot be closed by colon colostomy because of high-risk morbidities or advanced disease. We applied the Altimeter operation for patients with transverse loop colostomy. The Altemeier operation is therefore indicated for rectal prolapse. This technique involves a simple operation, which includes a circumferential incision through the full thickness of the outer and inner cylinder of the prolapsed limb, without incising the abdominal wall, and anastomosis with sutures using absorbable thread. We performed the Altemeier operation for three cases of loop stomal prolapse. Those patients demonstrated no postoperative complications (including obstruction, prolapse recurrence, or hernia). Our findings suggest that this procedure is useful as an optional surgical treatment for cases of transverse loop colostomy prolapse as a permanent measure in patients with high-risk morbidities or advanced disease.

EVALUATION PLAN FOR TWO LARGE-SCALE LANDFILL BIOREACTOR TECHNOLOGIES

EPA Science Inventory

Abstract - Waste Management, Inc., is operating two long-term bioreactor studies at the Outer Loop Landfill in Louisville, KY, including facultative landfill bioreactor and staged aerobic-anaerobic landfill bioreactor demonstrations. A Quality Assurance Project Plan (QAPP) was p...

Vertical Navigation Control Laws and Logic for the Next Generation Air Transportation System

NASA Technical Reports Server (NTRS)

Hueschen, Richard M.; Khong, Thuan H.

2013-01-01

A vertical navigation (VNAV) outer-loop control system was developed to capture and track the vertical path segments of energy-efficient trajectories that are being developed for high-density operations in the evolving Next Generation Air Transportation System (NextGen). The VNAV control system has a speed-on-elevator control mode to pitch the aircraft for tracking a calibrated airspeed (CAS) or Mach number profile and a path control mode for tracking the VNAV altitude profile. Mode control logic was developed for engagement of either the speed or path control modes. The control system will level the aircraft to prevent it from flying through a constraint altitude. A stability analysis was performed that showed that the gain and phase margins of the VNAV control system significantly exceeded the design gain and phase margins. The system performance was assessed using a six-deg-of-freedom non-linear transport aircraft simulation and the performance is illustrated with time-history plots of recorded simulation data.

Film cooling air pocket in a closed loop cooled airfoil

DOEpatents

Yu, Yufeng Phillip; Itzel, Gary Michael; Osgood, Sarah Jane; Bagepalli, Radhakrishna; Webbon, Waylon Willard; Burdgick, Steven Sebastian

2002-01-01

Turbine stator vane segments have radially inner and outer walls with vanes extending between them. The inner and outer walls are compartmentalized and have impingement plates. Steam flowing into the outer wall plenum passes through the impingement plate for impingement cooling of the outer wall upper surface. The spent impingement steam flows into cavities of the vane having inserts for impingement cooling the walls of the vane. The steam passes into the inner wall and through the impingement plate for impingement cooling of the inner wall surface and for return through return cavities having inserts for impingement cooling of the vane surfaces. To provide for air film cooing of select portions of the airfoil outer surface, at least one air pocket is defined on a wall of at least one of the cavities. Each air pocket is substantially closed with respect to the cooling medium in the cavity and cooling air pumped to the air pocket flows through outlet apertures in the wall of the airfoil to cool the same.

Modeling Cooperative Threads to Project GPU Performance for Adaptive Parallelism

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

Meng, Jiayuan; Uram, Thomas; Morozov, Vitali A.

Most accelerators, such as graphics processing units (GPUs) and vector processors, are particularly suitable for accelerating massively parallel workloads. On the other hand, conventional workloads are developed for multi-core parallelism, which often scale to only a few dozen OpenMP threads. When hardware threads significantly outnumber the degree of parallelism in the outer loop, programmers are challenged with efficient hardware utilization. A common solution is to further exploit the parallelism hidden deep in the code structure. Such parallelism is less structured: parallel and sequential loops may be imperfectly nested within each other, neigh boring inner loops may exhibit different concurrency patternsmore » (e.g. Reduction vs. Forall), yet have to be parallelized in the same parallel section. Many input-dependent transformations have to be explored. A programmer often employs a larger group of hardware threads to cooperatively walk through a smaller outer loop partition and adaptively exploit any encountered parallelism. This process is time-consuming and error-prone, yet the risk of gaining little or no performance remains high for such workloads. To reduce risk and guide implementation, we propose a technique to model workloads with limited parallelism that can automatically explore and evaluate transformations involving cooperative threads. Eventually, our framework projects the best achievable performance and the most promising transformations without implementing GPU code or using physical hardware. We envision our technique to be integrated into future compilers or optimization frameworks for autotuning.« less

Experimental validation of the predicted binding site of Escherichia coli K1 outer membrane protein A to human brain microvascular endothelial cells: identification of critical mutations that prevent E. coli meningitis.

PubMed

Pascal, Tod A; Abrol, Ravinder; Mittal, Rahul; Wang, Ying; Prasadarao, Nemani V; Goddard, William A

2010-11-26

Escherichia coli K1, the most common cause of meningitis in neonates, has been shown to interact with GlcNAc1-4GlcNAc epitopes of Ecgp96 on human brain microvascular endothelial cells (HBMECs) via OmpA (outer membrane protein A). However, the precise domains of extracellular loops of OmpA interacting with the chitobiose epitopes have not been elucidated. We report the loop-barrel model of these OmpA interactions with the carbohydrate moieties of Ecgp96 predicted from molecular modeling. To test this model experimentally, we generated E. coli K1 strains expressing OmpA with mutations of residues predicted to be critical for interaction with the HBMEC and tested E. coli invasion efficiency. For these same mutations, we predicted the interaction free energies (including explicit calculation of the entropy) from molecular dynamics (MD), finding excellent correlation (R(2) = 90%) with experimental invasion efficiency. Particularly important is that mutating specific residues in loops 1, 2, and 4 to alanines resulted in significant inhibition of E. coli K1 invasion in HBMECs, which is consistent with the complete lack of binding found in the MD simulations for these two cases. These studies suggest that inhibition of the interactions of these residues of Loop 1, 2, and 4 with Ecgp96 could provide a therapeutic strategy to prevent neonatal meningitis due to E. coli K1.

LEACHATE NITROGEN CONCENTRATIONS AND BACTERIAL NUMBERS FROM TWO BIOREACTOR LANDFILLS

EPA Science Inventory

The U.S. EPA and Waste Management Inc. have entered into a cooperative research and development agreement (CRADA) to study landfills operated as bioreactors. Two different landfill bioreactor configurations are currently being tested at the Outer Loop landfill in Louisville, KY...

Diversity of the P2 protein among nontypeable Haemophilus influenzae isolates.

PubMed Central

Bell, J; Grass, S; Jeanteur, D; Munson, R S

1994-01-01

The genes for outer membrane protein P2 of four nontypeable Haemophilus influenzae strains were cloned and sequenced. The derived amino acid sequences were compared with the outer membrane protein P2 sequence from H. influenzae type b MinnA and the sequences of P2 from three additional nontypeable H. influenzae strains. The sequences were 76 to 94% identical. The sequences had regions with considerable variability separated by regions which were highly conserved. The variable regions mapped to putative surface-exposed loops of the protein. PMID:8188390

Simulation and Flight Control of an Aeroelastic Fixed Wing Micro Aerial Vehicle

NASA Technical Reports Server (NTRS)

Waszak, Martin; Davidson, John B.; Ifju, Peter G.

2002-01-01

Micro aerial vehicles have been the subject of continued interest and development over the last several years. The majority of current vehicle concepts rely on rigid fixed wings or rotors. An alternate design based on an aeroelastic membrane wing has also been developed that exhibits desired characteristics in flight test demonstrations, competition, and in prior aerodynamics studies. This paper presents a simulation model and an assessment of flight control characteristics of the vehicle. Linear state space models of the vehicle associated with typical trimmed level flight conditions and which are suitable for control system design are presented as well. The simulation is used as the basis for the design of a measurement based nonlinear dynamic inversion control system and outer loop guidance system. The vehicle/controller system is the subject of ongoing investigations of autonomous and collaborative control schemes. The results indicate that the design represents a good basis for further development of the micro aerial vehicle for autonomous and collaborative controls research.

Tutorial on Quantification of Differences between Single- and Two-Component Two-Phase Flow and Heat Transfer

NASA Astrophysics Data System (ADS)

Delil, A. A. M.

2003-01-01

Single-component two-phase systems are envisaged for aerospace thermal control applications: Mechanically Pumped Loops, Vapour Pressure Driven Loops, Capillary Pumped Loops and Loop Heat Pipes. Thermal control applications are foreseen in different gravity environments: Micro-g, reduced-g for Mars or Moon bases, 1-g during terrestrial testing, and hyper-g in rotating spacecraft, during combat aircraft manoeuvres and in systems for outer planets. In the evaporator, adiabatic line and condenser sections of such single-component two-phase systems, the fluid is a mixture of the working liquid (for example ammonia, carbon dioxide, ethanol, or other refrigerants, etc.) and its saturated vapour. Results of two-phase two-component flow and heat transfer research (pertaining to liquid-gas mixtures, e.g. water/air, or argon or helium) are often applied to support research on flow and heat transfer in two-phase single-component systems. The first part of the tutorial updates the contents of two earlier tutorials, discussing various aerospace-related two-phase flow and heat transfer research. It deals with the different pressure gradient constituents of the total pressure gradient, with flow regime mapping (including evaporating and condensing flow trajectories in the flow pattern maps), with adiabatic flow and flashing, and with thermal-gravitational scaling issues. The remaining part of the tutorial qualitatively and quantitatively determines the differences between single- and two-component systems: Two systems that physically look similar and close, but in essence are fully different. It was already elucidated earlier that, though there is a certain degree of commonality, the differences will be anything but negligible, in many cases. These differences (quantified by some examples) illustrates how careful one shall be in interpreting data resulting from two-phase two-component simulations or experiments, for the development of single-component two-phase thermal control systems for various gravity environments.

Evaluation of an Active Clearance Control System Concept

NASA Technical Reports Server (NTRS)

Steinetz, Bruce M.; Lattime, Scott B.; DeCastro, Jonathan A.; Oswald, Jay; Melcher, Kevin J.

2005-01-01

Reducing blade tip clearances through active tip clearance control in the high pressure turbine can lead to significant reductions in emissions and specific fuel consumption as well as dramatic improvements in operating efficiency and increased service life. Current engines employ scheduled cooling of the outer case flanges to reduce high pressure turbine tip clearances during cruise conditions. These systems have relatively slow response and do not use clearance measurement, thereby forcing cold build clearances to set the minimum clearances at extreme operating conditions (e.g., takeoff, reburst) and not allowing cruise clearances to be minimized due to the possibility of throttle transients (e.g., step change in altitude). In an effort to improve upon current thermal methods, a first generation mechanically-actuated active clearance control (ACC) system has been designed and fabricated. The system utilizes independent actuators, a segmented shroud structure, and clearance measurement feedback to provide fast and precise active clearance control throughout engine operation. Ambient temperature performance tests of this first generation ACC system assessed individual seal component leakage rates and both static and dynamic overall system leakage rates. The ability of the nine electric stepper motors to control the position of the seal carriers in both open- and closed-loop control modes for single and multiple cycles was investigated. The ability of the system to follow simulated engine clearance transients in closed-loop mode showed the system was able to track clearances to within a tight tolerance (0.001 in. error).

Evaluation of an Active Clearance Control System Concept

NASA Technical Reports Server (NTRS)

Steinetz, Bruce M.; Lattime, Scott B.; Taylor, Shawn; DeCastro, Jonathan A.; Oswald, Jay; Melcher, Kevin J.

2005-01-01

Reducing blade tip clearances through active tip clearance control in the high pressure turbine can lead to significant reductions in emissions and specific fuel consumption as well as dramatic improvements in operating efficiency and increased service life. Current engines employ scheduled cooling of the outer case flanges to reduce high pressure turbine tip clearances during cruise conditions. These systems have relatively slow response and do not use clearance measurement, thereby forcing cold build clearances to set the minimum clearances at extreme operating conditions (e.g., takeoff, reburst) and not allowing cruise clearances to be minimized due to the possibility of throttle transients (e.g., step change in altitude). In an effort to improve upon current thermal methods, a first generation mechanically-actuated active clearance control (ACC) system has been designed and fabricated. The system utilizes independent actuators, a segmented shroud structure, and clearance measurement feedback to provide fast and precise active clearance control throughout engine operation. Ambient temperature performance tests of this first generation ACC system assessed individual seal component leakage rates and both static and dynamic overall system leakage rates. The ability of the nine electric stepper motors to control the position of the seal carriers in both open- and closed-loop control modes for single and multiple cycles was investigated. The ability of the system to follow simulated engine clearance transients in closed-loop mode showed the system was able to track clearances to within a tight tolerance ( 0.001 in. error).

Electric/magnetic field sensor

DOEpatents

Schill, Jr., Robert A.; Popek, Marc [Las Vegas, NV

2009-01-27

A UNLV novel electric/magnetic dot sensor includes a loop of conductor having two ends to the loop, a first end and a second end; the first end of the conductor seamlessly secured to a first conductor within a first sheath; the second end of the conductor seamlessly secured to a second conductor within a second sheath; and the first sheath and the second sheath positioned adjacent each other. The UNLV novel sensor can be made by removing outer layers in a segment of coaxial cable, leaving a continuous link of essentially uncovered conductor between two coaxial cable legs.

Heat exchanger with oscillating flow

NASA Technical Reports Server (NTRS)

Scotti, Stephen J. (Inventor); Blosser, Max L. (Inventor); Camarda, Charles J. (Inventor)

1992-01-01

Various heat exchange apparatuses are described in which an oscillating flow of primary coolant is used to dissipate an incident heat flux. The oscillating flow may be imparted by a reciprocating piston, a double action twin reciprocating piston, fluidic oscillators, or electromagnetic pumps. The oscillating fluid flows through at least one conduit in either an open loop or a closed loop. A secondary flow of coolant may be used to flow over the outer walls of at least one conduit to remove heat transferred from the primary coolant to the walls of the conduit.

Heat exchanger with oscillating flow

NASA Technical Reports Server (NTRS)

Scotti, Stephen J. (Inventor); Blosser, Max L. (Inventor); Camarda, Charles J. (Inventor)

1993-01-01

Various heat exchange apparatuses are described in which an oscillating flow of primary coolant is used to dissipate an incident heat flux. The oscillating flow may be imparted by a reciprocating piston, a double action twin reciprocating piston, fluidic oscillators or electromagnetic pumps. The oscillating fluid flows through at least one conduit in either an open loop or a closed loop. A secondary flow of coolant may be used to flow over the outer walls of at least one conduit to remove heat transferred from the primary coolant to the walls of the conduit.

LANDFILLS AS BIOREACTORS: RESEARH AT THE OUTER LOOP LANDFILL, LOUISVILLE, KENTUCKY; FIRST INTERIM REPORT

EPA Science Inventory

Interim report resulting from a cooperative research and development agreement (CRADA) between US EP A's Officeof Research and Development - National Risk Management Research Laboratory and a n ongoing field demonstration
of municipal waste landfills being operated as bioreact...

Comparison of closed loop model with flight test results

NASA Technical Reports Server (NTRS)

George, F. L.

1981-01-01

An analytic technique capable of predicting the landing characteristics of proposed aircraft configurations in the early stages of design was developed. In this analysis, a linear pilot-aircraft closed loop model was evaluated using experimental data generated with the NT-33 variable stability in-flight simulator. The pilot dynamics are modeled as inner and outer servo loop closures around aircraft pitch attitude, and altitude rate-of-change respectively. The landing flare maneuver is of particular interest as recent experience with military and other highly augmented vehicles shows this task to be relatively demanding, and potentially a critical design point. A unique feature of the pilot model is the incorporation of an internal model of the pilot's desired flight path for the flare maneuver.

Architecture of the human renal inner medulla and functional implications

PubMed Central

Wei, Guojun; Rosen, Seymour; Dantzler, William H.

2015-01-01

The architecture of the inner stripe of the outer medulla of the human kidney has long been known to exhibit distinctive configurations; however, inner medullary architecture remains poorly defined. Using immunohistochemistry with segment-specific antibodies for membrane fluid and solute transporters and other proteins, we identified a number of distinctive functional features of human inner medulla. In the outer inner medulla, aquaporin-1 (AQP1)-positive long-loop descending thin limbs (DTLs) lie alongside descending and ascending vasa recta (DVR, AVR) within vascular bundles. These vascular bundles are continuations of outer medullary vascular bundles. Bundles containing DTLs and vasa recta lie at the margins of coalescing collecting duct (CD) clusters, thereby forming two regions, the vascular bundle region and the CD cluster region. Although AQP1 and urea transporter UT-B are abundantly expressed in long-loop DTLs and DVR, respectively, their expression declines with depth below the outer medulla. Transcellular water and urea fluxes likely decline in these segments at progressively deeper levels. Smooth muscle myosin heavy chain protein is also expressed in DVR of the inner stripe and the upper inner medulla, but is sparsely expressed at deeper inner medullary levels. In rodent inner medulla, fenestrated capillaries abut CDs along their entire length, paralleling ascending thin limbs (ATLs), forming distinct compartments (interstitial nodal spaces; INSs); however, in humans this architecture rarely occurs. Thus INSs are relatively infrequent in the human inner medulla, unlike in the rodent where they are abundant. UT-B is expressed within the papillary epithelium of the lower inner medulla, indicating a transcellular pathway for urea across this epithelium. PMID:26290371

Robust dynamic inversion controller design and analysis (using the X-38 vehicle as a case study)

NASA Astrophysics Data System (ADS)

Ito, Daigoro

A new way to approach robust Dynamic Inversion controller synthesis is addressed in this paper. A Linear Quadratic Gaussian outer-loop controller improves the robustness of a Dynamic Inversion inner-loop controller in the presence of uncertainties. Desired dynamics are given by the dynamic compensator, which shapes the loop. The selected dynamics are based on both performance and stability robustness requirements. These requirements are straightforwardly formulated as frequency-dependent singular value bounds during synthesis of the controller. Performance and robustness of the designed controller is tested using a worst case time domain quadratic index, which is a simple but effective way to measure robustness due to parameter variation. Using this approach, a lateral-directional controller for the X-38 vehicle is designed and its robustness to parameter variations and disturbances is analyzed. It is found that if full state measurements are available, the performance of the designed lateral-directional control system, measured by the chosen cost function, improves by approximately a factor of four. Also, it is found that the designed system is stable up to a parametric variation of 1.65 standard deviation with the set of uncertainty considered. The system robustness is determined to be highly sensitive to the dihedral derivative and the roll damping coefficients. The controller analysis is extended to the nonlinear system where both control input displacements and rates are bounded. In this case, the considered nonlinear system is stable up to 48.1° in bank angle and 1.59° in sideslip angle variations, indicating it is more sensitive to variations in sideslip angle than in bank angle. This nonlinear approach is further extended for the actuator failure mode analysis. The results suggest that the designed system maintains a high level of stability in the event of aileron failure. However, only 35% or less of the original stability range is maintained for the rudder failure case. Overall, this combination of controller synthesis and robustness criteria compares well with the mu-synthesis technique. It also is readily accessible to the practicing engineer, in terms of understanding and use.

A large ultra-clean gas system with closed loop for the high-rate Outer Tracker at HERA-B

NASA Astrophysics Data System (ADS)

Hohlmann, Marcus

2003-12-01

The gas system for the Outer Tracker of the HERA-B experiment at DESY produces the desired counting gas mixture Ar/CF 4/CO 2 65:30:5 and circulates it through the detector at a flow rate of 20 m3/ h, i.e. ˜1 vol/ h. It controls flows and regulates pressures in all 26 OTR half-superlayers, purifies the gas upon return from the detector, and automatically performs a quantitative analysis of main and trace (O 2, N 2, H 2O) gas components for the common input and the outputs of all half-superlayers. The first running experience and the strategies employed during system construction to avoid any detector aging possibly induced by the gas system are discussed. The large system with major gas purification stations was constructed using only non-outgassing, "clean" materials and devices, such as stainless steel, PEEK, baked Viton, and metal bellows pumps. An epoxy glue was used extensively as a non-outgassing sealing material in applications with up to 100 bar pressure.

LEACHATE RECIRCULATION, METHANOGENS AND METAL CONCENTRATIONS IN BIOREACTOR LANDFILLS

EPA Science Inventory

The idea of operating landfills as bioreactors has received a lot of attention owing to many of the economic and waste treatment benefits. Portions of the Outer Loop landfill in Louisville, KY, owned and operated by WMI, Inc., are currently being used to test two different decom...

76 FR 39069 - Foreign-Trade Zone 29-Louisville, KY; Application for Expansion

Federal Register 2010, 2011, 2012, 2013, 2014

2011-07-05

... (316 acres)--Cedar Grove Business Park, on Highway 480, near Interstate 65, Shepherdsville, Bullitt... 10 (25 acres)--Global Port Business Park, 6201 Global Distribution Way, Louisville; Site 11 (261...), 8100 Air Commerce Drive (44 acres) and the Louisville Metro Commerce Center, 1900 Outer Loop Road (101...

Control-Relevant Modeling, Analysis, and Design for Scramjet-Powered Hypersonic Vehicles

NASA Technical Reports Server (NTRS)

Rodriguez, Armando A.; Dickeson, Jeffrey J.; Sridharan, Srikanth; Benavides, Jose; Soloway, Don; Kelkar, Atul; Vogel, Jerald M.

2009-01-01

Within this paper, control-relevant vehicle design concepts are examined using a widely used 3 DOF (plus flexibility) nonlinear model for the longitudinal dynamics of a generic carrot-shaped scramjet powered hypersonic vehicle. Trade studies associated with vehicle/engine parameters are examined. The impact of parameters on control-relevant static properties (e.g. level-flight trimmable region, trim controls, AOA, thrust margin) and dynamic properties (e.g. instability and right half plane zero associated with flight path angle) are examined. Specific parameters considered include: inlet height, diffuser area ratio, lower forebody compression ramp inclination angle, engine location, center of gravity, and mass. Vehicle optimizations is also examined. Both static and dynamic considerations are addressed. The gap-metric optimized vehicle is obtained to illustrate how this control-centric concept can be used to "reduce" scheduling requirements for the final control system. A classic inner-outer loop control architecture and methodology is used to shed light on how specific vehicle/engine design parameter selections impact control system design. In short, the work represents an important first step toward revealing fundamental tradeoffs and systematically treating control-relevant vehicle design.

The High Altitude Balloon Experiment demonstration of acquisition, tracking, and pointing technologies (HABE-ATP)

NASA Astrophysics Data System (ADS)

Dimiduk, D.; Caylor, M.; Williamson, D.; Larson, L.

1995-01-01

The High Altitude Balloon Experiment demonstration of Acquisition, Tracking, and Pointing (HABE-ATP) is a system built around balloon-borne payload which is carried to a nominal 26-km altitude. The goal is laser tracking thrusting theater and strategic missiles, and then pointing a surrogate laser weapon beam, with performance levels end a timeline traceable to operational laser weapon system requirements. This goal leads to an experiment system design which combines hardware from many technology areas: an optical telescope and IR sensors; an advanced angular inertial reference; a flexible multi-level of actuation digital control system; digital tracking processors which incorporate real-time image analysis and a pulsed, diode-pumped solid state tracking laser. The system components have been selected to meet the overall experiment goals of tracking unmodified boosters at 50- 200 km range. The ATP system on HABE must stabilize and control a relative line of sight between the platform and the unmodified target booster to a 1 microrad accuracy. The angular pointing reference system supports both open loop and closed loop track modes; GPS provides absolute position reference. The control system which positions the line of sight for the ATP system must sequence through accepting a state vector handoff, closed-loop passive IR acquisition, passive IR intermediate fine track, active fine track, and then finally aimpoint determination and maintenance modes. Line of sight stabilization to fine accuracy levels is accomplished by actuating wide bandwidth fast steering mirrors (FSM's). These control loops off-load large-amplitude errors to the outer gimbal in order to remain within the limited angular throw of the FSM's. The SWIR acquisition and MWIR intermediate fine track sensors (both PtSi focal planes) image the signature of the rocket plume. After Hard Body Handover (HBHO), active fine tracking is conducted with a visible focal plane viewing the laser-illuminated target rocket body. The track and fire control performance must be developed to the point that an aimpoint can be selected, maintained, and then track performance scored with a low-power 'surrogate' weapon beam. Extensive instrumentation monitors not only the optical sensors and the video data, but all aspects of each of the experiment subsystems such as the control system, the experiment flight vehicle, and the tracker. Because the system is balloon-borne and recoverable, it is expected to fly many times during its development program.

Architecture of the human renal inner medulla and functional implications.

PubMed

Wei, Guojun; Rosen, Seymour; Dantzler, William H; Pannabecker, Thomas L

2015-10-01

The architecture of the inner stripe of the outer medulla of the human kidney has long been known to exhibit distinctive configurations; however, inner medullary architecture remains poorly defined. Using immunohistochemistry with segment-specific antibodies for membrane fluid and solute transporters and other proteins, we identified a number of distinctive functional features of human inner medulla. In the outer inner medulla, aquaporin-1 (AQP1)-positive long-loop descending thin limbs (DTLs) lie alongside descending and ascending vasa recta (DVR, AVR) within vascular bundles. These vascular bundles are continuations of outer medullary vascular bundles. Bundles containing DTLs and vasa recta lie at the margins of coalescing collecting duct (CD) clusters, thereby forming two regions, the vascular bundle region and the CD cluster region. Although AQP1 and urea transporter UT-B are abundantly expressed in long-loop DTLs and DVR, respectively, their expression declines with depth below the outer medulla. Transcellular water and urea fluxes likely decline in these segments at progressively deeper levels. Smooth muscle myosin heavy chain protein is also expressed in DVR of the inner stripe and the upper inner medulla, but is sparsely expressed at deeper inner medullary levels. In rodent inner medulla, fenestrated capillaries abut CDs along their entire length, paralleling ascending thin limbs (ATLs), forming distinct compartments (interstitial nodal spaces; INSs); however, in humans this architecture rarely occurs. Thus INSs are relatively infrequent in the human inner medulla, unlike in the rodent where they are abundant. UT-B is expressed within the papillary epithelium of the lower inner medulla, indicating a transcellular pathway for urea across this epithelium. Copyright © 2015 the American Physiological Society.

MICROBIAL AND BIOCHEMICAL CHARACTERISTICS OF FRESHLY LANDFILLED WASTE: COMPARISONS TO LANDFILLED WASTES OF DIFFERENT AGES

EPA Science Inventory

A cooperative research and development agreement was initiated between U.S. EPA and Waste Management Inc. for a multi-year study of landfill bioreactors at the Outer Loop Landfill in Louisville, KY. As part of the agreement a research project is underway to study the microbiolog...

QUALITY ASSURANCE AND SYSTEMATIC PLANNING FOR THE EVALUATION OF TWO LANDFILL BIOREACTOR OPERATIONAL TECHNIQUES AT AN EXISTING LANDFILL

EPA Science Inventory

A Quality Assurance Project Plan (QAPP) was prepared to document the primary objectives and data collection and interpretation efforts for two landfill bioreactor studies at the Outer Loop Landfill in Louisville, KY, operated by Waste Management, Inc. WMI). The two multi-year stu...

THE ROLE OF QUALITY ASSURANCE IN THE EVALUTION OF TWO LANDFILL BIOREACTOR OPERATIONAL TECHNIQUES AT AN EXISTING LANDFILL

EPA Science Inventory

A Quality Assurance Project Plan (QAPP) was prepared to document the primary objectives and data collection and interpretation efforts for two landfill bioreactor studies at the Outer Loop Landfill in Louisville, KY, operated by Waste Management, Inc. WMI). The two multi-year stu...

Ionospheric Outflow in the Magnetosphere: Circulation and Consequences

NASA Astrophysics Data System (ADS)

Welling, D. T.; Liemohn, M. W.

2017-12-01

Including ionospheric outflow in global magnetohydrodynamic models of near-Earth outer space has become an important step towards understanding the role of this plasma source in the magnetosphere. Such simulations have revealed the importance of outflow in populating the plasma sheet and inner magnetosphere as a function of outflow source characteristics. More importantly, these experiments have shown how outflow can control global dynamics, including tail dynamics and dayside reconnection rate. The broad impact of light and heavy ion outflow can create non-linear feedback loops between outflow and the magnetosphere. This paper reviews some of the most important revelations from global magnetospheric modeling that includes ionospheric outflow of light and heavy ions. It also introduces new advances in outflow modeling and coupling outflow to the magnetosphere.

An optimal open/closed-loop control method with application to a pre-stressed thin duralumin plate

NASA Astrophysics Data System (ADS)

Nadimpalli, Sruthi Raju

The excessive vibrations of a pre-stressed duralumin plate, suppressed by a combination of open-loop and closed-loop controls, also known as open/closed-loop control, is studied in this thesis. The two primary steps involved in this process are: Step (I) with an assumption that the closed-loop control law is proportional, obtain the optimal open-loop control by direct minimization of the performance measure consisting of energy at terminal time and a penalty on open-loop control force via calculus of variations. If the performance measure also involves a penalty on closed-loop control effort then a Fourier based method is utilized. Step (II) the energy at terminal time is minimized numerically to obtain optimal values of feedback gains. The optimal closed-loop control gains obtained are used to describe the displacement and the velocity of open-loop, closed-loop and open/closed-loop controlled duralumin plate.

A description of communication patterns during CPR in ICU.

PubMed

Taylor, Katherine L; Ferri, Susan; Yavorska, Tatyana; Everett, Tobias; Parshuram, Christopher

2014-10-01

Deficiencies in communication in health care are a common source of medical error. Preferred communication patterns are a component of resuscitation teaching. We audio-recorded resuscitations in a mixed paediatric medical and surgical ICU to describe communication. In the intensive care unit, resuscitation events were prospectively audio-recorded by two trained observers (using handheld recorders). Recordings were transcribed and anonymised within 24h. We grouped utterances regarding the same subject matter from beginning (irrespective of response) as a communication epoch. For each epoch, we describe the initiator, audience and content of message. Teamwork behaviours were described using Anesthesia Nontechnical Skills framework (ANTS), a behavioural marker system for crisis-resource management. Consent rates from staff were 139/140 (99%) and parents were 67/92 (73%). We analysed 36min 57s of audio dialogue from 4 cardiac arrest events in 363h of prospective screening. There were 180 communication epochs (1 every 12s): 100 (56%) from the team-leader and 80 (44%) from non-team-leader(s). Team-leader epochs were to give or confirm orders or assert authority (61%), clarify patient history (14%) and provide clinical updates (25%). Non-team-leader epochs were more often directed to the team (65%) than the team-leader (35%). Audio-recordings provided information for 80% of the ANTS component elements with scores of 2-4. Communication epochs were frequent, most from the team-leader. We identified an 'outer loop' of communication between team members not including the team-leader, responsible for 44% of all communication events. We discuss difficulties in this research methodology. Future work includes exploring the process of the 'outer loop' by resuscitation team members to evaluate the optimal balance between single leader and team suggestions, the content of the outer loop discussions and in-event communication strategies to improve outcomes. Crown Copyright © 2014. Published by Elsevier Ireland Ltd. All rights reserved.

Detection of HbsAg and hATIII genetically modified goats (Caprahircus) by loop-mediated isothermal amplification.

PubMed

Tao, Chenyu; Zhang, Qingde; Zhai, Shanli; Liu, Bang

2013-11-01

In this study, sensitive and rapid detection systems were designed using a loop-mediated isothermal amplification (LAMP) method to detect the genetically modified goats. A set of 4 primers were designed for each exogenous nucleic acids HBsAg and hATIII. The DNA samples were first amplified with the outer and inner primers and released a single-stranded DNA,of which both ends were stem-loop structure. Then one inner primer hybridized with the loop, and initiated displacement synthesis in less than 1 h. The result could be visualized by both agarose gel electrophoresis and unaided eyes directly after adding SYBR GREEN 1. The detection limit of LAMP was ten copies of target molecules, indicating that LAMP was tenfold more sensitive than the classical PCR. Furthermore, all the samples of genetically modified goats were tested positively by LAMP, and the results demonstrated that the LAMP was a rapid and sensitive method for detecting the genetically modified organism.

Stellar evolution of high mass based on the Ledoux criterion for convection

NASA Technical Reports Server (NTRS)

Stothers, R.; Chin, C.

1972-01-01

Theoretical evolutionary sequences of models for stars of 15 and 30 solar masses were computed from the zero-age main sequence to the end of core helium burning. During the earliest stages of core helium depletion, the envelope rapidly expands into the red-supergiant configuration. At 15 solar mass, a blue loop on the H-R diagram ensues if the initial metals abundance, initial helium abundance, or C-12 + alpha particle reaction rate is sufficiently large, or if the 3-alpha reaction rate is sufficiently small. These quantities affect the opacity of the base of the outer convection zone, the mass of the core, and the thermal properties of the core. The blue loop occurs abruptly and fully developed when the critical value of any of these quantities is exceeded, and the effective temperature range and fraction of the lifetime of core helium burning during the slow phase of the blue loop vary surprisingly little. At 30 solar mass no blue loop occurs for any reasonable set of input parameters.

Empirical scaling laws for coronal heating

NASA Technical Reports Server (NTRS)

Golub, L.

1983-01-01

The origins and uses of scaling laws in studies of stellar outer atmospheres are reviewed with particular emphasis on the properties of coronal loops. Some evidence is presented for a fundamental structuring of the solar corona and the thermodynamics of scaling laws are discussed. It is found that magnetic field-related scaling laws can be obtained by relating coronal pressure, temperature, and magnetic field strength. Available data validate this method. Some parameters of the theory, however, must be treated as adjustable, and it is considered necessary to examine data from other stars in order to determine the validity of the parameters. Using detailed observational data, the applicability of single loop models is examined.

The mitochondrial intermembrane loop region of rat carnitine palmitoyltransferase 1A is a major determinant of its malonyl-CoA sensitivity.

PubMed

Borthwick, Karen; Jackson, Vicky N; Price, Nigel T; Zammit, Victor A

2006-11-03

Carnitine palmitoyltransferase (CPT) 1A adopts a polytopic conformation within the mitochondrial outer membrane, having both the N- and C-terminal segments on the cytosolic aspect of the membrane and a loop region connecting the two transmembrane (TM) segments protruding into the inter membrane space. In this study we demonstrate that the loop exerts major effects on the sensitivity of the enzyme to its inhibitor, malonyl-CoA. Insertion of a 16-residue spacer between the C-terminal part of the loop sequence (i.e. between residues 100 and 101) and TM2 (which is predicted to start at residue 102) increased the sensitivity to malonyl-CoA inhibition of the resultant mutant protein by more than 10-fold. By contrast, the same insertion made between TM1 and the loop had no effects on the kinetic properties of the enzyme, indicating that effects on the catalytic C-terminal segment were specifically induced by loop-TM2 interactions. Enhanced sensitivity was also observed in all mutants in which the native TM2-loop pairing was disrupted either by making chimeras in which the loops and TM2 segments of CPT 1A and CPT 1B were exchanged or by deleting successive 9-residue segments from the loop sequence. The data suggest that the sequence spanning the loop-TM2 boundary determines the disposition of this TM in the membrane so as to alter the conformation of the C-terminal segment and thus affect its interaction with malonyl-CoA.

The molecular mechanism of Zinc acquisition by the neisserial outer-membrane transporter ZnuD

NASA Astrophysics Data System (ADS)

Calmettes, Charles; Ing, Christopher; Buckwalter, Carolyn M.; El Bakkouri, Majida; Chieh-Lin Lai, Christine; Pogoutse, Anastassia; Gray-Owen, Scott D.; Pomès, Régis; Moraes, Trevor F.

2015-08-01

Invading bacteria from the Neisseriaceae, Acinetobacteriaceae, Bordetellaceae and Moraxellaceae families express the conserved outer-membrane zinc transporter zinc-uptake component D (ZnuD) to overcome nutritional restriction imposed by the host organism during infection. Here we demonstrate that ZnuD is required for efficient systemic infections by the causative agent of bacterial meningitis, Neisseria meningitidis, in a mouse model. We also combine X-ray crystallography and molecular dynamics simulations to gain insight into the mechanism of zinc recognition and transport across the bacterial outer-membrane by ZnuD. Because ZnuD is also considered a promising vaccine candidate against N. meningitidis, we use several ZnuD structural intermediates to map potential antigenic epitopes, and propose a mechanism by which ZnuD can maintain high sequence conservation yet avoid immune recognition by altering the conformation of surface-exposed loops.

Guidance and Control of an Autonomous Soaring UAV

NASA Technical Reports Server (NTRS)

Allen, Michael J.; Lin, Victor

2007-01-01

Thermals caused by convection in the lower atmosphere are commonly used by birds and glider pilots to extend flight duration, increase cross-country speed, improve range, or simply to conserve energy. Uninhabited Aerial Vehicles (UAVs) can also increase performance and reduce energy consumption by exploiting atmospheric convection. An autonomous soaring research project was conducted at the NASA Dryden Flight Research Center to evaluate the concept through flight test of an electric-powered motorglider with a wingspan of 4.27 m (14 ft). The UAV's commercial autopilot software was modified to include outer-loop soaring guidance and control. The aircraft total energy state was used to detect and soar within thermals. Estimated thermal size and position were used to calculate guidance commands for soaring flight. Results from a total of 23 thermal encounters show good performance of the guidance and control algorithms to autonomously detect and exploit thermals. The UAV had an average climb of 172 m (567 ft) during these encounters.

Guidance and Control of an Autonomous Soaring UAV

NASA Technical Reports Server (NTRS)

Allen, Michael J.

2007-01-01

Thermals caused by convection in the lower atmosphere are commonly used by birds and glider pilots to extend flight duration, increase cross-country speed, improve range, or simply to conserve energy. Uninhabited Aerial Vehicles (UAVs) can also increase performance and reduce energy consumption by exploiting atmospheric convection. An autonomous soaring research project was conducted at the NASA Dryden Flight Research Center to evaluate the concept through flight test of an electric-powered motor-glider with a wingspan of 4.27 m (14 ft). The UAV's commercial autopilot software was modified to include outer-loop soaring guidance and control. The aircraft total energy state was used to detect and soar within thermals. Estimated thermal size and position were used to calculate guidance commands for soaring flight. Results from a total of 23 thermal encounters show good performance of the guidance and control algorithms to autonomously detect and exploit thermals. The UAV had an average climb of 172 m (567 ft) during these encounters.

X-38 Vehicle 131R Free Flights 1 and 2

NASA Technical Reports Server (NTRS)

Munday, Steve

2000-01-01

The X-38 program is using a modern flight control system (FCS) architecture originally developed by Honeywell called MACH. During last year's SAE G&C subcommittee meeting, we outlined the design, implementation and testing of MACH in X-38 Vehicles 132, 131R & 201. During this year's SAE meeting, I'll focus upon the first two free flights of V131R, describing what caused the roll-over in FF1 and how we fixed it for FF2. I only have 30 minutes, so it will be a quick summary including VHS video. X-38 is a NASA JSC/DFRC experimental flight test program developing a series of prototypes for an International Space Station (ISS) Crew Return Vehicle (CRV), often described as an ISS "lifeboat." X-38 Vehicle 132 Free Flight 3 was the first flight test of a modern FCS architecture called Multi-Application ControlH (MACH), developed by the Honeywell Technology Center in Minneapolis and Honeywell's Houston Engineering Center. MACH wraps classical Proportional+integral (P+I) outer attitude loops around modern dynamic inversion attitude rate loops. The presentation at last year's SAE Aerospace Meeting No. 85 focused upon the design and testing of the FCS algorithm and Vehicle 132 Free Flight 3. This presentation will summarize flight control and aerodynamics lessons learned during Free Flights 1 and 2 of Vehicle 131R, a subsonic test vehicle laying the groundwork for the orbital/entry test of Vehicle 201 in 2003.

Testing of a Miniature Loop Heat Pipe Using a Thermal Electrical Cooler for Temperature Control

NASA Technical Reports Server (NTRS)

Ku, Jentung; Jeong, Soeng-II; Butler, Dan

2004-01-01

This paper describes the design and testing of a miniature LHP having a 7 mm O.D. evaporator with an integral CC. The vapor line and liquid line are made of 1.6mm stainless steel tubing. The evaporator and the CC are connected on the outer surface by a copper strap and a thermoelectric (TEC) is installed on the strap. The TEC is used to control the CC temperature by applying an electrical current for heating or cooling. Tests performed in ambient included start-up, power cycle, sink temperature cycle, and CC temperature control using TEC. The LHP demonstrated very robust operation in all tests where the heat load varied between 0.5W and 1OOW, and the sink temperature varied between 243K and 293K. The heat leak from the evaporator to the CC was extremely small. The TEC was able to control the CC temperature within +/-0.3K under all test conditions, and the required control heater power was less than 1W.

Film cooling for a closed loop cooled airfoil

DOEpatents

Burdgick, Steven Sebastian; Yu, Yufeng Phillip; Itzel, Gary Michael

2003-01-01

Turbine stator vane segments have radially inner and outer walls with vanes extending therebetween. The inner and outer walls are compartmentalized and have impingement plates. Steam flowing into the outer wall plenum passes through the impingement plate for impingement cooling of the outer wall upper surface. The spent impingement steam flows into cavities of the vane having inserts for impingement cooling the walls of the vane. The steam passes into the inner wall and through the impingement plate for impingement cooling of the inner wall surface and for return through return cavities having inserts for impingement cooling of the vane surfaces. At least one film cooling hole is defined through a wall of at least one of the cavities for flow communication between an interior of the cavity and an exterior of the vane. The film cooling hole(s) are defined adjacent a potential low LCF life region, so that cooling medium that bleeds out through the film cooling hole(s) reduces a thermal gradient in a vicinity thereof, thereby the increase the LCF life of that region.

Loop-mediated isothermal amplification (LAMP) method for detection of genetically modified maize T25.

PubMed

Xu, Junyi; Zheng, Qiuyue; Yu, Ling; Liu, Ran; Zhao, Xin; Wang, Gang; Wang, Qinghua; Cao, Jijuan

2013-11-01

The loop-mediated isothermal amplification (LAMP) assay indicates a potential and valuable means for genetically modified organism (GMO) detection especially for its rapidity, simplicity, and low cost. We developed and evaluated the specificity and sensitivity of the LAMP method for rapid detection of the genetically modified (GM) maize T25. A set of six specific primers was successfully designed to recognize six distinct sequences on the target gene, including a pair of inner primers, a pair of outer primers, and a pair of loop primers. The optimum reaction temperature and time were verified to be 65°C and 45 min, respectively. The detection limit of this LAMP assay was 5 g kg(-1) GMO component. Comparative experiments showed that the LAMP assay was a simple, rapid, accurate, and specific method for detecting the GM maize T25.

Loop-mediated isothermal amplification (LAMP) method for detection of genetically modified maize T25

PubMed Central

Xu, Junyi; Zheng, Qiuyue; Yu, Ling; Liu, Ran; Zhao, Xin; Wang, Gang; Wang, Qinghua; Cao, Jijuan

2013-01-01

The loop-mediated isothermal amplification (LAMP) assay indicates a potential and valuable means for genetically modified organism (GMO) detection especially for its rapidity, simplicity, and low cost. We developed and evaluated the specificity and sensitivity of the LAMP method for rapid detection of the genetically modified (GM) maize T25. A set of six specific primers was successfully designed to recognize six distinct sequences on the target gene, including a pair of inner primers, a pair of outer primers, and a pair of loop primers. The optimum reaction temperature and time were verified to be 65°C and 45 min, respectively. The detection limit of this LAMP assay was 5 g kg−1 GMO component. Comparative experiments showed that the LAMP assay was a simple, rapid, accurate, and specific method for detecting the GM maize T25. PMID:24804053

Refrigerator with anti-sweat hot liquid loop

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

Woolley, S.J.; Cushing, D.S.; Jenkins, T.E.

A cabinet assembly for a refrigerator having a freezer compartment ontop with two top front corners, a fresh food compartment on the bottom, a mullion partition between the compartments and a hot liquid anti-sweat loop is described comprising; an outer sheet metal shell having a top panel, side panels and a front face, a brace located at each of the two top front corners of the cabinet and having two formed sections at right angles to each other and each section is formed as an inwardly open U-shaped channel having a base, a first leg and a second leg spacedmore » apart and integrally joined to the base, fastening means for rigidly attaching each of the second leg of the corner braces to the flange of the third wall of the front face, and means to secure a portion of the hot liquid anti-sweat loop to the braces.« less

Integrated optimization of planetary rover layout and exploration routes

NASA Astrophysics Data System (ADS)

Lee, Dongoo; Ahn, Jaemyung

2018-01-01

This article introduces an optimization framework for the integrated design of a planetary surface rover and its exploration route that is applicable to the initial phase of a planetary exploration campaign composed of multiple surface missions. The scientific capability and the mobility of a rover are modelled as functions of the science weight fraction, a key parameter characterizing the rover. The proposed problem is formulated as a mixed-integer nonlinear program that maximizes the sum of profits obtained through a planetary surface exploration mission by simultaneously determining the science weight fraction of the rover, the sites to visit and their visiting sequences under resource consumption constraints imposed on each route and collectively on a mission. A solution procedure for the proposed problem composed of two loops (the outer loop and the inner loop) is developed. The results of test cases demonstrating the effectiveness of the proposed framework are presented.

Detection of Bar Transgenic Sugarcane with a Rapid and Visual Loop-Mediated Isothermal Amplification Assay.

PubMed

Zhou, Dinggang; Wang, Chunfeng; Li, Zhu; Chen, Yun; Gao, Shiwu; Guo, Jinlong; Lu, Wenying; Su, Yachun; Xu, Liping; Que, Youxiong

2016-01-01

Genetic engineering offers an attractive alternative in sugarcane breeding for increasing cane and sugar yields as well as disease and insect resistance. Bar transgenic sugarcane employing the herbicide tolerance is a useful agronomical trait in weed control. In this study, a loop-mediated isothermal amplification (LAMP) assay for rapid detection of the bar gene in transgenic sugarcane has been developed and evaluated. A set of six primers was designed for LAMP-based amplification of the bar gene. The LAMP reaction conditions were optimized as follows: 5.25 mM of Mg(2+), 6:1 ratio of inner vs. outer primer, and 6.0 U of Bst DNA polymerase in a reaction volume of 25.0 μL. The detection limit of the recombinant plasmid 1Ac0229 was as low as 10 copies in the developed LAMP, which was 10-fold higher sensitive than that of conventional PCR. In 100 putative transgenic lines, the bar gene was detected in 100/100 cases (100%) by LAMP and 97/100 cases (97%) by conventional PCR, respectively. In conclusion, the developed LAMP assay is visual, rapid, sensitive, reliable, and cost-effective for detection of the bar specific transgenic sugarcane.

Infrared Risley beam pointer

NASA Astrophysics Data System (ADS)

Harford, Steven T.; Gutierrez, Homero; Newman, Michael; Pierce, Robert; Quakenbush, Tim; Wallace, John; Bornstein, Michael

2014-03-01

Ball Aerospace & Technologies Corp. (BATC) has developed a Risley Beam Pointer (RBP) mechanism capable of agile slewing, accurate pointing and high bandwidth. The RBP is comprised of two wedged prisms that offer a wide Field of Regard (FOR) and may be manufactured and operated with diffraction limited optical quality. The tightly packaged mechanism is capable of steering a 4 inch beam over a 60° half angle cone with better than 60 μrad precision. Absolute accuracy of the beam steering is better than 1 mrad. The conformal nature of the RBP makes it an ideal mechanism for use on low altitude aircraft and unmanned aerial vehicles. Unique aspects of the opto-mechanical design include i) thermal compliance to maintain bearing preload and optical figure over a wide temperature range; and ii) packaging of a remote infrared sensor that periodically reports the temperature of both prisms for accurate determination of the index of refraction. The pointing control system operates each prism independently and employs an inner rate loop nested within an outer position loop. Mathematics for the transformation between line-of-sight coordinates and prism rotation are hosted on a 200 MHz microcontroller with just 516 KB of RAM.

Detection of Bar Transgenic Sugarcane with a Rapid and Visual Loop-Mediated Isothermal Amplification Assay

PubMed Central

Zhou, Dinggang; Wang, Chunfeng; Li, Zhu; Chen, Yun; Gao, Shiwu; Guo, Jinlong; Lu, Wenying; Su, Yachun; Xu, Liping; Que, Youxiong

2016-01-01

Genetic engineering offers an attractive alternative in sugarcane breeding for increasing cane and sugar yields as well as disease and insect resistance. Bar transgenic sugarcane employing the herbicide tolerance is a useful agronomical trait in weed control. In this study, a loop-mediated isothermal amplification (LAMP) assay for rapid detection of the bar gene in transgenic sugarcane has been developed and evaluated. A set of six primers was designed for LAMP-based amplification of the bar gene. The LAMP reaction conditions were optimized as follows: 5.25 mM of Mg2+, 6:1 ratio of inner vs. outer primer, and 6.0 U of Bst DNA polymerase in a reaction volume of 25.0 μL. The detection limit of the recombinant plasmid 1Ac0229 was as low as 10 copies in the developed LAMP, which was 10-fold higher sensitive than that of conventional PCR. In 100 putative transgenic lines, the bar gene was detected in 100/100 cases (100%) by LAMP and 97/100 cases (97%) by conventional PCR, respectively. In conclusion, the developed LAMP assay is visual, rapid, sensitive, reliable, and cost-effective for detection of the bar specific transgenic sugarcane. PMID:27014303

Leveraging Disturbance Observer Based Torque Control for Improved Impedance Rendering with Series Elastic Actuators

NASA Technical Reports Server (NTRS)

Mehling, Joshua S.; Holley, James; O'Malley, Marcia K.

2015-01-01

The fidelity with which series elastic actuators (SEAs) render desired impedances is important. Numerous approaches to SEA impedance control have been developed under the premise that high-precision actuator torque control is a prerequisite. Indeed, the design of an inner torque compensator has a significant impact on actuator impedance rendering. The disturbance observer (DOB) based torque control implemented in NASA's Valkyrie robot is considered here and a mathematical model of this torque control, cascaded with an outer impedance compensator, is constructed. While previous work has examined the impact a disturbance observer has on torque control performance, little has been done regarding DOBs and impedance rendering accuracy. Both simulation and a series of experiments are used to demonstrate the significant improvements possible in an SEA's ability to render desired dynamic behaviors when utilizing a DOB. Actuator transparency at low impedances is improved, closed loop hysteresis is reduced, and the actuator's dynamic response to both commands and interaction torques more faithfully matches that of the desired model. All of this is achieved by leveraging DOB based control rather than increasing compensator gains, thus making improved SEA impedance control easier to achieve in practice.

Computational methods in the exploration of the classical and statistical mechanics of celestial scale strings: Rotating Space Elevators

NASA Astrophysics Data System (ADS)

Knudsen, Steven; Golubovic, Leonardo

2015-04-01

With the advent of ultra-strong materials, the Space Elevator has changed from science fiction to real science. We discuss computational and theoretical methods we developed to explore classical and statistical mechanics of rotating Space Elevators (RSE). An RSE is a loopy string reaching deep into outer space. The floppy RSE loop executes a motion which is nearly a superposition of two rotations: geosynchronous rotation around the Earth, and yet another faster rotational motion of the string which goes on around a line perpendicular to the Earth at its equator. Strikingly, objects sliding along the RSE loop spontaneously oscillate between two turning points, one of which is close to the Earth (starting point) whereas the other one is deeply in the outer space. The RSE concept thus solves a major problem in space elevator science which is how to supply energy to the climbers moving along space elevator strings. The exploration of the dynamics of a floppy string interacting with objects sliding along it has required development of novel finite element algorithms described in this presentation. We thank Prof. Duncan Lorimer of WVU for kindly providing us access to his computational facility.

Simulations of fully deformed oscillating flux tubes

NASA Astrophysics Data System (ADS)

Karampelas, K.; Van Doorsselaere, T.

2018-02-01

Context. In recent years, a number of numerical studies have been focusing on the significance of the Kelvin-Helmholtz instability in the dynamics of oscillating coronal loops. This process enhances the transfer of energy into smaller scales, and has been connected with heating of coronal loops, when dissipation mechanisms, such as resistivity, are considered. However, the turbulent layer is expected near the outer regions of the loops. Therefore, the effects of wave heating are expected to be confined to the loop's external layers, leaving their denser inner parts without a heating mechanism. Aim. In the current work we aim to study the spatial evolution of wave heating effects from a footpoint driven standing kink wave in a coronal loop. Methods: Using the MPI-AMRVAC code, we performed ideal, three dimensional magnetohydrodynamic simulations of footpoint driven transverse oscillations of a cold, straight coronal flux tube, embedded in a hotter environment. We have also constructed forward models for our simulation using the FoMo code. Results: The developed transverse wave induced Kelvin-Helmholtz (TWIKH) rolls expand throughout the tube cross-section, and cover it entirely. This turbulence significantly alters the initial density profile, leading to a fully deformed cross section. As a consequence, the resistive and viscous heating rate both increase over the entire loop cross section. The resistive heating rate takes its maximum values near the footpoints, while the viscous heating rate at the apex. Conclusions: We conclude that even a monoperiodic driver can spread wave heating over the whole loop cross section, potentially providing a heating source in the inner loop region. Despite the loop's fully deformed structure, forward modelling still shows the structure appearing as a loop. A movie attached to Fig. 1 is available at http://https://www.aanda.org

Supercomputers for engineering analysis

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

Goudreau, G.L.; Benson, D.J.; Hallquist, J.O.

1986-07-01

The Cray-1 and Cray X-MP/48 experience in engineering computations at the Lawrence Livermore National Laboratory is surveyed. The fully vectorized explicit DYNA and implicit NIKE finite element codes are discussed with respect to solid and structural mechanics. The main efficiencies for production analyses are currently obtained by simple CFT compiler exploitation of pipeline architecture for inner do-loop optimization. Current developmet of outer-loop multitasking is also discussed. Applications emphasis will be on 3D examples spanning earth penetrator loads analysis, target lethality assessment, and crashworthiness. The use of a vectorized large deformation shell element in both DYNA and NIKE has substantially expandedmore » 3D nonlinear capability. 25 refs., 7 figs.« less

The Fine Transverse Structure of a Vortex Flow Beyond the Edge of a Disc Rotating in a Stratified Fluid

NASA Astrophysics Data System (ADS)

Chashechkin, Yu. D.; Bardakov, R. N.

2018-02-01

By the methods of schlieren visualization, the evolution of elements of the fine structure of transverse vortex loops formed in the circular vortex behind the edge of a disk rotating in a continuously stratified fluid is traced for the first time. An inhomogeneous distribution of the density of a table-salt solution in a basin was formed by the continuous-squeezing method. The development of periodic perturbations at the outer boundary of the circular vortex and their transformation at the vortex-loop vertex are traced. A slow change in the angular size of the structural elements in the supercritical-flow mode is noted.

Bandwidth controller for phase-locked-loop

NASA Technical Reports Server (NTRS)

Brockman, Milton H. (Inventor)

1992-01-01

A phase locked loop utilizing digital techniques to control the closed loop bandwidth of the RF carrier phase locked loop in a receiver provides high sensitivity and a wide dynamic range for signal reception. After analog to digital conversion, a digital phase locked loop bandwidth controller provides phase error detection with automatic RF carrier closed loop tracking bandwidth control to accommodate several modes of transmission.

Nonazeotropic Heat Pump

NASA Technical Reports Server (NTRS)

Ealker, David H.; Deming, Glenn

1991-01-01

Heat pump collects heat from water circulating in heat-rejection loop, raises temperature of collected heat, and transfers collected heat to water in separate pipe. Includes sealed motor/compressor with cooling coils, evaporator, and condenser, all mounted in outer housing. Gradients of temperature in evaporator and condenser increase heat-transfer efficiency of vapor-compression cycle. Intended to recover relatively-low-temperature waste heat and use it to make hot water.

Fusion between perinuclear virions and the outer nuclear membrane requires the fusogenic activity of herpes simplex virus gB.

PubMed

Wright, Catherine C; Wisner, Todd W; Hannah, Brian P; Eisenberg, Roselyn J; Cohen, Gary H; Johnson, David C

2009-11-01

Herpesviruses cross nuclear membranes (NMs) in two steps, as follows: (i) capsids assemble and bud through the inner NM into the perinuclear space, producing enveloped virus particles, and (ii) the envelopes of these virus particles fuse with the outer NM. Two herpes simplex virus (HSV) glycoproteins, gB and gH (the latter, likely complexed as a heterodimer with gL), are necessary for the second step of this process. Mutants lacking both gB and gH accumulate in the perinuclear space or in herniations (membrane vesicles derived from the inner NM). Both gB and gH/gL are also known to act directly in fusing the virion envelope with host cell membranes during HSV entry into cells, i.e., both glycoproteins appear to function directly in different aspects of the membrane fusion process. We hypothesized that HSV gB and gH/gL also act directly in the membrane fusion that occurs during virus egress from the nucleus. Previous studies of the role of gB and gH/gL in nuclear egress involved HSV gB and gH null mutants that could potentially also possess gross defects in the virion envelope. Here, we produced recombinant HSV-expressing mutant forms of gB with single amino acid substitutions in the hydrophobic "fusion loops." These fusion loops are thought to play a direct role in membrane fusion by insertion into cellular membranes. HSV recombinants expressing gB with any one of four fusion loop mutations (W174R, W174Y, Y179K, and A261D) were unable to enter cells. Moreover, two of the mutants, W174Y and Y179K, displayed reduced abilities to mediate HSV cell-to-cell spread, and W174R and A261D exhibited no spread. All mutant viruses exhibited defects in nuclear egress, enveloped virions accumulated in herniations and in the perinuclear space, and fewer enveloped virions were detected on cell surfaces. These results support the hypothesis that gB functions directly to mediate the fusion between perinuclear virus particles and the outer NM.

Trajectory tracking control for underactuated stratospheric airship

NASA Astrophysics Data System (ADS)

Zheng, Zewei; Huo, Wei; Wu, Zhe

2012-10-01

Stratospheric airship is a new kind of aerospace system which has attracted worldwide developing interests for its broad application prospects. Based on the trajectory linearization control (TLC) theory, a novel trajectory tracking control method for an underactuated stratospheric airship is presented in this paper. Firstly, the TLC theory is described sketchily, and the dynamic model of the stratospheric airship is introduced with kinematics and dynamics equations. Then, the trajectory tracking control strategy is deduced in detail. The designed control system possesses a cascaded structure which consists of desired attitude calculation, position control loop and attitude control loop. Two sub-loops are designed for the position and attitude control loops, respectively, including the kinematics control loop and dynamics control loop. Stability analysis shows that the controlled closed-loop system is exponentially stable. Finally, simulation results for the stratospheric airship to track typical trajectories are illustrated to verify effectiveness of the proposed approach.

Closed-Loop Control Better than Open-Loop Control of Profofol TCI Guided by BIS: A Randomized, Controlled, Multicenter Clinical Trial to Evaluate the CONCERT-CL Closed-Loop System

PubMed Central

Zhang, Xuena; Wu, Anshi; Yao, Shanglong; Xue, Zhanggang; Yue, Yun

2015-01-01

Background The CONCERT-CL closed-loop infusion system designed by VERYARK Technology Co., Ltd. (Guangxi, China) is an innovation using TCI combined with closed-loop controlled intravenous anesthesia under the guide of BIS. In this study we performed a randomized, controlled, multicenter study to compare closed-loop control and open-loop control of propofol by using the CONCERT-CL closed-loop infusion system. Methods 180 surgical patients from three medical centers undergone TCI intravenous anesthesia with propofol and remifentanil were randomly assigned to propofol closed-loop group and propofol opened-loop groups. Primary outcome was global score (GS, GS = (MDAPE+Wobble)/% of time of bispectral index (BIS) 40-60). Secondary outcomes were doses of the anesthetics and emergence time from anesthesia, such as, time to tracheal extubation. Results There were 89 and 86 patients in the closed-loop and opened-loop groups, respectively. GS in the closed-loop groups (22.21±8.50) were lower than that in the opened-loop group (27.19±15.26) (p=0.009). The higher proportion of time of BIS between 40 and 60 was also observed in the closed-loop group (84.11±9.50%), while that was 79.92±13.17% in the opened-loop group, (p=0.016). No significant differences in propofol dose and time of tracheal extubation were observed. The frequency of propofol regulation in the closed-loop group (31.55±9.46 times/hr) was obverse higher than that in the opened-loop group (6.84±6.21 times/hr) (p=0.000). Conclusion The CONCERT-CL closed-loop infusion system can automatically regulate the TCI of propofol, maintain the BIS value in an adequate range and reduce the workload of anesthesiologists better than open-loop system. Trial Registration ChiCTR ChiCTR-OOR-14005551 PMID:25886041

A white-light /Fe X/H-alpha coronal transient observation to 10 solar radii

NASA Technical Reports Server (NTRS)

Wagner, W. J.; Illing, R. M. E.; Sawyer, C. B.; House, L. L.; Sheeley, N. R., Jr.; Howard, R. A.; Koomen, M. J.; Michels, D. J.; Smartt, R. N.; Dryer, M.

1983-01-01

Multitelescope observations of the coronal transient of April 15-16, 1980 provide simultaneous data from the Solar Maximum Mission Coronagraph/Polarimeter, the Solwind Coronagraph, and the new Emission line Coronagraph of the Sacramento Peak Observatory. An eruptive prominence-associated white light transient is for the first time seen as an unusual wave or brightening in Fe X 6374 A (but not in Fe XIV 5303 A). Several interpretations of this fleeting enhancement are offered. The prominence shows a slowly increasing acceleration which peaks at the time of the Fe event. The white light loop transient surrounding the prominence expands at a well-documented constant speed to solar radii, with an extrapolated start time at zero height coincident with the surface activity. This loop transient exemplifies those seen above 1.7 solar radii, in that leading the disturbance is a bright N(e)-enhanced) loop rather than a dark one. This is consistent with a report of the behavior of another eruptive event observed by Fisher and Poland (1981) which began as a density depletion in the lower corona, with a bright loop forming at greater altitudes. The top of the bright loop ultimately fades in the outer corona while slow radial growth continues in the legs.

On the structure of solar and stellar coronae - Loops and loop heat transport

NASA Technical Reports Server (NTRS)

Litwin, Christof; Rosner, Robert

1993-01-01

We discuss the principal constraints on mechanisms for structuring and heating the outer atmospheres - the coronae - of stars. We argue that the essential cause of highly localized heating in the coronae of stars like the sun is the spatially intermittent nature of stellar surface magnetic fields, and that the spatial scale of the resulting coronal structures is related to the spatial structure of the photospheric fields. We show that significant constraints on coronal heating mechanisms derive from the observed variations in coronal emission, and, in addition, show that the observed structuring perpendicular to coronal magnetic fields imposes severe constraints on mechanisms for heat dispersal in the low-beta atmosphere. In particular, we find that most of commonly considered mechanisms for heat dispersal, such as anomalous diffusion due to plasma turbulence or magnetic field line stochasticity, are much too slow to account for the observed rapid heating of coronal loops. The most plausible mechanism appears to be reconnection at the interface between two adjacent coronal flux bundles. Based on a model invoking hyperresistivity, we show that such a mechanism naturally leads to dominance of isolated single bright coronal loops and to bright coronal plasma structures whose spatial scale transverse to the local magnetic field is comparable to observed dimensions of coronal X-ray loops.

Subresolution Activity in Solar and Stellar Coronae from Magnetic Field Line Tangling

NASA Astrophysics Data System (ADS)

Rappazzo, A. F.; Dahlburg, R. B.; Einaudi, G.; Velli, M.

2018-05-01

The heating of coronal loops is investigated to understand the observational consequences in terms of the thermodynamics and radiative losses from the Sun as well as the magnetized coronae of stars with an outer convective envelope. The dynamics of the Parker coronal heating model are studied for different ratios of the photospheric forcing velocity timescale tp to the Alfvén crossing time along a loop tA. It is shown that for tp/tA ≳ 10-24 the heating rate and maximum temperature are largest and approximately independent of tp/tA, leading to a strong emission in X-rays and EUV. On the opposite decreasing tp/tA to smaller values leads to lower heating rates and plasma temperatures, and consequently fading high-energy radiative emission once tp/tA ≲ 1-3. The average volumetric loop heating rate is shown to scale as ℓ _p u_p B_0^2/4π L^2, where ℓp and up are respectively the convective granule length-scale and velocity, B0 is the intensity of the strong magnetic field threading the loop, and L the loop length. These findings support a recent hypothesis explaining ultracool dwarf observations of stars with similar magnetic field strength but radically different topologies displaying different radiative emission.

Dual Rate Adaptive Control for an Industrial Heat Supply Process Using Signal Compensation Approach

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

Chai, Tianyou; Jia, Yao; Wang, Hong

The industrial heat supply process (HSP) is a highly nonlinear cascaded process which uses a steam valve opening as its control input, the steam flow-rate as its inner loop output and the supply water temperature as its outer loop output. The relationship between the heat exchange rate and the model parameters, such as steam density, entropy, and fouling correction factor and heat exchange efficiency are unknown and nonlinear. Moreover, these model parameters vary in line with steam pressure, ambient temperature and the residuals caused by the quality variations of the circulation water. When the steam pressure and the ambient temperaturemore » are of high values and are subjected to frequent external random disturbances, the supply water temperature and the steam flow-rate would interact with each other and fluctuate a lot. This is also true when the process exhibits unknown characteristic variations of the process dynamics caused by the unexpected changes of the heat exchange residuals. As a result, it is difficult to control the supply water temperature and the rates of changes of steam flow-rate well inside their targeted ranges. In this paper, a novel compensation signal based dual rate adaptive controller is developed by representing the unknown variations of dynamics as unmodeled dynamics. In the proposed controller design, such a compensation signal is constructed and added onto the control signal obtained from the linear deterministic model based feedback control design. Such a compensation signal aims at eliminating the unmodeled dynamics and the rate of changes of the currently sample unmodeled dynamics. A successful industrial application is carried out, where it has been shown that both the supply water temperature and the rate of the changes of the steam flow-rate can be controlled well inside their targeted ranges when the process is subjected to unknown variations of its dynamics.« less

Neuroelectric Virtual Devices

NASA Technical Reports Server (NTRS)

Wheeler, Kevin; Jorgensen, Charles

2000-01-01

This paper presents recent results in neuroelectric pattern recognition of electromyographic (EMG) signals used to control virtual computer input devices. The devices are designed to substitute for the functions of both a traditional joystick and keyboard entry method. We demonstrate recognition accuracy through neuroelectric control of a 757 class simulation aircraft landing at San Francisco International Airport using a virtual joystick as shown. This is accomplished by a pilot closing his fist in empty air and performing control movements that are captured by a dry electrode array on the arm which are then analyzed and routed through a flight director permitting full pilot outer loop control of the simulation. We then demonstrate finer grain motor pattern recognition through a virtual keyboard by having a typist tap his traders on a typical desk in a touch typist position. The EMG signals are then translated to keyboard presses and displayed. The paper describes the bioelectric pattern recognition methodology common to both examples. Figure 2 depicts raw EMG data from typing, the numeral '8' and the numeral '9'. These two gestures are very close in appearance and statistical properties yet are distinguishable by our hidden Kharkov model algorithms. Extensions of this work to NASA emissions and robotic control are considered.

Monitoring and Controlling an Underwater Robotic Arm

NASA Technical Reports Server (NTRS)

Haas, John; Todd, Brian Keith; Woodcock, Larry; Robinson, Fred M.

2009-01-01

The SSRMS Module 1 software is part of a system for monitoring an adaptive, closed-loop control of the motions of a robotic arm in NASA s Neutral Buoyancy Laboratory, where buoyancy in a pool of water is used to simulate the weightlessness of outer space. This software is so named because the robot arm is a replica of the Space Shuttle Remote Manipulator System (SSRMS). This software is distributed, running on remote joint processors (RJPs), each of which is mounted in a hydraulic actuator comprising the joint of the robotic arm and communicating with a poolside processor denoted the Direct Control Rack (DCR). Each RJP executes the feedback joint-motion control algorithm for its joint and communicates with the DCR. The DCR receives joint-angular-velocity commands either locally from an operator or remotely from computers that simulate the flight like SSRMS and perform coordinated motion calculations based on hand-controller inputs. The received commands are checked for validity before they are transmitted to the RJPs. The DCR software generates a display of the statuses of the RJPs for the DCR operator and can shut down the hydraulic pump when excessive joint-angle error or failure of a RJP is detected.

A dual-loop model of the human controller

NASA Technical Reports Server (NTRS)

Hess, R. A.

1977-01-01

A representative model of the human controller in single-axis compensatory tracking tasks that exhibits an internal feedback loop which is not evident in single-loop models now in common use is presented. This hypothetical inner-loop involves a neuromuscular command signal derived from the time rate of change of controlled element output which is due to control activity. It is not contended that the single-loop human controller models now in use are incorrect, but that they contain an implicit but important internal loop closure, which, if explicitly considered, can account for a good deal of the adaptive nature of the human controller in a systematic manner.

Rotating machinery dynamics simulation. I. Rigid systems with ball bearing nonlinearities and outer ring ovality under rotating unbalance excitation

PubMed

el-Saeidy

2000-02-01

The radial clearance in rolling bearing systems, required to compensate for dimensional changes associated with thermal expansion of the various parts during operation, may cause dimensional attrition and comprise bearing life, if unloaded operation occurs and balls skid [D. Childs and D. Moyer, ASME J. Eng. Gas Turb. Power 107, 152-159 (1985)]. Also, it can cause jumps in the response to unbalance excitation. These undesirable effects may be eliminated by introducing two or more loops into one of the bearing races so that at least two points of the ring circumference provide a positive zero clearance [D. Childs, Handbook of Rotordynamics, edited by F. Ehrich (McGraw-Hill, NY, 1992)]. The deviation of the outer ring with two loops, known as ovality, is one of the bearing distributed defects. Although this class of imperfections has received much work, none of the available studies has simulated the effect of the outer ring ovality on the dynamic behavior of rotating machinery under rotating unbalance with consideration of ball bearing nonlinearities, shaft elasticity, and speed of rotation. To fill this gap, the equations of motion of a rotor-ball bearing system are formulated using finite-elements (FE) discretization and Lagrange's equations. The analyses are specialized to a rigid-rotor system, by retaining the rigid body modes only in the FE solution. Samples of the results are presented in both time domain and frequency domain for a system with and without outer ring ovality. It is found that with ideal bearings (no ovality), the vibration spectrum is qualitatively and quantitatively the same in both the horizontal and vertical directions. When the ring ovality is introduced, however, the spectrum in both orthogonal planes is no longer similar. And magnitude of the bearing load has increased in the form of repeated random impacts, between balls and rings, in the horizontal direction (direction of maximum clearance) compared to a continuous contact along the vertical direction (direction of positive zero clearance). This underlines the importance of the vibration measuring probe's direction, with respect to the outer ring axes, to capture impact-induced vibrations. Moreover, when the harmonic excitation is increased for a system with ideal bearings, the spectral peaks above forcing frequency have shifted to a higher-frequency region, indicating some sort of a hard spring mechanism inherent in the system. Another observation, is that for the same external excitation, vibration amplitude at forcing frequency in the bearing force spectrum is the same for systems with or without outer ring ovality.

Iterative LQG Controller Design Through Closed-Loop Identification

NASA Technical Reports Server (NTRS)

Hsiao, Min-Hung; Huang, Jen-Kuang; Cox, David E.

1996-01-01

This paper presents an iterative Linear Quadratic Gaussian (LQG) controller design approach for a linear stochastic system with an uncertain open-loop model and unknown noise statistics. This approach consists of closed-loop identification and controller redesign cycles. In each cycle, the closed-loop identification method is used to identify an open-loop model and a steady-state Kalman filter gain from closed-loop input/output test data obtained by using a feedback LQG controller designed from the previous cycle. Then the identified open-loop model is used to redesign the state feedback. The state feedback and the identified Kalman filter gain are used to form an updated LQC controller for the next cycle. This iterative process continues until the updated controller converges. The proposed controller design is demonstrated by numerical simulations and experiments on a highly unstable large-gap magnetic suspension system.

The complex that inserts lipopolysaccharide into the bacterial outer membrane forms a two-protein plug-and-barrel.

PubMed

Freinkman, Elizaveta; Chng, Shu-Sin; Kahne, Daniel

2011-02-08

The cell surfaces of Gram-negative bacteria are composed of lipopolysaccharide (LPS). This glycolipid is found exclusively in the outer leaflet of the asymmetric outer membrane (OM), where it forms a barrier to the entry of toxic hydrophobic molecules into the cell. LPS typically contains six fatty acyl chains and up to several hundred sugar residues. It is biosynthesized in the cytosol and must then be transported across two membranes and an aqueous intermembrane space to the cell surface. These processes are required for the viability of most Gram-negative organisms. The integral membrane β-barrel LptD and the lipoprotein LptE form an essential complex in the OM, which is necessary for LPS assembly. It is not known how this complex translocates large, amphipathic LPS molecules across the OM to the outer leaflet. Here, we show that LptE resides within the LptD β-barrel both in vitro and in vivo. LptD/E associate via an extensive interface; in one specific interaction, LptE contacts a predicted extracellular loop of LptD through the lumen of the β-barrel. Disrupting this interaction site compromises the biogenesis of LptD. This unprecedented two-protein plug-and-barrel architecture suggests how LptD/E can insert LPS from the periplasm directly into the outer leaflet of the OM to establish the asymmetry of the bilayer.

Exposure of Epitope Residues on the Outer Face of the Chikungunya Virus Envelope Trimer Determines Antibody Neutralizing Efficacy

PubMed Central

Fong, Rachel H.; Banik, Soma S. R.; Mattia, Kimberly; Barnes, Trevor; Tucker, David; Liss, Nathan; Lu, Kai; Selvarajah, Suganya; Srinivasan, Surabhi; Mabila, Manu; Miller, Adam; Muench, Marcus O.; Michault, Alain; Rucker, Joseph B.; Paes, Cheryl; Simmons, Graham; Kahle, Kristen M.

2014-01-01

ABSTRACT Chikungunya virus (CHIKV) is a reemerging alphavirus that causes a debilitating arthritic disease and infects millions of people and for which no specific treatment is available. Like many alphaviruses, the structural targets on CHIKV that elicit a protective humoral immune response in humans are poorly defined. Here we used phage display against virus-like particles (VLPs) to isolate seven human monoclonal antibodies (MAbs) against the CHIKV envelope glycoproteins E2 and E1. One MAb, IM-CKV063, was highly neutralizing (50% inhibitory concentration, 7.4 ng/ml), demonstrated high-affinity binding (320 pM), and was capable of therapeutic and prophylactic protection in multiple animal models up to 24 h postexposure. Epitope mapping using a comprehensive shotgun mutagenesis library of 910 mutants with E2/E1 alanine mutations demonstrated that IM-CKV063 binds to an intersubunit conformational epitope on domain A, a functionally important region of E2. MAbs against the highly conserved fusion loop have not previously been reported but were also isolated in our studies. Fusion loop MAbs were broadly cross-reactive against diverse alphaviruses but were nonneutralizing. Fusion loop MAb reactivity was affected by temperature and reactivity conditions, suggesting that the fusion loop is hidden in infectious virions. Visualization of the binding sites of 15 different MAbs on the structure of E2/E1 revealed that all epitopes are located at the membrane-distal region of the E2/E1 spike. Interestingly, epitopes on the exposed topmost and outer surfaces of the E2/E1 trimer structure were neutralizing, whereas epitopes facing the interior of the trimer were not, providing a rationale for vaccine design and therapeutic MAb development using the intact CHIKV E2/E1 trimer. IMPORTANCE CHIKV is the most important alphavirus affecting humans, resulting in a chronic arthritic condition that can persist for months or years. In recent years, millions of people have been infected globally, and the spread of CHIKV to the Americas is now beginning, with over 100,000 cases occurring in the Caribbean within 6 months of its arrival. Our study reports on seven human MAbs against the CHIKV envelope, including a highly protective MAb and rarely isolated fusion loop MAbs. Epitope mapping of these MAbs demonstrates how some E2/E1 epitopes are exposed or hidden from the human immune system and suggests a structural mechanism by which these MAbs protect (or fail to protect) against CHIKV infection. Our results suggest that the membrane-distal end of CHIKV E2/E1 is the primary target for the humoral immune response to CHIKV, and antibodies targeting the exposed topmost and outer surfaces of the E2/E1 trimer determine the neutralizing efficacy of this response. PMID:25275138

Research on the man in the loop control system of the robot arm based on gesture control

NASA Astrophysics Data System (ADS)

Xiao, Lifeng; Peng, Jinbao

2017-03-01

The Man in the loop control system of the robot arm based on gesture control research complex real-world environment, which requires the operator to continuously control and adjust the remote manipulator, as the background, completes the specific mission human in the loop entire system as the research object. This paper puts forward a kind of robot arm control system of Man in the loop based on gesture control, by robot arm control system based on gesture control and Virtual reality scene feedback to enhance immersion and integration of operator, to make operator really become a part of the whole control loop. This paper expounds how to construct a man in the loop control system of the robot arm based on gesture control. The system is a complex system of human computer cooperative control, but also people in the loop control problem areas. The new system solves the problems that the traditional method has no immersion feeling and the operation lever is unnatural, the adjustment time is long, and the data glove mode wears uncomfortable and the price is expensive.

Site-directed mutagenesis studies to probe the role of specific residues in the external loop (L3) of OmpF and OmpC porins in susceptibility of Serratia marcescens to antibiotics.

PubMed

Begic, Sanela; Worobec, Elizabeth A

2007-06-01

Serratia marcescens is a nosocomial bacterium with natural resistance to a broad spectrum of antibiotics, making treatment challenging. One factor contributing to this natural antibiotic resistance is reduced outer membrane permeability, controlled in part by OmpF and OmpC porin proteins. To investigate the direct role of these porins in the diffusion of antibiotics across the outer membrane, we have created an ompF-ompC porin-deficient strain of S. marcescens. A considerable similarity between the S. marcescens porins and those from other members of Enterobacteriaceae was detected by sequence alignment, with the exception of a change in a conserved region of the third external loop (L3) of the S. marcescens OmpC protein. Serratia marcescens OmpC has aspartic acid instead of glycine in position 112, methionine instead of aspartic acid in position 114, and glutamine in position 124, while in S. marcescens OmpF this is a glycine at position 124. To investigate the role of amino acid positions 112, 114, and 124 and how the observed changes within OmpC porin may play a part in pore permeability, 2 OmpC sites were altered in the Enterobacteriaceae consensus (D112G and M114D) through site-directed mutagenesis. Also, Q124G in OmpC, G124Q in OmpF, and double mutants of these amino acid residues were constructed. Antibiotic accumulation assays and minimal inhibitory concentrations of the strains harboring the mutated porins were performed, while liposome swelling experiments were performed on purified porins. Our results demonstrate that the amino acid at position 114 is not responsible for either antibiotic size or ionic selection, the amino acid at position 112 is responsible for size selection only, and position 124 is involved in both size and ionic selection.

Man-in-the-control-loop simulation of manipulators

NASA Technical Reports Server (NTRS)

Chang, J. L.; Lin, Tsung-Chieh; Yae, K. Harold

1989-01-01

A method to achieve man-in-the-control-loop simulation is presented. Emerging real-time dynamics simulation suggests a potential for creating an interactive design workstation with a human operator in the control loop. The recursive formulation for multibody dynamics simulation is studied to determine requirements for man-in-the-control-loop simulation. High speed computer graphics techniques provides realistic visual cues for the simulator. Backhoe and robot arm simulations are implemented to demonstrate the capability of man-in-the-control-loop simulation.

Control and optimization system and method for chemical looping processes

DOEpatents

Lou, Xinsheng; Joshi, Abhinaya; Lei, Hao

2014-06-24

A control system for optimizing a chemical loop system includes one or more sensors for measuring one or more parameters in a chemical loop. The sensors are disposed on or in a conduit positioned in the chemical loop. The sensors generate one or more data signals representative of an amount of solids in the conduit. The control system includes a data acquisition system in communication with the sensors and a controller in communication with the data acquisition system. The data acquisition system receives the data signals and the controller generates the control signals. The controller is in communication with one or more valves positioned in the chemical loop. The valves are configured to regulate a flow of the solids through the chemical loop.

Control and optimization system and method for chemical looping processes

DOEpatents

Lou, Xinsheng; Joshi, Abhinaya; Lei, Hao

2015-02-17

A control system for optimizing a chemical loop system includes one or more sensors for measuring one or more parameters in a chemical loop. The sensors are disposed on or in a conduit positioned in the chemical loop. The sensors generate one or more data signals representative of an amount of solids in the conduit. The control system includes a data acquisition system in communication with the sensors and a controller in communication with the data acquisition system. The data acquisition system receives the data signals and the controller generates the control signals. The controller is in communication with one or more valves positioned in the chemical loop. The valves are configured to regulate a flow of the solids through the chemical loop.

Combining Charge Couple Devices and Rate Sensors for the Feedforward Control System of a Charge Coupled Device Tracking Loop.

PubMed

Tang, Tao; Tian, Jing; Zhong, Daijun; Fu, Chengyu

2016-06-25

A rate feed forward control-based sensor fusion is proposed to improve the closed-loop performance for a charge couple device (CCD) tracking loop. The target trajectory is recovered by combining line of sight (LOS) errors from the CCD and the angular rate from a fiber-optic gyroscope (FOG). A Kalman filter based on the Singer acceleration model utilizes the reconstructive target trajectory to estimate the target velocity. Different from classical feed forward control, additive feedback loops are inevitably added to the original control loops due to the fact some closed-loop information is used. The transfer function of the Kalman filter in the frequency domain is built for analyzing the closed loop stability. The bandwidth of the Kalman filter is the major factor affecting the control stability and close-loop performance. Both simulations and experiments are provided to demonstrate the benefits of the proposed algorithm.

Initial Performance of the Keck AO Wavefront Controller System

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

Johansson, E M; Acton, D S; An, J R

2001-03-01

The wavefront controller for the Keck Observatory AO system consists of two separate real-time control loops: a tip-tilt control loop to remove tilt from the incoming wavefront, and a deformable mirror control loop to remove higher-order aberrations. In this paper, we describe these control loops and analyze their performance using diagnostic data acquired during the integration and testing of the AO system on the telescope. Disturbance rejection curves for the controllers are calculated from the experimental data and compared to theory. The residual wavefront errors due to control loop bandwidth are also calculated from the data, and possible improvements tomore » the controller performance are discussed.« less

Decreased vasopressin-mediated renal water reabsorption in rats with compensated liver cirrhosis.

PubMed

Jonassen, T E; Nielsen, S; Christensen, S; Petersen, J S

1998-08-01

Experiments were performed to investigate vasopressin type 2 receptor (V2)-mediated renal water reabsorption and the renal expression of the vasopressin-regulated water channel aquaporin-2 (AQP-2) in cirrhotic rats with sodium retention but without ascites. In addition, the expression of the furosemide-sensitive type 1 Na-K-2Cl cotransporter (BSC-1) and the natriuretic response to an intravenous test dose furosemide (7.5 mg/kg) during acute V2-receptor blockade was measured. Acute V2-receptor blockade with the selective nonpeptide antagonist OPC-31260 (800 microg . kg-1 . h-1) was performed during conditions in which volume depletion was prevented by computer-driven, servo-controlled intravenous volume replacement with 150 mM glucose. OPC-31260 produced a significantly smaller increase in urine flow rate (-26%) and free water clearance (-18%) in cirrhotic rats than in control rats. The natriuretic response to an intravenous test dose furosemide (7.5 mg/kg) was significantly increased in cirrhotic rats (+52%), but pretreatment with OPC-31260 did not affect the natriuretic response to furosemide in neither cirrhotic nor in control rats. Semiquantitative immunoblotting showed a significant downregulation of AQP-2 in the renal cortex (-72%) and in the outer medulla (-44%). The relative expression of BSC-1 in the outer medulla was unchanged in cirrhotic rats. The corticopapillary gradient of Na was significantly increased in cirrhotic rats. Since daily urine flow rate was similar in cirrhotic and sham-operated rats, we suggest that non-vasopressin-mediated water reabsorption is increased in cirrhotic rats probably as a result of an increased corticomedullary gradient due to exaggerated NaCl reabsorption in the thick ascending limb of Henle's loop.

System to control contamination during retrieval of buried TRU waste

DOEpatents

Menkhaus, Daniel E.; Loomis, Guy G.; Mullen, Carlan K.; Scott, Donald W.; Feldman, Edgar M.; Meyer, Leroy C.

1993-01-01

A system to control contamination during the retrieval of hazardous waste comprising an outer containment building, an inner containment building, within the outer containment building, an electrostatic radioactive particle recovery unit connected to and in communication with the inner and outer containment buildings, and a contaminate suppression system including a moisture control subsystem, and a rapid monitoring system having the ability to monitor conditions in the inner and outer containment buildings.

System to control contamination during retrieval of buried TRU waste

DOEpatents

Menkhaus, D.E.; Loomis, G.G.; Mullen, C.K.; Scott, D.W.; Feldman, E.M.; Meyer, L.C.

1993-04-20

A system is described to control contamination during the retrieval of hazardous waste comprising an outer containment building, an inner containment building, within the outer containment building, an electrostatic radioactive particle recovery unit connected to and in communication with the inner and outer containment buildings, and a contaminate suppression system including a moisture control subsystem, and a rapid monitoring system having the ability to monitor conditions in the inner and outer containment buildings.

Automatic Layout Design for Power Module

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

Ning, Puqi; Wang, Fei; Ngo, Khai

The layout of power modules is one of the most important elements in power module design, especially for high power densities, where couplings are increased. In this paper, an automatic design process using a genetic algorithm is presented. Some practical considerations are introduced in the optimization of the layout design of the module. This paper presents a process for automatic layout design for high power density modules. Detailed GA implementations are introduced both for outer loop and inner loop. As verified by a design example, the results of the automatic design process presented here are better than those from manualmore » design and also better than the results from a popular design software. This automatic design procedure could be a major step toward improving the overall performance of future layout design.« less

Methods for utilizing maximum power from a solar array

NASA Technical Reports Server (NTRS)

Decker, D. K.

1972-01-01

A preliminary study of maximum power utilization methods was performed for an outer planet spacecraft using an ion thruster propulsion system and a solar array as the primary energy source. The problems which arise from operating the array at or near the maximum power point of its 1-V characteristic are discussed. Two closed loop system configurations which use extremum regulators to track the array's maximum power point are presented. Three open loop systems are presented that either: (1) measure the maximum power of each array section and compute the total array power, (2) utilize a reference array to predict the characteristics of the solar array, or (3) utilize impedance measurements to predict the maximum power utilization. The advantages and disadvantages of each system are discussed and recommendations for further development are made.

System identification from closed-loop data with known output feedback dynamics

NASA Technical Reports Server (NTRS)

Phan, Minh; Juang, Jer-Nan; Horta, Lucas G.; Longman, Richard W.

1992-01-01

This paper presents a procedure to identify the open loop systems when it is operating under closed loop conditions. First, closed loop excitation data are used to compute the system open loop and closed loop Markov parameters. The Markov parameters, which are the pulse response samples, are then used to compute a state space representation of the open loop system. Two closed loop configurations are considered in this paper. The closed loop system can have either a linear output feedback controller or a dynamic output feedback controller. Numerical examples are provided to illustrate the proposed closed loop identification method.

Analysis and design of a 3rd order velocity-controlled closed-loop for MEMS vibratory gyroscopes.

PubMed

Wu, Huan-ming; Yang, Hai-gang; Yin, Tao; Jiao, Ji-wei

2013-09-18

The time-average method currently available is limited to analyzing the specific performance of the automatic gain control-proportional and integral (AGC-PI) based velocity-controlled closed-loop in a micro-electro-mechanical systems (MEMS) vibratory gyroscope, since it is hard to solve nonlinear functions in the time domain when the control loop reaches to 3rd order. In this paper, we propose a linearization design approach to overcome this limitation by establishing a 3rd order linear model of the control loop and transferring the analysis to the frequency domain. Order reduction is applied on the built linear model's transfer function by constructing a zero-pole doublet, and therefore mathematical expression of each control loop's performance specification is obtained. Then an optimization methodology is summarized, which reveals that a robust, stable and swift control loop can be achieved by carefully selecting the system parameters following a priority order. Closed-loop drive circuits are designed and implemented using 0.35 μm complementary metal oxide semiconductor (CMOS) process, and experiments carried out on a gyroscope prototype verify the optimization methodology that an optimized stability of the control loop can be achieved by constructing the zero-pole doublet, and disturbance rejection capability (D.R.C) of the control loop can be improved by increasing the integral term.

Demonstration of Standard HVAC Single-Loop Digital Control Systems

DTIC Science & Technology

1993-01-01

AD-A265 372 T N FEAP-TR-FE-93/05 REPORT January 1993 FACILITIES ENGINEERING APPLICATIONS PROGRAM Demonstration of Standard HVAC Single-Loop Digital...AND DATES COVERED January 1993 Final 4. TITLE AND SUBTITLE [5. FUNDING NUMBERS Demonstration of Standard HVAC Single-Loop Digital Control Systems FEAP...conditioning ( HVAC ) control systems provide guidance on designing and specifying standard HVAC control systems that use single-loop digital controllers

Gust Alleviation Using Direct Gust Measurement

NASA Technical Reports Server (NTRS)

Hoppe, Sven Marco

2000-01-01

The increasing competition in the market of civil aircraft leads to operating efficiency and passenger comfort being very important sales arguments. Continuous developments in jet propulsion technology helped to reduce energy consumption, as well as noise and vibrations due to the engines. The main problem with respect to ride comfort is, however, the transmittance of accelerations and jerkiness imposed by atmospheric turbulence from the wings to the fuselage. This 'gust' is also a design constraint: Light airplane structures help to save, energy, but are more critical to resist the loads imposed by turbulence. For both reasons, efficient gust alleviation is necessary to improve the performance of modern aircraft. Gust can be seen as a change in the angle of attack or as an additional varying vertical component of the headwind. The effect of gust can be very strong, since the same aerodynamic forces that keep the airplane flying are involved. Event though the frequency range of those changes is quite low, it is impossible for the pilot to alleviate gust manually. Besides, most of the time during the flight, the, autopilot maintains course and the attitude of flight. Certainly, most autopilots should be capable of damping the roughest parts of turbulence, but they are unable to provide satisfactory results in that field. A promising extension should be the application of subsidiary, control, where the inner (faster) control loop alleviates turbulence and the outer (slower) loop controls the attitude of flight. Besides the mentioned ride comfort, another reason for gust alleviation with respect to the fuselage is the sensibility of electrical devices to vibration and high values of acceleration. Many modern airplane designs--especially inherently instable military aircraft--are highly dependent on avionics. The lifetime and the reliability of these systems is thus essential.

Loop gain stabilizing with an all-digital automatic-gain-control method for high-precision fiber-optic gyroscope.

PubMed

Zheng, Yue; Zhang, Chunxi; Li, Lijing; Song, Lailiang; Chen, Wen

2016-06-10

For a fiber-optic gyroscope (FOG) using electronic dithers to suppress the dead zone, without a fixed loop gain, the deterministic compensation for the dither signals in the control loop of the FOG cannot remain accurate, resulting in the dither residuals in the FOG rotation rate output and the navigation errors in the inertial navigation system. An all-digital automatic-gain-control method for stabilizing the loop gain of the FOG is proposed. By using a perturbation square wave to measure the loop gain of the FOG and adding an automatic gain control loop in the conventional control loop of the FOG, we successfully obtain the actual loop gain and make the loop gain converge to the reference value. The experimental results show that in the case of 20% variation in the loop gain, the dither residuals are successfully eliminated and the standard deviation of the FOG sampling outputs is decreased from 2.00  deg/h to 0.62  deg/h (sampling period 2.5 ms, 10 points smoothing). With this method, the loop gain of the FOG can be stabilized over the operation temperature range and in the long-time application, which provides a solid foundation for the engineering applications of the high-precision FOG.

Strain actuated aeroelastic control

NASA Technical Reports Server (NTRS)

Lazarus, Kenneth B.

1992-01-01

Viewgraphs on strain actuated aeroelastic control are presented. Topics covered include: structural and aerodynamic modeling; control law design methodology; system block diagram; adaptive wing test article; bench-top experiments; bench-top disturbance rejection: open and closed loop response; bench-top disturbance rejection: state cost versus control cost; wind tunnel experiments; wind tunnel gust alleviation: open and closed loop response at 60 mph; wind tunnel gust alleviation: state cost versus control cost at 60 mph; wind tunnel command following: open and closed loop error at 60 mph; wind tunnel flutter suppression: open loop flutter speed; and wind tunnel flutter suppression: closed loop state cost curves.

Performance of a continuous flow ventricular assist device: magnetic bearing design, construction, and testing.

PubMed

Allaire, P; Hilton, E; Baloh, M; Maslen, E; Bearnson, G; Noh, D; Khanwilkar, P; Olsen, D

1998-06-01

A new centrifugal continuous flow ventricular assist device, the CFVAD III, which is fully magnetic bearing suspended, has been developed. It has only one moving part (the impeller), has no contact (magnetic suspension), is compact, and has minimal heating. A centrifugal impeller of 2 inch outer diameter is driven by a permanent magnet brushless DC motor. This paper discusses the design, construction, testing, and performance of the magnetic bearings in the unit. The magnetic suspension consists of an inlet side magnetic bearing and an outlet side magnetic bearing, each divided into 8 pole segments to control axial and radial displacements as well as angular displacements. The magnetic actuators are composed of several different materials to minimize size and weight while having sufficient load capacity to support the forces on the impeller. Flux levels in the range of 0.1 T are employed in the magnetic bearings. Self sensing electronic circuits (without physical sensors) are employed to determine the impellar position and provide the feedback control signal needed for the magnetic bearing control loops. The sensors provide position sensitivity of approximately 0.025 mm. A decentralized 5 axis controller has been developed using modal control techniques. Proportional integral derivative controls are used for each axis to levitate the magnetically supported impeller.

Feedback Linearization in a Six Degree-of-Freedom MAG-LEV Stage

NASA Technical Reports Server (NTRS)

Ludwick, Stephen J.; Trumper, David L.; Holmes, Michael L.

1996-01-01

A six degree-of-freedom electromagnetically suspended motion control stage (the Angstrom Stage) has been designed and constructed for use in short-travel, high-resolution motion control applications. It achieves better than 0.5 nm resolution over a 100 micron range of travel. The stage consists of a single moving element (the platen) floating in an oil filled chamber. The oil is crucial to the stage's operation since it forms squeeze film dampers between the platen and the frame. Twelve electromagnetic actuators provide the forces necessary to suspend and servo the platen, and six capacitance probes measure its position relative to the frame. The system is controlled using a digital signal processing board residing in a '486 based PC. This digital controller implements a feedback linearization algorithm in real-time to account for nonlinearities in both the magnetic actuators and the fluid film dampers. The feedback linearization technique reduces a highly nonlinear plant with coupling between the degrees of freedom into one that is linear, decoupled, and setpoint independent. The key to this procedure is a detailed plant model. The operation of the feedback linearization procedure is transparent to the outer loop of the controller, and so a proportional controller is sufficient for normal operation. We envision applications of this stage in scanned probe microscopy and for integrated circuit measurement.

Closed-Loop Control of Complex Networks: A Trade-Off between Time and Energy

NASA Astrophysics Data System (ADS)

Sun, Yong-Zheng; Leng, Si-Yang; Lai, Ying-Cheng; Grebogi, Celso; Lin, Wei

2017-11-01

Controlling complex nonlinear networks is largely an unsolved problem at the present. Existing works focus either on open-loop control strategies and their energy consumptions or on closed-loop control schemes with an infinite-time duration. We articulate a finite-time, closed-loop controller with an eye toward the physical and mathematical underpinnings of the trade-off between the control time and energy as well as their dependence on the network parameters and structure. The closed-loop controller is tested on a large number of real systems including stem cell differentiation, food webs, random ecosystems, and spiking neuronal networks. Our results represent a step forward in developing a rigorous and general framework to control nonlinear dynamical networks with a complex topology.

Explaining observed red and blue-shifts using multi-stranded coronal loops

NASA Astrophysics Data System (ADS)

Regnier, S.; Walsh, R. W.; Pearson, J.

2012-03-01

Magnetic plasma loops have been termed the building blocks of the solar atmosphere. However, it must be recognised that if the range of loop structures we can observe do consist of many ''sub-resolution'' elements, then current one-dimensional hydrodynamic models are really only applicable to an individual plasma element or strand. Thus a loop should be viewed is an amalgamation of these strands. They could operate in thermal isolation from one another with a wide range of temperatures occurring across the structural elements. This scenario could occur when the energy release mechanism consists of localised, discrete bursts of energy that are due to small scale reconnection sites within the coronal magnetic field- the nanoflare coronal heating mechanism. These energy bursts occur in a time-dependent manner, distributed along the loop/strand length, giving a heating function that depends on space and time. An important observational discovery with the Hinode/EIS spectrometer is the existence of red and blue-shifts in coronal loops depending on the location of the footpoints (inner or outer parts of the active region), and the temperature of the emission line in which the Doppler shifts are measured. Based on the multi-stranded model developed by Sarkar and Walsh (2008, ApJ, 683, 516), we show that red and blue-shifts exist in different simulated Hinode/EIS passbands: cooler lines (OV-SiVII) being dominated by red-shifts, whilst hotter lines (FeXV-CaXVII) are a combination of both. The distribution of blue-shifts depends on the energy input and not so much on the heating location. Characteristic Doppler shifts generated fit well with observed values. We also simulate the Hinode/EIS rasters to closely compare our simulation with the observations. Even if not statistically significant, loops can have footpoints with opposite Doppler shifts.

Control-structure interaction in precision pointing servo loops

NASA Technical Reports Server (NTRS)

Spanos, John T.

1989-01-01

The control-structure interaction problem is addressed via stability analysis of a generic linear servo loop model. With the plant described by the rigid body mode and a single elastic mode, structural flexibility is categorized into one of three types: (1) appendage, (2) in-the-loop minimum phase, and (3) in-the-loop nonminimum phase. Closing the loop with proportional-derivative (PD) control action and introducing sensor roll-off dynamics in the feedback path, stability conditions are obtained. Trade studies are conducted with modal frequency, modal participation, modal damping, loop bandwidth, and sensor bandwidth treated as free parameters. Results indicate that appendage modes are most likely to produce instability if they are near the sensor rolloff, whereas in-the-loop modes are most dangerous near the loop bandwidth. The main goal of this paper is to provide a fundamental understanding of the control-structure interaction problem so that it may benefit the design of complex spacecraft and pointing system servo loops. In this framework, the JPL Pathfinder gimbal pointer is considered as an example.

Stability analysis and compensation of a boost regulator with two-loop control

NASA Technical Reports Server (NTRS)

Wester, G. W.

1974-01-01

A useful stability measure has been demonstrated by Wester (1973) for switching regulators with a single feedback loop by applying the Nyquist criterion to the approximate loop gain determined by a time-averaging technique. This approach is extended and applied to the characterization, stability analysis, and compensation design of a switching regulator with two-loop control. The role and relative significance of each control loop is clarified on the basis of a description of circuit operation, and the major and minor loops are identified. In view of the inapplicability of linear feedback theory, describing functions of the feedback loops and power stage are derived, using small-signal analysis. Several phenomena revealed from an analysis of the major loop gain are discussed.

Electrostatic networks control plug stabilization in the PapC usher.

PubMed

Pham, Thieng; Henderson, Nadine S; Werneburg, Glenn T; Thanassi, David G; Delcour, Anne H

2015-01-01

The PapC usher, a β-barrel pore in the outer membrane of uropathogenic Escherichia coli, is used for assembly of the P pilus, a key virulence factor in bacterial colonization of human kidney cells. Each PapC protein is composed of a 24-stranded β-barrel channel, flanked by N- and C-terminal globular domains protruding into the periplasm, and occluded by a plug domain (PD). The PD is displaced from the channel towards the periplasm during pilus biogenesis, but the molecular mechanism for PD displacement remains unclear. Two structural features within the β-barrel, an α-helix and β5-6 hairpin loop, may play roles in controlling plug stabilization. Here we have tested clusters of residues at the interface of the plug, barrel, α-helix and hairpin, which participate in electrostatic networks. To assess the roles of these residues in plug stabilization, we used patch-clamp electrophysiology to compare the activity of wild-type and mutant PapC channels containing alanine substitutions at these sites. Mutations interrupting each of two salt bridge networks were relatively ineffective in disrupting plug stabilization. However, mutation of two pairs of arginines located at the inner and the outer surfaces of the PD resulted in an enhanced propensity for plug displacement. One arginine pair involved in a repulsive interaction between the linkers that tether the plug to the β-barrel was particularly sensitive to mutation. These results suggest that plug displacement, which is necessary for pilus assembly and translocation, may require a weakening of key electrostatic interactions between the plug linkers, and the plug and the α-helix.

Improved Beam Jitter Control Methods for High Energy Laser Systems

DTIC Science & Technology

2009-12-01

Figure 16. The inner loop is a rate control loop composed of a gimbal, power amplifier , controller, and servo components (gyro, motor, and encoder...system characterization experiments 1. WFOV Control Loop a. Resonance Frequency Random signals were applied to the power amplifier and output...Loop Stabilization By applying a disturbance to the input of the power amplifier and measuring torque error, one is able to determine the torque

The effects of spaceflight on open-loop and closed-loop postural control mechanisms: human neurovestibular studies on SLS-2

NASA Technical Reports Server (NTRS)

Collins, J. J.; De Luca, C. J.; Pavlik, A. E.; Roy, S. H.; Emley, M. S.; Young, L. R. (Principal Investigator)

1995-01-01

Stabilogram-diffusion analysis was used to examine how prolonged periods in microgravity affect the open-loop and closed-loop postural control mechanisms. It was hypothesized that following spaceflight: (1) the effective stochastic activity of the open-loop postural control schemes in astronauts is increased; (2) the effective stochastic activity and uncorrelated behavior, respectively, of the closed-loop postural control mechanisms in astronauts are increased; and (3) astronauts utilized open-loop postural controls schemes for shorter time intervals and smaller displacements. Four crew members and two alternates from the 14-day Spacelab Life Sciences 2 Mission were included in the study. Each subject was tested under eyes-open, quiet-standing conditions on multiple preflight and postflight days. The subjects' center-of-pressure trajectories were measured with a force platform and analyzed according to stabilogram-diffusion analysis. It was found that the effective stochastic activity of the open-loop postural control schemes in three of the four crew members was increased following spaceflight. This result is interpreted as an indication that there may be in-flight adaptations to higher-level descending postural control pathways, e.g., a postflight increase in the tonic activation of postural muscles. This change may also be the consequence of a compensatory (e.g., "stiffening") postural control strategy that is adopted by astronauts to account for general feeling of postflight unsteadiness. The crew members, as a group, did not exhibit any consistent preflight/postflight differences in the steady-state behavior of their closed-loop postural control mechanisms or in the functional interaction of their open-loop and closed-loop postural control mechanisms. These results are interpreted as indications that although there may be in-flight adaptations to the vestibular system and/or proprioceptive system, input from the visual system can compensate for such changes during undisturbed stance.

Reliable Control Using Disturbance Observer and Equivalent Transfer Function for Position Servo System in Current Feedback Loop Failure

NASA Astrophysics Data System (ADS)

Ishikawa, Kaoru; Nakamura, Taro; Osumi, Hisashi

A reliable control method is proposed for multiple loop control system. After a feedback loop failure, such as case of the sensor break down, the control system becomes unstable and has a big fluctuation even if it has a disturbance observer. To cope with this problem, the proposed method uses an equivalent transfer function (ETF) as active redundancy compensation after the loop failure. The ETF is designed so that it does not change the transfer function of the whole system before and after the loop failure. In this paper, the characteristic of reliable control system that uses an ETF and a disturbance observer is examined by the experiment that uses the DC servo motor for the current feedback loop failure in the position servo system.

Observed Oceanic Response over the Upper Continental Slope and Outer Shelf during Hurricane Ivan

DTIC Science & Technology

2007-09-01

the slope and rise. In addition, they were presumed to be along-shelf and cross-shelf components of group veloci- generated by pulsations of the Loop ...hits. Fortunately, all of exchange of mass, momentum, heat , and water proper- the SEED moorings survived this powerful storm and ties across the shelf...15. SUBJECT TERMS SEED, continental shelf, Doppler, waves 16. SECURITY CLASSIFICATION OF: 17. LIMITATION OF 18. NUMBER 19a. NAME OF RESPONSIBLE

Toroidal midplane neutral beam armor and plasma limiter

DOEpatents

Kugel, Henry W.; Hand Jr, Samuel W.; Ksayian, Haig

1986-02-04

For use in a tokamak fusion reactor having a midplane magnetic coil on the inner wall of an evacuated toriodal chamber within which a neutral beam heated, fusing plasma is magnetically confined, a neutral beam armor shield and plasma limiter is provided on the inner wall of the toroidal chamber to shield the midplane coil from neutral beam shine-thru and plasma deposition. The armor shield/plasma limiter forms a semicircular enclosure around the midplane coil with the outer surface of the armor shield/plasma limiter shaped to match, as closely as practical, the inner limiting magnetic flux surface of the toroidally confined, indented, bean-shaped plasma. The armor shield/plasma limiter includes a plurality of semicircular graphite plates each having a pair of coupled upper and lower sections with each plate positioned in intimate contact with an adjacent plate on each side thereof so as to form a closed, planar structure around the entire outer periphery of the circular midplane coil. The upper and lower plate sections are adapted for coupling to heat sensing thermocouples and to a circulating water conduit system for cooling the armor shield/plasma limiter.The inner center portion of each graphite plate is adapted to receive and enclose a section of a circular diagnostic magnetic flux loop so as to minimize the power from the plasma confinement chamber incident upon the flux loop.

Toroidal midplane neutral beam armor and plasma limiter

DOEpatents

Kugel, Henry W.; Hand, Jr, Samuel W.; Ksayian, Haig

1986-01-01

For use in a tokamak fusion reactor having a midplane magnetic coil on the inner wall of an evacuated toriodal chamber within which a neutral beam heated, fusing plasma is magnetically confined, a neutral beam armor shield and plasma limiter is provided on the inner wall of the toroidal chamber to shield the midplane coil from neutral beam shine-thru and plasma deposition. The armor shield/plasma limiter forms a semicircular enclosure around the midplane coil with the outer surface of the armor shield/plasma limiter shaped to match, as closely as practical, the inner limiting magnetic flux surface of the toroidally confined, indented, bean-shaped plasma. The armor shield/plasma limiter includes a plurality of semicircular graphite plates each having a pair of coupled upper and lower sections with each plate positioned in intimate contact with an adjacent plate on each side thereof so as to form a closed, planar structure around the entire outer periphery of the circular midplane coil. The upper and lower plate sections are adapted for coupling to heat sensing thermocouples and to a circulating water conduit system for cooling the armor shield/plasma limiter.The inner center portion of each graphite plate is adapted to receive and enclose a section of a circular diagnostic magnetic flux loop so as to minimize the power from the plasma confinement chamber incident upon the flux loop.

Real-time visual target tracking: two implementations of velocity-based smooth pursuit

NASA Astrophysics Data System (ADS)

Etienne-Cummings, Ralph; Longo, Paul; Van der Spiegel, Jan; Mueller, Paul

1995-06-01

Two systems for velocity-based visual target tracking are presented. The first two computational layers of both implementations are composed of VLSI photoreceptors (logarithmic compression) and edge detection (difference-of-Gaussians) arrays that mimic the outer-plexiform layer of mammalian retinas. The subsequent processing layers for measuring the target velocity and to realize smooth pursuit tracking are implemented in software and at the focal plane in the two versions, respectively. One implentation uses a hybrid of a PC and a silicon retina (39 X 38 pixels) operating at 333 frames/second. The software implementation of a real-time optical flow measurement algorithm is used to determine the target velocity, and a closed-loop control system zeroes the relative velocity of the target and retina. The second implementation is a single VLSI chip, which contains a linear array of photoreceptors, edge detectors and motion detectors at the focal plane. The closed-loop control system is also included on chip. This chip realizes all the computational properties of the hybrid system. The effects of background motion, target occlusion, and disappearance are studied as a function of retinal size and spatial distribution of the measured motion vectors (i.e. foveal/peripheral and diverging/converging measurement schemes). The hybrid system, which tested successfully, tracks targets moving as fast as 3 m/s at 1.3 meters from the camera and it can compensate for external arbitrary movements in its mounting platform. The single chip version, whose circuits tested successfully, can handle targets moving at 10 m/s.

Goddard Space Flight Center Spacecraft Magnetic Test Facility Restoration Project

NASA Technical Reports Server (NTRS)

Vernier, Robert; Bonalksy, Todd; Slavin, James

2004-01-01

The Goddard Space Flight Center Spacecraft Magnetic Test Facility (SMTF) was constructed in the 1960's for the purpose of simulating geomagnetic and interplanetary magnetic field environments. The facility includes a three axis Braunbek coil system consisting of 12 loops, 4 loops on each of the three orthogonal axes; a remote Earth field sensing magnetometer and servo controller; and a remote power control and instrumentation building. The inner coils of the Braunbek system are 42-foot in diameter with a 10-foot by 10-foot opening through the outer coils to accommodate spacecraft access into the test volume. The physical size and precision of the facility are matched by only two other such facilities in the world. The facility was used extensively from the late 1960's until the early 1990's when the requirement for spacecraft level testing diminished. New NASA missions planned under the Living with a Star, Solar Terrestrial Probes, Explorer, and New Millennium Programs include precision, high-resolution magnetometers to obtain magnetic field data that is critical to fulfilling their scientific mission. It is highly likely that future Lunar and Martian exploration missions will also use precision magnetometers to conduct geophysical magnetic surveys. To ensure the success of these missions, ground-testing using a magnetic test facility such as the GSFC SMTF will be required. This paper describes the history of the facility, the future mission requirements that have renewed the need for spacecraft level magnetic testing, and the plans for restoring the facility to be capable of performing to its original design specifications.

Goddard Space Flight Center Spacecraft Magnetic Test Facility Restoration Project

NASA Technical Reports Server (NTRS)

Vernier, Robert; Bonalosky, Todd; Slavin, James

2004-01-01

The Goddard Space Flight Center Spacecraft Magnetic Test Facility (SMTF) was constructed in the 1960's for the purpose of simulating geomagnetic and interplanetary magnetic field environments. The facility includes a three axis Braunbek coil system consisting of 12 loops, 4 loops on each of the three orthogonal axes; a remote Earth field sensing magnetometer and servo controller; and a remote power control and instrumentation building. The inner coils of the Braunbek system are 42-foot in diameter with a 10-foot by 10-foot opening through the outer coils to accommodate spacecraft access into the test volume. The physical size and precision of the facility are matched by only two other such facilities in the world. The facility was used extensively from the late 1960's until the early 1990's when the requirement for spacecraft level testing diminished. New NASA missions planned under the Living with a Star, Solar Terrestrial Probes, Explorer, and New Millennium Programs include precision, high-resolution magnetometers to obtain magnetic field data that is critical to fulfilling their scientific mission. It is highly likely that future Lunar and Martian exploration missions will also use precision magnetometers to conduct geophysical magnetic surveys. To ensure the success of these missions, ground testing using a magnetic test facility such as the GSFC SMTF will be required. This paper describes the history of the facility, the future mission requirements that have renewed the need for spacecraft level magnetic testing, and the plans for restoring the facility to be capable of performing to its original design specifications.

Exploring the Structure of the Voltage-gated Na+ Channel by an Engineered Drug Access Pathway to the Receptor Site for Local Anesthetics*

PubMed Central

Lukacs, Peter; Gawali, Vaibhavkumar S.; Cervenka, Rene; Ke, Song; Koenig, Xaver; Rubi, Lena; Zarrabi, Touran; Hilber, Karlheinz; Stary-Weinzinger, Anna; Todt, Hannes

2014-01-01

Despite the availability of several crystal structures of bacterial voltage-gated Na+ channels, the structure of eukaryotic Na+ channels is still undefined. We used predictions from available homology models and crystal structures to modulate an external access pathway for the membrane-impermeant local anesthetic derivative QX-222 into the internal vestibule of the mammalian rNaV1.4 channel. Potassium channel-based homology models predict amino acid Ile-1575 in domain IV segment 6 to be in close proximity to Lys-1237 of the domain III pore-loop selectivity filter. The mutation K1237E has been shown previously to increase the diameter of the selectivity filter. We found that an access pathway for external QX-222 created by mutations of Ile-1575 was abolished by the additional mutation K1237E, supporting the notion of a close spatial relationship between sites 1237 and 1575. Crystal structures of bacterial voltage-gated Na+ channels predict that the side chain of rNaV1.4 Trp-1531 of the domain IV pore-loop projects into the space between domain IV segment 6 and domain III pore-loop and, therefore, should obstruct the putative external access pathway. Indeed, mutations W1531A and W1531G allowed for exceptionally rapid access of QX-222. In addition, W1531G created a second non-selective ion-conducting pore, bypassing the outer vestibule but probably merging into the internal vestibule, allowing for control by the activation gate. These data suggest a strong structural similarity between bacterial and eukaryotic voltage-gated Na+ channels. PMID:24947510

Control and optimization system

DOEpatents

Xinsheng, Lou

2013-02-12

A system for optimizing a power plant includes a chemical loop having an input for receiving an input parameter (270) and an output for outputting an output parameter (280), a control system operably connected to the chemical loop and having a multiple controller part (230) comprising a model-free controller. The control system receives the output parameter (280), optimizes the input parameter (270) based on the received output parameter (280), and outputs an optimized input parameter (270) to the input of the chemical loop to control a process of the chemical loop in an optimized manner.

Multifunctional transducer

NASA Technical Reports Server (NTRS)

Feldstein, C.; Lewis, G. W.; Culler, V. H.; Merrbaum, S. (Inventor)

1981-01-01

Several parameters of a small region of a muscle tissue or other object, can be simultaneously measured using with minimal traumatizing or damage of the object, a trifunctional transducer which can determine the force applied by a muscle fiber, the displacement of the fiber, and the change in thickness of the fiber. The transducer has three legs with inner ends joined together and outer ends formed to piece the tissue and remain within it. Two of the legs are relatively stiff, to measure force applied by the tissue, and a third leg is relatively flexible to measure displacement of the tissue relative to one or both stiff legs, and with the three legs lying in a common plane so that the force and displacement measurements all relate to the same direction of muscle movements. A flexible loop is attached to one of the stiff legs to measure changes in muscle thickness, with the upper end of the loop fixed to the leg and the lower end of the loop bearing against the surface of the tissue and being free to slide on the leg.

Effect of using acetone and distilled water on the performance of open loop pulsating heat pipe (OLPHP) with different filling ratios

NASA Astrophysics Data System (ADS)

Rahman, Md. Lutfor; Afrose, Tonima; Tahmina, Halima Khatun; Rinky, Rumana Parvin; Ali, Mohammad

2016-07-01

Pulsating heat pipe (PHP) is a new innovation in the modern era of miniaturizes thermal management system for its higher heating and cooling capacity. The objective of this experiment is to observe the performance of open loop pulsating heat pipe using two fluids at different filling ratios. This OLPHP is a copper capillary tube of 2.5mm outer diameter and 2mm inner diameter. It consists of 8 loops where the evaporative section is 50mm, adiabatic section is 120mm and condensation section is 80mm. The experiment is conducted with distilled water and acetone at 40%, 50%, 60%, and 70% filling ratios where 0° (vertical) is considered as definite angle of inclination. Distilled water and acetone are selected as working fluids considering their different latent heat of vaporization and surface tension. It is found that acetone shows lower thermal resistance than water at all heat inputs. Best performance of acetone is attained at 70% filling ratio. Water displays better heat transfer capability at 50% filling ratio.

Calcium Sensing by Recoverin: Effect of Protein Conformation on Ion Affinity.

PubMed

Timr, Štěpán; Kadlec, Jan; Srb, Pavel; Ollila, O H Samuli; Jungwirth, Pavel

2018-04-05

The detailed functional mechanism of recoverin, which acts as a myristoyl switch at the rod outer-segment disk membrane, is elucidated by direct and replica-exchange molecular dynamics. In accord with NMR structural evidence and calcium binding assays, simulations point to the key role of enhanced calcium binding to the EF3 loop of the semiopen state of recoverin as compared to the closed state. This 2-4-order decrease in calcium dissociation constant stabilizes the semiopen state in response to the increase of cytosolic calcium concentration in the vicinity of recoverin. A second calcium ion then binds to the EF2 loop and, consequently, the structure of the protein changes from the semiopen to the open state. The latter has the myristoyl chain extruded to the cytosol, ready to act as a membrane anchor of recoverin.

Efferent feedback can explain many hearing phenomena

NASA Astrophysics Data System (ADS)

Holmes, W. Harvey; Flax, Matthew R.

2015-12-01

The mixed mode cochlear amplifier (MMCA) model was presented at the last Mechanics of Hearing workshop [4]. The MMCA consists principally of a nonlinear feedback loop formed when an efferent-controlled outer hair cell (OHC) is combined with the cochlear mechanics and the rest of the relevant neurobiology. Essential elements of this model are efferent control of the OHC motility and a delay in the feedback to the OHC. The input to the MMCA is the passive travelling wave. In the MMCA amplification is localized where both the neural and tuned mechanical systems meet in the Organ of Corti (OoC). The simplest model based on this idea is a nonlinear delay line resonator (DLR), which is mathematically described by a nonlinear delay-differential equation (DDE). This model predicts possible Hopf bifurcations and exhibits its most interesting behaviour when operating near a bifurcation. This contribution presents some simulation results using the DLR model. These show that various observed hearing phenomena can be accounted for by this model, at least qualitatively, including compression effects, two-tone suppression and some forms of otoacoustic emissions (OAEs).

Investigation of Inner Loop Flight Control Strategies for High-Speed Research

NASA Technical Reports Server (NTRS)

Newman, Brett; Kassem, Ayman

1999-01-01

This report describes the activities and findings conducted under contract NAS1-19858 with NASA Langley Research Center. Subject matter is the investigation of suitable flight control design methodologies and solutions for large, flexible high-speed vehicles. Specifically, methodologies are to address the inner control loops used for stabilization and augmentation of a highly coupled airframe system possibly involving rigid-body motion, structural vibrations, unsteady aerodynamics, and actuator dynamics. Techniques considered in this body of work are primarily conventional-based, and the vehicle of interest is the High-Speed Civil Transport (HSCT). Major findings include 1) current aeroelastic vehicle modeling procedures require further emphasis and refinement, 2) traditional and nontraditional inner loop flight control strategies employing a single feedback loop do not appear sufficient for highly flexible HSCT class vehicles, 3) inner loop flight control systems will, in all likelihood, require multiple interacting feedback loops, and 4) Ref. H HSCT configuration presents major challenges to designing acceptable closed-loop flight dynamics.

A Homology Model Reveals Novel Structural Features and an Immunodominant Surface Loop/Opsonic Target in the Treponema pallidum BamA Ortholog TP_0326

PubMed Central

Luthra, Amit; Anand, Arvind; Hawley, Kelly L.; LeDoyt, Morgan; La Vake, Carson J.; Caimano, Melissa J.; Cruz, Adriana R.; Salazar, Juan C.

2015-01-01

ABSTRACT We recently demonstrated that TP_0326 is a bona fide rare outer membrane protein (OMP) in Treponema pallidum and that it possesses characteristic BamA bipartite topology. Herein, we used immunofluorescence analysis (IFA) to show that only the β-barrel domain of TP_0326 contains surface-exposed epitopes in intact T. pallidum. Using the solved structure of Neisseria gonorrhoeae BamA, we generated a homology model of full-length TP_0326. Although the model predicts a typical BamA fold, the β-barrel harbors features not described in other BamAs. Structural modeling predicted that a dome comprised of three large extracellular loops, loop 4 (L4), L6, and L7, covers the barrel's extracellular opening. L4, the dome's major surface-accessible loop, contains mainly charged residues, while L7 is largely neutral and contains a polyserine tract in a two-tiered conformation. L6 projects into the β-barrel but lacks the VRGF/Y motif that anchors L6 within other BamAs. IFA and opsonophagocytosis assay revealed that L4 is surface exposed and an opsonic target. Consistent with B cell epitope predictions, immunoblotting and enzyme-linked immunosorbent assay (ELISA) confirmed that L4 is an immunodominant loop in T. pallidum-infected rabbits and humans with secondary syphilis. Antibody capture experiments using Escherichia coli expressing OM-localized TP_0326 as a T. pallidum surrogate further established the surface accessibility of L4. Lastly, we found that a naturally occurring substitution (Leu593 → Gln593) in the L4 sequences of T. pallidum strains affects antibody binding in sera from syphilitic patients. Ours is the first study to employ a “structure-to-pathogenesis” approach to map the surface topology of a T. pallidum OMP within the context of syphilitic infection. IMPORTANCE Previously, we reported that TP_0326 is a bona fide rare outer membrane protein (OMP) in Treponema pallidum and that it possesses the bipartite topology characteristic of a BamA ortholog. Using a homology model as a guide, we found that TP_0326 displays unique features which presumably relate to its function(s) in the biogenesis of T. pallidum's unorthodox OM. The model also enabled us to identify an immunodominant epitope in a large extracellular loop that is both an opsonic target and subject to immune pressure in a human population. Ours is the first study to follow a structure-to-pathogenesis approach to map the surface topology of a T. pallidum rare OMP within the context of syphilitic infection. PMID:25825429

Spring control of wire harness loops

NASA Technical Reports Server (NTRS)

Curcio, P. J.

1979-01-01

Negator spring control guides wire harness between movable and fixed structure. It prevents electrical wire harness loop from jamming or being severed as wire moves in response to changes in position of aircraft rudder. Spring-loaded coiled cable controls wire loop regardless of rudder movement.

Closed-Loop Control of Vortex Formation in Separated Flows

NASA Technical Reports Server (NTRS)

Colonius, Tim; Joe, Won Tae; MacMynowski, Doug; Rowley, Clancy; Taira, Sam; Ahuja, Sunil

2010-01-01

In order to phase lock the flow at the desired shedding cycle, particularly at Phi,best, We designed a feedback compensator. (Even though the open-loop forcing at Wf below Wn can lead to phase-locked limit cycles with a high average lift,) This feedback controller resulted in the phase-locked limit cycles that the open-loop control could not achieve for alpha=30 and 40 Particularly for alpha=40, the feedback was able to stabilize the limit cycle that was not stable with any of the open-loop periodic forcing. This results in stable phase-locked limit cycles for a larger range of forcing frequencies than the open-loop control. Also, it was shown that the feedback achieved the high-lift unsteady flow states that open-loop control could not sustain even after the states have been achieved for a long period of time.

Voice loops as coordination aids in space shuttle mission control.

PubMed

Patterson, E S; Watts-Perotti, J; Woods, D D

1999-01-01

Voice loops, an auditory groupware technology, are essential coordination support tools for experienced practitioners in domains such as air traffic management, aircraft carrier operations and space shuttle mission control. They support synchronous communication on multiple channels among groups of people who are spatially distributed. In this paper, we suggest reasons for why the voice loop system is a successful medium for supporting coordination in space shuttle mission control based on over 130 hours of direct observation. Voice loops allow practitioners to listen in on relevant communications without disrupting their own activities or the activities of others. In addition, the voice loop system is structured around the mission control organization, and therefore directly supports the demands of the domain. By understanding how voice loops meet the particular demands of the mission control environment, insight can be gained for the design of groupware tools to support cooperative activity in other event-driven domains.

Voice loops as coordination aids in space shuttle mission control

NASA Technical Reports Server (NTRS)

Patterson, E. S.; Watts-Perotti, J.; Woods, D. D.

1999-01-01

Voice loops, an auditory groupware technology, are essential coordination support tools for experienced practitioners in domains such as air traffic management, aircraft carrier operations and space shuttle mission control. They support synchronous communication on multiple channels among groups of people who are spatially distributed. In this paper, we suggest reasons for why the voice loop system is a successful medium for supporting coordination in space shuttle mission control based on over 130 hours of direct observation. Voice loops allow practitioners to listen in on relevant communications without disrupting their own activities or the activities of others. In addition, the voice loop system is structured around the mission control organization, and therefore directly supports the demands of the domain. By understanding how voice loops meet the particular demands of the mission control environment, insight can be gained for the design of groupware tools to support cooperative activity in other event-driven domains.

Thermal Management of Vehicle Electronic Payloads Using Nanofluids and Thermoelectric Devices--Modeling and Analysis (PREPRINT)

DTIC Science & Technology

2011-03-01

Transfer Engineering, Vol. 30, No. 14, pp. 1136-1150. Chang, Y.W., Chang, C.C., Ke, M.T. and Chen, S.L. (2009) ’ Thermoelectric air-cooling module for...2005) ’An assessment of module cooling enhancement with thermoelectric coolers’, Journal of Heat Transfer-Transactions of the Asme, Vol. 127, No. 1, pp...nanoparticle out outer loop p nanoparticle TEC thermoelectric module w water UNCLASSIFIED UNCLASSIFIED Page 23 of 28 Tables Table 1

Fuzzy logic control and optimization system

DOEpatents

Lou, Xinsheng [West Hartford, CT

2012-04-17

A control system (300) for optimizing a power plant includes a chemical loop having an input for receiving an input signal (369) and an output for outputting an output signal (367), and a hierarchical fuzzy control system (400) operably connected to the chemical loop. The hierarchical fuzzy control system (400) includes a plurality of fuzzy controllers (330). The hierarchical fuzzy control system (400) receives the output signal (367), optimizes the input signal (369) based on the received output signal (367), and outputs an optimized input signal (369) to the input of the chemical loop to control a process of the chemical loop in an optimized manner.

Spin-glass-like freezing of inner and outer surface layers in hollow γ-Fe 2O 3 nanoparticles

DOE PAGES

Khurshid, Hafsa; Lampen-Kelley, Paula; Iglesias, Òscar; ...

2015-10-27

Disorder among surface spins largely dominates the magnetic response of ultrafine magnetic particle systems. In this work, we examine time-dependent magnetization in high-quality, monodisperse hollow maghemite nanoparticles (NPs) with a 14.8±0.5 nm outer diameter and enhanced surface-to-volume ratio. The nanoparticle ensemble exhibits spin-glass-like signatures in dc magnetic aging and memory protocols and ac magnetic susceptibility. The dynamics of the system slow near 50 K, and becomes frozen on experimental time scales below 20 K. Remanence curves indicate the development of magnetic irreversibility concurrent with the freezing of the spin dynamics. A strong exchange-bias effect and its training behavior point tomore » highly frustrated surface spins that rearrange much more slowly than interior spins with bulk coordination. Monte Carlo simulations of a hollow particle reproducing the experimental morphology corroborate strongly disordered surface layers with complex energy landscapes that underlie both glass-like dynamics and magnetic irreversibility. Calculated hysteresis loops reveal that magnetic behavior is not identical at the inner and outer surfaces, with spins at the outer surface layer of the 15 nm hollow particles exhibiting a higher degree of frustration. Lastly, our combined experimental and simulated results shed light on the origin of spin-glass-like phenomena and the important role played by the surface spins in magnetic hollow nanostructures.« less

Spin-glass-like freezing of inner and outer surface layers in hollow γ-Fe2O3 nanoparticles

PubMed Central

Khurshid, Hafsa; Lampen-Kelley, Paula; Iglesias, Òscar; Alonso, Javier; Phan, Manh-Huong; Sun, Cheng-Jun; Saboungi, Marie-Louise; Srikanth, Hariharan

2015-01-01

Disorder among surface spins is a dominant factor in the magnetic response of magnetic nanoparticle systems. In this work, we examine time-dependent magnetization in high-quality, monodisperse hollow maghemite nanoparticles (NPs) with a 14.8 ± 0.5 nm outer diameter and enhanced surface-to-volume ratio. The nanoparticle ensemble exhibits spin-glass-like signatures in dc magnetic aging and memory protocols and ac magnetic susceptibility. The dynamics of the system slow near 50 K, and become frozen on experimental time scales below 20 K. Remanence curves indicate the development of magnetic irreversibility concurrent with the freezing of the spin dynamics. A strong exchange-bias effect and its training behavior point to highly frustrated surface spins that rearrange much more slowly than interior spins. Monte Carlo simulations of a hollow particle corroborate strongly disordered surface layers with complex energy landscapes that underlie both glass-like dynamics and magnetic irreversibility. Calculated hysteresis loops reveal that magnetic behavior is not identical at the inner and outer surfaces, with spins at the outer surface layer of the 15 nm hollow particles exhibiting a higher degree of frustration. Our combined experimental and simulated results shed light on the origin of spin-glass-like phenomena and the important role played by the surface spins in magnetic hollow nanostructures. PMID:26503506

Servo control booster system for minimizing following error

DOEpatents

Wise, William L.

1985-01-01

A closed-loop feedback-controlled servo system is disclosed which reduces command-to-response error to the system's position feedback resolution least increment, .DELTA.S.sub.R, on a continuous real-time basis for all operating speeds. The servo system employs a second position feedback control loop on a by exception basis, when the command-to-response error .gtoreq..DELTA.S.sub.R, to produce precise position correction signals. When the command-to-response error is less than .DELTA.S.sub.R, control automatically reverts to conventional control means as the second position feedback control loop is disconnected, becoming transparent to conventional servo control means. By operating the second unique position feedback control loop used herein at the appropriate clocking rate, command-to-response error may be reduced to the position feedback resolution least increment. The present system may be utilized in combination with a tachometer loop for increased stability.

Research on phase locked loop in optical memory servo system

NASA Astrophysics Data System (ADS)

Qin, Liqin; Ma, Jianshe; Zhang, Jianyong; Pan, Longfa; Deng, Ming

2005-09-01

Phase locked loop (PLL) is a closed loop automatic control system, which can track the phase of input signal. It widely applies in each area of electronic technology. This paper research the phase locked loop in optical memory servo area. This paper introduces the configuration of digital phase locked loop (PLL) and phase locked servo system, the control theory, and analyses system's stability. It constructs the phase locked loop experiment system of optical disk spindle servo, which based on special chip. DC motor is main object, this system adopted phase locked servo technique and digital signal processor (DSP) to achieve constant linear velocity (CLV) in controlling optical spindle motor. This paper analyses the factors that affect the stability of phase locked loop in spindle servo system, and discusses the affection to the optical disk readout signal and jitter due to the stability of phase locked loop.

An Environmental for Hardware-in-the-Loop Formation Navigation and Control

NASA Technical Reports Server (NTRS)

Burns, Rich; Naasz, Bo; Gaylor, Dave; Higinbotham, John

2004-01-01

Recent interest in formation flying satellite systems has spurred a considerable amount of research in the relative navigation and control of satellites. Development in this area has included new estimation and control algorithms as well as sensor and actuator development specifically geared toward the relative control problem. This paper describes a simulation facility, the Formation Flying Test Bed (FFTB) at NASA Goddard Space Flight Center, which allows engineers to test new algorithms for the formation flying problem with relevant GN&C hardware in a closed loop simulation. The FFTB currently supports the inclusion of GPS receiver hardware in the simulation loop. Support for satellite crosslink ranging technology is at a prototype stage. This closed-loop, hardware inclusive simulation capability permits testing of navigation and control software in the presence of the actual hardware with which the algorithms must interact. This capability provides the navigation or control developer with a perspective on how the algorithms perform as part of the closed-loop system. In this paper, the overall design and evolution of the FFTB are presented. Each component of the FFTB is then described. Interfaces between the components of the FFTB are shown and the interfaces to and between navigation and control software are described. Finally, an example of closed-loop formation control with GPS receivers in the loop is presented.

GEC Ferranti piezo vibratory gyroscope

NASA Technical Reports Server (NTRS)

Nuttall, J. D.

1993-01-01

Prototypes of a piezo-electric vibratory angular rate transducer (gyroscope) (PVG) have been constructed and evaluated. The construction is on the lines suggested by Burdess. The sensitive element is a cylinder of radially poled piezo-electric ceramic. The cylinder is metallized inside and out, and the outer metallization is divided into eight electrodes. The metallization on the inside is earthed. A phase locked loop, using pairs of the electrodes, causes the cylinder to vibrate in one of its two fundamental, degenerate modes. In the presence of rotation, some of the vibration is coupled into the outer mode. This can be detected, or suppressed with a closed-up technique and provides a measure of rotation rate. The gyroscope provides a number of advantages over rotating mass and optical instruments: low size and mass, lower power consumption, potentially high reliability, potentially good dormancy, low cost and high maximum rate.

Quantifying the ventilatory control contribution to sleep apnoea using polysomnography.

PubMed

Terrill, Philip I; Edwards, Bradley A; Nemati, Shamim; Butler, James P; Owens, Robert L; Eckert, Danny J; White, David P; Malhotra, Atul; Wellman, Andrew; Sands, Scott A

2015-02-01

Elevated loop gain, consequent to hypersensitive ventilatory control, is a primary nonanatomical cause of obstructive sleep apnoea (OSA) but it is not possible to quantify this in the clinic. Here we provide a novel method to estimate loop gain in OSA patients using routine clinical polysomnography alone. We use the concept that spontaneous ventilatory fluctuations due to apnoeas/hypopnoeas (disturbance) result in opposing changes in ventilatory drive (response) as determined by loop gain (response/disturbance). Fitting a simple ventilatory control model (including chemical and arousal contributions to ventilatory drive) to the ventilatory pattern of OSA reveals the underlying loop gain. Following mathematical-model validation, we critically tested our method in patients with OSA by comparison with a standard (continuous positive airway pressure (CPAP) drop method), and by assessing its ability to detect the known reduction in loop gain with oxygen and acetazolamide. Our method quantified loop gain from baseline polysomnography (correlation versus CPAP-estimated loop gain: n=28; r=0.63, p<0.001), detected the known reduction in loop gain with oxygen (n=11; mean±sem change in loop gain (ΔLG) -0.23±0.08, p=0.02) and acetazolamide (n=11; ΔLG -0.20±0.06, p=0.005), and predicted the OSA response to loop gain-lowering therapy. We validated a means to quantify the ventilatory control contribution to OSA pathogenesis using clinical polysomnography, enabling identification of likely responders to therapies targeting ventilatory control. Copyright ©ERS 2015.

Quantifying the ventilatory control contribution to sleep apnoea using polysomnography

PubMed Central

Terrill, Philip I.; Edwards, Bradley A.; Nemati, Shamim; Butler, James P.; Owens, Robert L.; Eckert, Danny J.; White, David P.; Malhotra, Atul; Wellman, Andrew; Sands, Scott A.

2015-01-01

Elevated loop gain, consequent to hypersensitive ventilatory control, is a primary nonanatomical cause of obstructive sleep apnoea (OSA) but it is not possible to quantify this in the clinic. Here we provide a novel method to estimate loop gain in OSA patients using routine clinical polysomnography alone. We use the concept that spontaneous ventilatory fluctuations due to apnoeas/hypopnoeas (disturbance) result in opposing changes in ventilatory drive (response) as determined by loop gain (response/disturbance). Fitting a simple ventilatory control model (including chemical and arousal contributions to ventilatory drive) to the ventilatory pattern of OSA reveals the underlying loop gain. Following mathematical-model validation, we critically tested our method in patients with OSA by comparison with a standard (continuous positive airway pressure (CPAP) drop method), and by assessing its ability to detect the known reduction in loop gain with oxygen and acetazolamide. Our method quantified loop gain from baseline polysomnography (correlation versus CPAP-estimated loop gain: n=28; r=0.63, p<0.001), detected the known reduction in loop gain with oxygen (n=11; mean±SEM change in loop gain (ΔLG) −0.23±0.08, p=0.02) and acetazolamide (n=11; ΔLG −0.20±0.06, p=0.005), and predicted the OSA response to loop gain-lowering therapy. We validated a means to quantify the ventilatory control contribution to OSA pathogenesis using clinical polysomnography, enabling identification of likely responders to therapies targeting ventilatory control. PMID:25323235

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

PubMed

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

2014-01-01

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

Antenna Linear-Quadratic-Gaussian (LQG) Ccontrollers: Properties, Limits of Performance, and Tuning

NASA Technical Reports Server (NTRS)

Gawronski, Wodek K.

2004-01-01

The LQG controllers significantly improve antenna tracking precision, but their tuning is a trial-and-error process. A control engineer has two tools to tune an LQG controller: the choice of coordinate system of the controller, and the selection of weights of the LQG performance index. The paper selects the coordinates of the open-loop model that simplify the shaping of the closed-loop performance. and analyzes the impact of thc weights on the antenna closed-loop bandwidth, disturbance rejection properties, and antenna acceleration. Finally, it presents the LQG controller tuning procedure that rationally shapes the closed-loop performance.

Stabilization and analytical tuning rule of double-loop control scheme for unstable dead-time process

NASA Astrophysics Data System (ADS)

Ugon, B.; Nandong, J.; Zang, Z.

2017-06-01

The presence of unstable dead-time systems in process plants often leads to a daunting challenge in the design of standard PID controllers, which are not only intended to provide close-loop stability but also to give good performance-robustness overall. In this paper, we conduct stability analysis on a double-loop control scheme based on the Routh-Hurwitz stability criteria. We propose to use this unstable double-loop control scheme which employs two P/PID controllers to control first-order or second-order unstable dead-time processes typically found in process industries. Based on the Routh-Hurwitz stability necessary and sufficient criteria, we establish several stability regions which enclose within them the P/PID parameter values that guarantee close-loop stability of the double-loop control scheme. A systematic tuning rule is developed for the purpose of obtaining the optimal P/PID parameter values within the established regions. The effectiveness of the proposed tuning rule is demonstrated using several numerical examples and the result are compared with some well-established tuning methods reported in the literature.

Performance constraints and compensation for teleoperation with delay

NASA Technical Reports Server (NTRS)

Mclaughlin, J. S.; Staunton, B. D.

1989-01-01

A classical control perspective is used to characterize performance constraints and evaluate compensation techniques for teleoperation with delay. Use of control concepts such as open and closed loop performance, stability, and bandwidth yield insight to the delay problem. Teleoperator performance constraints are viewed as an open loop time delay lag and as a delay-induced closed loop bandwidth constraint. These constraints are illustrated with a simple analytical tracking example which is corroborated by a real time, 'man-in-the-loop' tracking experiment. The experiment also provides insight to those controller characteristics which are unique to a human operator. Predictive displays and feedforward commands are shown to provide open loop compensation for delay lag. Low pass filtering of telemetry or feedback signals is interpreted as closed loop compensation used to maintain a sufficiently low bandwidth for stability. A new closed loop compensation approach is proposed that uses a reactive (or force feedback) hand controller to restrict system bandwidth by impeding operator inputs.

Methods, systems and apparatus for controlling operation of two alternating current (AC) machines

DOEpatents

Gallegos-Lopez, Gabriel [Torrance, CA; Nagashima, James M [Cerritos, CA; Perisic, Milun [Torrance, CA; Hiti, Silva [Redondo Beach, CA

2012-06-05

A system is provided for controlling two alternating current (AC) machines via a five-phase PWM inverter module. The system comprises a first control loop, a second control loop, and a current command adjustment module. The current command adjustment module operates in conjunction with the first control loop and the second control loop to continuously adjust current command signals that control the first AC machine and the second AC machine such that they share the input voltage available to them without compromising the target mechanical output power of either machine. This way, even when the phase voltage available to either one of the machines decreases, that machine outputs its target mechanical output power.

Transepithelial water and urea permeabilities of isolated perfused Munich-Wistar rat inner medullary thin limbs of Henle's loop.

PubMed

Nawata, C Michele; Evans, Kristen K; Dantzler, William H; Pannabecker, Thomas L

2014-01-01

To better understand the role that water and urea fluxes play in the urine concentrating mechanism, we determined transepithelial osmotic water permeability (Pf) and urea permeability (Purea) in isolated perfused Munich-Wistar rat long-loop descending thin limbs (DTLs) and ascending thin limbs (ATLs). Thin limbs were isolated either from 0.5 to 2.5 mm below the outer medulla (upper inner medulla) or from the terminal 2.5 mm of the inner medulla. Segment types were characterized on the basis of structural features and gene expression levels of the water channel aquaporin 1, which was high in the upper DTL (DTLupper), absent in the lower DTL (DTLlower), and absent in ATLs, and the Cl-(1) channel ClCK1, which was absent in DTLs and high in ATLs. DTLupper Pf was high (3,204.5 ± 450.3 μm/s), whereas DTLlower showed very little or no osmotic Pf (207.8 ± 241.3 μm/s). Munich-Wistar rat ATLs have previously been shown to exhibit no Pf. DTLupper Purea was 40.0 ± 7.3 × 10(-5) cm/s and much higher in DTLlower (203.8 ± 30.3 × 10(-5) cm/s), upper ATL (203.8 ± 35.7 × 10(-5) cm/s), and lower ATL (265.1 ± 49.8 × 10(-5) cm/s). Phloretin (0.25 mM) did not reduce DTLupper Purea, suggesting that Purea is not due to urea transporter UT-A2, which is expressed in short-loop DTLs and short portions of some inner medullary DTLs close to the outer medulla. In summary, Purea is similar in all segments having no osmotic Pf but is significantly lower in DTLupper, a segment having high osmotic Pf. These data are inconsistent with the passive mechanism as originally proposed.

Frequency-domain full-waveform inversion with non-linear descent directions

NASA Astrophysics Data System (ADS)

Geng, Yu; Pan, Wenyong; Innanen, Kristopher A.

2018-05-01

Full-waveform inversion (FWI) is a highly non-linear inverse problem, normally solved iteratively, with each iteration involving an update constructed through linear operations on the residuals. Incorporating a flexible degree of non-linearity within each update may have important consequences for convergence rates, determination of low model wavenumbers and discrimination of parameters. We examine one approach for doing so, wherein higher order scattering terms are included within the sensitivity kernel during the construction of the descent direction, adjusting it away from that of the standard Gauss-Newton approach. These scattering terms are naturally admitted when we construct the sensitivity kernel by varying not the current but the to-be-updated model at each iteration. Linear and/or non-linear inverse scattering methodologies allow these additional sensitivity contributions to be computed from the current data residuals within any given update. We show that in the presence of pre-critical reflection data, the error in a second-order non-linear update to a background of s0 is, in our scheme, proportional to at most (Δs/s0)3 in the actual parameter jump Δs causing the reflection. In contrast, the error in a standard Gauss-Newton FWI update is proportional to (Δs/s0)2. For numerical implementation of more complex cases, we introduce a non-linear frequency-domain scheme, with an inner and an outer loop. A perturbation is determined from the data residuals within the inner loop, and a descent direction based on the resulting non-linear sensitivity kernel is computed in the outer loop. We examine the response of this non-linear FWI using acoustic single-parameter synthetics derived from the Marmousi model. The inverted results vary depending on data frequency ranges and initial models, but we conclude that the non-linear FWI has the capability to generate high-resolution model estimates in both shallow and deep regions, and to converge rapidly, relative to a benchmark FWI approach involving the standard gradient.

Topology of the membrane protein LamB by epitope tagging and a comparison with the X-ray model.

PubMed

Newton, S M; Klebba, P E; Michel, V; Hofnung, M; Charbit, A

1996-06-01

We previously developed a genetic approach to study, with a single antibody, the topology of the outer membrane protein LamB, an Escherichia coli porin with specificity towards maltodextrins and a receptor for bacteriophage lambda. Our initial procedure consisted of inserting at random the same reporter epitope (the C3 neutralization epitope from poliovirus) into permissive sites of LamB (i.e., sites which tolerate insertions without deleterious effects on the protein activities or the cell). A specific monoclonal antibody was then used to examine the position of the inserted epitope with respect to the protein and the membrane. In the present work, we set up a site-directed procedure to insert the C3 epitope at new sites in order to distinguish between two-dimensional folding models. This allowed us to identify two new surface loops of LamB and to predict another periplasmic exposed region. The results obtained by random and directed epitope tagging are analyzed in light of the recently published X-ray structure of the LamB protein. Study of 23 hybrid LamB-C3 proteins led to the direct identification of five of the nine external loops (L4, L5, L6, L7, and L9) and led to the prediction of four periplasmic loops (I1, I4, I5, and I8) of LamB. Nine of the hybrid proteins did not lead to topological conclusions, and none led to the wrong predictions or conclusions. The comparison indicates that parts of models based on secondary structure predictions alone are not reliable and points to the importance of experimental data in the establishment of outer membrane protein topological models. The advantages and limitations of genetic foreign epitope insertion for the study of integral membrane proteins are discussed.

Shigella flexneri 3a Outer Membrane Protein C Epitope Is Recognized by Human Umbilical Cord Sera and Associated with Protective Activity

PubMed Central

Jarząb, Anna; Witkowska, Danuta; Ziomek, Edmund; Dąbrowska, Anna; Szewczuk, Zbigniew; Gamian, Andrzej

2013-01-01

Shigella flexneri 3a is one of the five major strains of the Shigella genus responsible for dysentery, especially among children, in regions of high poverty and poor sanitation. The outer membrane proteins (OMP) of this bacterium elicit immunological responses and are considered a prime target for vaccine development. When injected into mice they elicit a protective immunological response against a lethal dose of the pathogen. The OMPs from S. flexneri 3a were isolated and resolved by two-dimension-SDS-PAGE. Two 38-kDa spots were of particular interest since in our earlier studies OMPs of such molecular mass were found to interact with umbilical cord sera. These two spots were identified as OmpC by ESI-MS/MS spectrometry. By DNA sequencing, the ompC gene from S. flexneri 3a was identical to ompC from S. flexneri 2a [Gene Bank: 24113600]. A 3D model of OmpC was built and used to predict B-cell type (discontinuous) antigenic epitopes. Six epitopes bearing the highest score were selected and the corresponding peptides were synthesized. Only the peptides representing loop V of OmpC reacted strongly with the umbilical cord serum immunoglobulins. To determine which amino acids are essential for the antigenic activity of the epitope, the loop V was scanned with a series of dodecapeptides. The peptide RYDERY was identified as a minimal sequence for the loop V epitope. Truncation at either the C- or N-terminus rendered this peptide inactive. Apart from C-terminal tyrosine, substitution of each of the remaining five amino acids with glycine, led to a precipitous loss of immunological activity. This peptide may serve as a ligand in affinity chromatography of OmpC-specific antibodies and as a component of a vaccine designed to boost human immune defenses against enterobacterial infections. PMID:23940590

Does Mckuer's Law Hold for Heart Rate Control via Biofeedback Display?

NASA Technical Reports Server (NTRS)

Courter, B. J.; Jex, H. R.

1984-01-01

Some persons can control their pulse rate with the aid of a biofeedback display. If the biofeedback display is modified to show the error between a command pulse-rate and the measured rate, a compensatory (error correcting) heart rate tracking control loop can be created. The dynamic response characteristics of this control loop when subjected to step and quasi-random disturbances were measured. The control loop includes a beat-to-beat cardiotachmeter differenced with a forcing function from a quasi-random input generator; the resulting error pulse-rate is displayed as feedback. The subject acts to null the displayed pulse-rate error, thereby closing a compensatory control loop. McRuer's Law should hold for this case. A few subjects already skilled in voluntary pulse-rate control were tested for heart-rate control response. Control-law properties are derived, such as: crossover frequency, stability margins, and closed-loop bandwidth. These are evaluated for a range of forcing functions and for step as well as random disturbances.

A Demonstration of a Retrofit Architecture for Intelligent Control and Diagnostics of a Turbofan Engine

NASA Technical Reports Server (NTRS)

Litt, Jonathan S.; Turso, James A.; Shah, Neerav; Sowers, T. Shane; Owen, A. Karl

2005-01-01

A retrofit architecture for intelligent turbofan engine control and diagnostics that changes the fan speed command to maintain thrust is proposed and its demonstration in a piloted flight simulator is described. The objective of the implementation is to increase the level of autonomy of the propulsion system, thereby reducing pilot workload in the presence of anomalies and engine degradation due to wear. The main functions of the architecture are to diagnose the cause of changes in the engine s operation, warning the pilot if necessary, and to adjust the outer loop control reference signal in response to the changes. This requires that the retrofit control architecture contain the capability to determine the changed relationship between fan speed and thrust, and the intelligence to recognize the cause of the change in order to correct it or warn the pilot. The proposed retrofit architecture is able to determine the fan speed setting through recognition of the degradation level of the engine, and it is able to identify specific faults and warn the pilot. In the flight simulator it was demonstrated that when degradation is introduced into an engine with standard fan speed control, the pilot needs to take corrective action to maintain heading. Utilizing the intelligent retrofit control architecture, the engine thrust is automatically adjusted to its expected value, eliminating yaw without pilot intervention.

An Analytical Comparison of the Fidelity of "Large Motion" Versus "Small Motion" Flight Simulators in a Rotorcraft Side-Step Task

NASA Technical Reports Server (NTRS)

Hess, Ronald A.

1999-01-01

This paper presents an analytical and experimental methodology for studying flight simulator fidelity. The task was a rotorcraft bob-up/down maneuver in which vertical acceleration constituted the motion cue. The task considered here is aside-step maneuver that differs from the bob-up one important way: both roll and lateral acceleration cues are available to the pilot. It has been communicated to the author that in some Verticle Motion Simulator (VMS) studies, the lateral acceleration cue has been found to be the most important. It is of some interest to hypothesize how this motion cue associated with "outer-loop" lateral translation fits into the modeling procedure where only "inner-loop " motion cues were considered. This Note is an attempt at formulating such an hypothesis and analytically comparing a large-motion simulator, e.g., the VMS, with a small-motion simulator, e.g., a hexapod.

Doppler-shift estimation of flat underwater channel using data-aided least-square approach

NASA Astrophysics Data System (ADS)

Pan, Weiqiang; Liu, Ping; Chen, Fangjiong; Ji, Fei; Feng, Jing

2015-06-01

In this paper we proposed a dada-aided Doppler estimation method for underwater acoustic communication. The training sequence is non-dedicate, hence it can be designed for Doppler estimation as well as channel equalization. We assume the channel has been equalized and consider only flat-fading channel. First, based on the training symbols the theoretical received sequence is composed. Next the least square principle is applied to build the objective function, which minimizes the error between the composed and the actual received signal. Then an iterative approach is applied to solve the least square problem. The proposed approach involves an outer loop and inner loop, which resolve the channel gain and Doppler coefficient, respectively. The theoretical performance bound, i.e. the Cramer-Rao Lower Bound (CRLB) of estimation is also derived. Computer simulations results show that the proposed algorithm achieves the CRLB in medium to high SNR cases.

A Method for Precision Closed-Loop Irrigation Using a Modified PID Control Algorithm

NASA Astrophysics Data System (ADS)

Goodchild, Martin; Kühn, Karl; Jenkins, Malcolm; Burek, Kazimierz; Dutton, Andrew

2016-04-01

The benefits of closed-loop irrigation control have been demonstrated in grower trials which show the potential for improved crop yields and resource usage. Managing water use by controlling irrigation in response to soil moisture changes to meet crop water demands is a popular approach but requires knowledge of closed-loop control practice. In theory, to obtain precise closed-loop control of a system it is necessary to characterise every component in the control loop to derive the appropriate controller parameters, i.e. proportional, integral & derivative (PID) parameters in a classic PID controller. In practice this is often difficult to achieve. Empirical methods are employed to estimate the PID parameters by observing how the system performs under open-loop conditions. In this paper we present a modified PID controller, with a constrained integral function, that delivers excellent regulation of soil moisture by supplying the appropriate amount of water to meet the needs of the plant during the diurnal cycle. Furthermore, the modified PID controller responds quickly to changes in environmental conditions, including rainfall events which can result in: controller windup, under-watering and plant stress conditions. The experimental work successfully demonstrates the functionality of a constrained integral PID controller that delivers robust and precise irrigation control. Coir substrate strawberry growing trial data is also presented illustrating soil moisture control and the ability to match water deliver to solar radiation.

An Environment for Hardware-in-the-Loop Formation Navigation and Control Simulation

NASA Technical Reports Server (NTRS)

Burns, Rich

2004-01-01

Recent interest in formation flying satellite systems has spurred a considerable amount of research in the relative navigation and control of satellites. Development in this area has included new estimation and control algorithms as well as sensor and actuator development specifically geared toward the relative control problem. This paper describes a simulation facility, the Formation Flying Testbed (FFTB) at NASA's Goddard Space Flight Center, which allows engineers to test new algorithms for the formation flying problem with relevant GN&C hardware in a closed loop simulation. The FFTB currently supports the injection of GPS receiver hardware into the simulation loop, and support for satellite crosslink ranging technology is at a prototype stage. This closed-loop, hardware inclusive simulation capability permits testing of navigation and control software in the presence of the actual hardware with which the algorithms must interact. This capability provides the navigation or control developer with a perspective on how the algorithms perform as part of the closed-loop system. In this paper, the overall design and evolution of the FFTB are presented. Each component of the FFTB is then described in detail. Interfaces between the components of the FFTB are shown and the interfaces to and between navigation and control software are described in detail. Finally, an example of closed-loop formation control with GPS receivers in the loop is presented and results are analyzed.

Robust Adaptive Flight Control Design of Air-breathing Hypersonic Vehicles

DTIC Science & Technology

2016-12-07

dynamic inversion controller design for a non -minimum phase hypersonic vehicle is derived by Kuipers et al. [2008]. Moreover, integrated guidance and...stabilization time for inner loop variables is lesser than the intermediate loop variables because of the three-loop-control design methodology . The control...adaptive design . Control Engineering Practice, 2016. Michael A Bolender and David B Doman. A non -linear model for the longitudinal dynamics of a

Loop-mediated isothermal amplification (LAMP) assay for the diagnosis of fasciolosis in sheep and its application under field conditions.

PubMed

Martínez-Valladares, María; Rojo-Vázquez, Francisco Antonio

2016-02-05

Loop-mediated isothermal amplification (LAMP) is a very specific, efficient, and rapid gene amplification procedure in which the reaction can run at a constant temperature. In the current study we have developed a LAMP assay to improve the diagnosis of Fasciola spp. in the faeces of sheep. After the optimisation of the LAMP assay we have shown similar results between this technique and the standard PCR using the outer primers of the LAMP reaction. In both cases the limit of detection was 10 pg; also, the diagnosis of fasciolosis was confirmed during the first week post-infection in experimental infected sheep by both techniques. In eight naturally infected sheep, the infection with F. hepatica was confirmed in all animals before a treatment with triclabendazole and on day 30 post treatment in two sheep using the LAMP assay; however, when we carried out the standard PCR with the outer primers, the results before treatment were the same but on day 30 post-treatment the infection was only confirmed in one out of the two sheep. On the other hand, the standard PCR took around 3 h to obtain a result, comparing with 1 h and 10 min for the LAMP assay. The LAMP assay described here could be a good alternative to conventional diagnostic methods to detect F. hepatica in faeces since it solves the drawbacks of the standard PCR.

Classical and adaptive control of ex vivo skeletal muscle contractions using Functional Electrical Stimulation (FES)

PubMed Central

Shoemaker, Adam; Grange, Robert W.; Abaid, Nicole; Leonessa, Alexander

2017-01-01

Functional Electrical Stimulation is a promising approach to treat patients by stimulating the peripheral nerves and their corresponding motor neurons using electrical current. This technique helps maintain muscle mass and promote blood flow in the absence of a functioning nervous system. The goal of this work is to control muscle contractions from FES via three different algorithms and assess the most appropriate controller providing effective stimulation of the muscle. An open-loop system and a closed-loop system with three types of model-free feedback controllers were assessed for tracking control of skeletal muscle contractions: a Proportional-Integral (PI) controller, a Model Reference Adaptive Control algorithm, and an Adaptive Augmented PI system. Furthermore, a mathematical model of a muscle-mass-spring system was implemented in simulation to test the open-loop case and closed-loop controllers. These simulations were carried out and then validated through experiments ex vivo. The experiments included muscle contractions following four distinct trajectories: a step, sine, ramp, and square wave. Overall, the closed-loop controllers followed the stimulation trajectories set for all the simulated and tested muscles. When comparing the experimental outcomes of each controller, we concluded that the Adaptive Augmented PI algorithm provided the best closed-loop performance for speed of convergence and disturbance rejection. PMID:28273101

Method for spinning up a three-axis controlled spacecraft

NASA Technical Reports Server (NTRS)

Vorlicek, Preston L. (Inventor)

1988-01-01

A three-axis controlled spacecraft (1), typically a satellite, is spun up about its roll axis (20) prior to firing a motor (2), i.e., a perigee kick motor, to achieve the requisite degree of angular momentum stiffness. Thrusters (21) for imparting rotation about the roll axis (20) are activated in open-loop fashion, typically at less than full duty cycle. Cross-axis torques induced by this rotational motion are compensated for by means of closed control loops for each of the pitch and yaw axes (30, 40, respectively). Each closed control loop combines a prebias torque (72) with torques (75, 74) representative of position and rate feedback information, respectively. A deadband (52) within each closed control loop can be widened during the spinup, to conserve fuel. Position feedback information (75) in each of the control loops is disabled upon saturation of the gyroscope associated with the roll axis (20).

Nonlinear model predictive control for chemical looping process

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

Joshi, Abhinaya; Lei, Hao; Lou, Xinsheng

A control system for optimizing a chemical looping ("CL") plant includes a reduced order mathematical model ("ROM") that is designed by eliminating mathematical terms that have minimal effect on the outcome. A non-linear optimizer provides various inputs to the ROM and monitors the outputs to determine the optimum inputs that are then provided to the CL plant. An estimator estimates the values of various internal state variables of the CL plant. The system has one structure adapted to control a CL plant that only provides pressure measurements in the CL loops A and B, a second structure adapted to amore » CL plant that provides pressure measurements and solid levels in both loops A, and B, and a third structure adapted to control a CL plant that provides full information on internal state variables. A final structure provides a neural network NMPC controller to control operation of loops A and B.« less

Servo control booster system for minimizing following error

DOEpatents

Wise, W.L.

1979-07-26

A closed-loop feedback-controlled servo system is disclosed which reduces command-to-response error to the system's position feedback resolution least increment, ..delta..S/sub R/, on a continuous real-time basis, for all operational times of consequence and for all operating speeds. The servo system employs a second position feedback control loop on a by exception basis, when the command-to-response error greater than or equal to ..delta..S/sub R/, to produce precise position correction signals. When the command-to-response error is less than ..delta..S/sub R/, control automatically reverts to conventional control means as the second position feedback control loop is disconnected, becoming transparent to conventional servo control means. By operating the second unique position feedback control loop used herein at the appropriate clocking rate, command-to-response error may be reduced to the position feedback resolution least increment. The present system may be utilized in combination with a tachometer loop for increased stability.

Gust alleviation - Criteria and control laws

NASA Technical Reports Server (NTRS)

Rynaski, E. G.

1979-01-01

The relationships between criteria specified for aircraft gust alleviation and the form of the control laws that result from the criteria are considered. Open-loop gust alleviation based on the linearized, small perturbation equations of aircraft motion is discussed, and an approximate solution of the open-loop control law is presented for the case in which the number of degrees of freedom of the aircraft exceeds the rank of the control effectiveness matrix. Excessive actuator lag is compensated for by taking into account actuator dynamics in the equations of motion, resulting in the specification of a general load network. Criteria for gust alleviation when output motions are gust alleviated and the closed-loop control law derived from them are examined and linear optimal control law is derived. Comparisons of the control laws reveal that the effectiveness of an open-loop control law is greatest at low aircraft frequencies but deteriorates as the natural frequency of the actuators is approached, while closed-loop methods are found to be more effective at higher frequencies.

A linear quadratic Gaussian with loop transfer recovery proximity operations autopilot for spacecraft. M.S. Thesis - MIT

NASA Technical Reports Server (NTRS)

Chen, George T.

1987-01-01

An automatic control scheme for spacecraft proximity operations is presented. The controller is capable of holding the vehicle at a prescribed location relative to a target, or maneuvering it to a different relative position using straight line-of-sight translations. The autopilot uses a feedforward loop to initiate and terminate maneuvers, and for operations at nonequilibrium set-points. A multivariate feedback loop facilitates precise position and velocity control in the presence of sensor noise. The feedback loop is formulated using the Linear Quadratic Gaussian (LQG) with Loop Transfer Recovery (LTR) design procedure. Linear models of spacecraft dynamics, adapted from Clohessey-Wiltshire Equations, are augmented and loop shaping techniques are applied to design a target feedback loop. The loop transfer recovery procedure is used to recover the frequency domain properties of the target feedback loop. The resulting compensator is integrated into an autopilot which is tested in a high fidelity Space Shuttle Simulator. The autopilot performance is evaluated for a variety of proximity operations tasks envisioned for future Shuttle flights.

Energy Systems Integration News | Energy Systems Integration Facility |

Science.gov Websites

-the-loop" (HIL) to connect physical devices to software models, EdgePower is drawing on NREL's are putting their controller into a synthetic environment that is called 'controller in-the-loop controller-in-the-loop platform allows us to observe the dynamics of these buildings as they implement the

Article, component, and method of forming an article

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

Lacy, Benjamin Paul; Itzel, Gary Michael; Kottilingam, Srikanth Chandrudu

An article and method of forming an article are provided. The article includes a body portion separating an inner region and an outer region, an aperture in the body portion, the aperture fluidly connecting the inner region to the outer region, and a conduit extending from an outer surface of the body portion at the aperture and being arranged and disposed to controllably direct fluid from the inner region to the outer region. The method includes providing a body portion separating an inner region and an outer region, providing an aperture in the body portion, and forming a conduit overmore » the aperture, the conduit extending from an outer surface of the body portion and being arranged and disposed to controllably direct fluid from the inner region to the outer region. The article is arranged and disposed for insertion within a hot gas path component.« less

Feedback control methods for drug dosage optimisation. Concepts, classification and clinical application.

PubMed

Vozeh, S; Steimer, J L

1985-01-01

The concept of feedback control methods for drug dosage optimisation is described from the viewpoint of control theory. The control system consists of 5 parts: (a) patient (the controlled process); (b) response (the measured feedback); (c) model (the mathematical description of the process); (d) adaptor (to update the parameters); and (e) controller (to determine optimum dosing strategy). In addition to the conventional distinction between open-loop and closed-loop control systems, a classification is proposed for dosage optimisation techniques which distinguishes between tight-loop and loose-loop methods depending on whether physician's interaction is absent or included as part of the control step. Unlike engineering problems where the process can usually be controlled by fully automated devices, therapeutic situations often require that the physician be included in the decision-making process to determine the 'optimal' dosing strategy. Tight-loop and loose-loop methods can be further divided into adaptive and non-adaptive, depending on the presence of the adaptor. The main application areas of tight-loop feedback control methods are general anaesthesia, control of blood pressure, and insulin delivery devices. Loose-loop feedback methods have been used for oral anticoagulation and in therapeutic drug monitoring. The methodology, advantages and limitations of the different approaches are reviewed. A general feature common to all application areas could be observed: to perform well under routine clinical conditions, which are characterised by large interpatient variability and sometimes also intrapatient changes, control systems should be adaptive. Apart from application in routine drug treatment, feedback control methods represent an important research tool. They can be applied for the investigation of pathophysiological and pharmacodynamic processes. A most promising application is the evaluation of the relationship between an intermediate response (e.g. drug level), which is often used as feedback for dosage adjustment, and the final therapeutic goal.

A method for reducing sampling jitter in digital control systems

NASA Technical Reports Server (NTRS)

Anderson, T. O.; HURBD W. J.; Hurd, W. J.

1969-01-01

Digital phase lock loop system is designed by smoothing the proportional control with a low pass filter. This method does not significantly affect the loop dynamics when the smoothing filter bandwidth is wide compared to loop bandwidth.

The ejector-loop fermenter: Description and performance of the apparatus.

PubMed

Moresi, M; Bartolo Gianturco, G; Sebastiani, E

1983-12-01

A novel fermentation unit, the ejector-loop fermenter (ELF), consisting of an outer-loop tower fermenter, a centrifugal pump, a plate-heat exchanger, and a gas-liquid ejector, was designed and constructed. Aeration was achieved by continuously recirculating the fermentation medium through two different nozzle devices instead of using the traditional expensive air compressor. By carrying out a whey fermentation with Kluyveromyces fragilis as the test organism, either in the ELF or in conventional stirred fermenter, it was possible to confirm that the high sheat streses and mixing shock occurring in the ejector nozzle and diffuser sections did not affect microbial growth. Within the range of experimental power consumption per unit volume (-0.1-5 kW/m(3)), the oxygen transfer capability of the ELF per unit power input was found to vary from 1 to 2.5 kg O(2) kW(-1)h(-1). Moreover, it is shown that there is suficient room for improvement in the performance of the ELF unit by care fully designing the aeration device. In fact, at constant volumetric oxygen transfer coefficient, the power consumpotion per unit volume in a 4-mm nozzle was found to be about 40% less than that in a 6-mm nozzle.

The three-dimensional structure of a T-cell antigen receptor V alpha V beta heterodimer reveals a novel arrangement of the V beta domain.

PubMed Central

Housset, D; Mazza, G; Grégoire, C; Piras, C; Malissen, B; Fontecilla-Camps, J C

1997-01-01

The crystal structure of a mouse T-cell antigen receptor (TCR) Fv fragment complexed to the Fab fragment of a specific anti-clonotypic antibody has been determined to 2.6 A resolution. The polypeptide backbone of the TCR V alpha domain is very similar to those of other crystallographically determined V alphas, whereas the V beta structure is so far unique among TCR V beta domains in that it displays a switch of the c" strand from the inner to the outer beta-sheet. The beta chain variable region of this TCR antigen-binding site is characterized by a rather elongated third complementarity-determining region (CDR3beta) that packs tightly against the CDR3 loop of the alpha chain, without leaving any intervening hydrophobic pocket. Thus, the conformation of the CDR loops with the highest potential diversity distinguishes the structure of this TCR antigen-binding site from those for which crystallographic data are available. On the basis of all these results, we infer that a significant conformational change of the CDR3beta loop found in our TCR is required for binding to its cognate peptide-MHC ligand. PMID:9250664

Toroidal midplane neutral beam armor and plasma limiter

DOEpatents

Kugel, H.W.; Hand, S.W. Jr.; Ksayian, H.

1985-05-31

This invention contemplates an armor shield/plasma limiter positioned upon the inner wall of a toroidal vacuum chamber within which is magnetically confined an energetic plasma in a tokamak nuclear fusion reactor. The armor shield/plasma limiter is thus of a general semi-toroidal shape and is comprised of a plurality of adjacent graphite plates positioned immediately adjacent to each other so as to form a continuous ring upon and around the toroidal chamber's inner wall and the reactor's midplane coil. Each plate has a generally semi-circular outer circumference and a recessed inner portion and is comprised of upper and lower half sections positioned immediately adjacent to one another along the midplane of the plate. With the upper and lower half sections thus joined, a channel or duct is provided within the midplane of the plate in which a magnetic flux loop is positioned. The magnetic flux loop is thus positioned immediately adjacent to the fusing toroidal plasma and serves as a diagnostic sensor with the armor shield/plasma limiter minimizing the amount of power from the energetic plasma as well as from the neutral particle beams heating the plasma incident upon the flux loop.

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

Stimpson, Shane; Collins, Benjamin; Kochunas, Brendan

The MPACT code, being developed collaboratively by the University of Michigan and Oak Ridge National Laboratory, is the primary deterministic neutron transport solver being deployed within the Virtual Environment for Reactor Applications (VERA) as part of the Consortium for Advanced Simulation of Light Water Reactors (CASL). In many applications of the MPACT code, transport-corrected scattering has proven to be an obstacle in terms of stability, and considerable effort has been made to try to resolve the convergence issues that arise from it. Most of the convergence problems seem related to the transport-corrected cross sections, particularly when used in the 2Dmore » method of characteristics (MOC) solver, which is the focus of this work. Here in this paper, the stability and performance of the 2-D MOC solver in MPACT is evaluated for two iteration schemes: Gauss-Seidel and Jacobi. With the Gauss-Seidel approach, as the MOC solver loops over groups, it uses the flux solution from the previous group to construct the inscatter source for the next group. Alternatively, the Jacobi approach uses only the fluxes from the previous outer iteration to determine the inscatter source for each group. Consequently for the Jacobi iteration, the loop over groups can be moved from the outermost loop$-$as is the case with the Gauss-Seidel sweeper$-$to the innermost loop, allowing for a substantial increase in efficiency by minimizing the overhead of retrieving segment, region, and surface index information from the ray tracing data. Several test problems are assessed: (1) Babcock & Wilcox 1810 Core I, (2) Dimple S01A-Sq, (3) VERA Progression Problem 5a, and (4) VERA Problem 2a. The Jacobi iteration exhibits better stability than Gauss-Seidel, allowing for converged solutions to be obtained over a much wider range of iteration control parameters. Additionally, the MOC solve time with the Jacobi approach is roughly 2.0-2.5× faster per sweep. While the performance and stability of the Jacobi iteration are substantially improved compared to the Gauss-Seidel iteration, it does yield a roughly 8$-$10% increase in the overall memory requirement.« less

Improvement of transport-corrected scattering stability and performance using a Jacobi inscatter algorithm for 2D-MOC

DOE PAGES

Stimpson, Shane; Collins, Benjamin; Kochunas, Brendan

2017-03-10

The MPACT code, being developed collaboratively by the University of Michigan and Oak Ridge National Laboratory, is the primary deterministic neutron transport solver being deployed within the Virtual Environment for Reactor Applications (VERA) as part of the Consortium for Advanced Simulation of Light Water Reactors (CASL). In many applications of the MPACT code, transport-corrected scattering has proven to be an obstacle in terms of stability, and considerable effort has been made to try to resolve the convergence issues that arise from it. Most of the convergence problems seem related to the transport-corrected cross sections, particularly when used in the 2Dmore » method of characteristics (MOC) solver, which is the focus of this work. Here in this paper, the stability and performance of the 2-D MOC solver in MPACT is evaluated for two iteration schemes: Gauss-Seidel and Jacobi. With the Gauss-Seidel approach, as the MOC solver loops over groups, it uses the flux solution from the previous group to construct the inscatter source for the next group. Alternatively, the Jacobi approach uses only the fluxes from the previous outer iteration to determine the inscatter source for each group. Consequently for the Jacobi iteration, the loop over groups can be moved from the outermost loop$-$as is the case with the Gauss-Seidel sweeper$-$to the innermost loop, allowing for a substantial increase in efficiency by minimizing the overhead of retrieving segment, region, and surface index information from the ray tracing data. Several test problems are assessed: (1) Babcock & Wilcox 1810 Core I, (2) Dimple S01A-Sq, (3) VERA Progression Problem 5a, and (4) VERA Problem 2a. The Jacobi iteration exhibits better stability than Gauss-Seidel, allowing for converged solutions to be obtained over a much wider range of iteration control parameters. Additionally, the MOC solve time with the Jacobi approach is roughly 2.0-2.5× faster per sweep. While the performance and stability of the Jacobi iteration are substantially improved compared to the Gauss-Seidel iteration, it does yield a roughly 8$-$10% increase in the overall memory requirement.« less

Review article: closed-loop systems in anesthesia: is there a potential for closed-loop fluid management and hemodynamic optimization?

PubMed

Rinehart, Joseph; Liu, Ngai; Alexander, Brenton; Cannesson, Maxime

2012-01-01

Closed-loop (automated) controllers are encountered in all aspects of modern life in applications ranging from air-conditioning to spaceflight. Although these systems are virtually ubiquitous, they are infrequently used in anesthesiology because of the complexity of physiologic systems and the difficulty in obtaining reliable and valid feedback data from the patient. Despite these challenges, closed-loop systems are being increasingly studied and improved for medical use. Two recent developments have made fluid administration a candidate for closed-loop control. First, the further description and development of dynamic predictors of fluid responsiveness provides a strong parameter for use as a control variable to guide fluid administration. Second, rapid advances in noninvasive monitoring of cardiac output and other hemodynamic variables make goal-directed therapy applicable for a wide range of patients in a variety of clinical care settings. In this article, we review the history of closed-loop controllers in clinical care, discuss the current understanding and limitations of the dynamic predictors of fluid responsiveness, and examine how these variables might be incorporated into a closed-loop fluid administration system.

Simulating closed- and open-loop voluntary movement: a nonlinear control-systems approach.

PubMed

Davidson, Paul R; Jones, Richard D; Andreae, John H; Sirisena, Harsha R

2002-11-01

In many recent human motor control models, including feedback-error learning and adaptive model theory (AMT), feedback control is used to correct errors while an inverse model is simultaneously tuned to provide accurate feedforward control. This popular and appealing hypothesis, based on a combination of psychophysical observations and engineering considerations, predicts that once the tuning of the inverse model is complete the role of feedback control is limited to the correction of disturbances. This hypothesis was tested by looking at the open-loop behavior of the human motor system during adaptation. An experiment was carried out involving 20 normal adult subjects who learned a novel visuomotor relationship on a pursuit tracking task with a steering wheel for input. During learning, the response cursor was periodically blanked, removing all feedback about the external system (i.e., about the relationship between hand motion and response cursor motion). Open-loop behavior was not consistent with a progressive transfer from closed- to open-loop control. Our recently developed computational model of the brain--a novel nonlinear implementation of AMT--was able to reproduce the observed closed- and open-loop results. In contrast, other control-systems models exhibited only minimal feedback control following adaptation, leading to incorrect open-loop behavior. This is because our model continues to use feedback to control slow movements after adaptation is complete. This behavior enhances the internal stability of the inverse model. In summary, our computational model is currently the only motor control model able to accurately simulate the closed- and open-loop characteristics of the experimental response trajectories.

Investigation and appreciation of optimal output feedback. Volume 1: A convergent algorithm for the stochastic infinite-time discrete optimal output feedback problem

NASA Technical Reports Server (NTRS)

Halyo, N.; Broussard, J. R.

1984-01-01

The stochastic, infinite time, discrete output feedback problem for time invariant linear systems is examined. Two sets of sufficient conditions for the existence of a stable, globally optimal solution are presented. An expression for the total change in the cost function due to a change in the feedback gain is obtained. This expression is used to show that a sequence of gains can be obtained by an algorithm, so that the corresponding cost sequence is monotonically decreasing and the corresponding sequence of the cost gradient converges to zero. The algorithm is guaranteed to obtain a critical point of the cost function. The computational steps necessary to implement the algorithm on a computer are presented. The results are applied to a digital outer loop flight control problem. The numerical results for this 13th order problem indicate a rate of convergence considerably faster than two other algorithms used for comparison.

Enhanced Performance Controller Design for Stochastic Systems by Adding Extra State Estimation onto the Existing Closed Loop Control

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

Zhou, Yuyang; Zhang, Qichun; Wang, Hong

To enhance the performance of the tracking property , this paper presents a novel control algorithm for a class of linear dynamic stochastic systems with unmeasurable states, where the performance enhancement loop is established based on Kalman filter. Without changing the existing closed loop with the PI controller, the compensative controller is designed to minimize the variances of the tracking errors using the estimated states and the propagation of state variances. Moreover, the stability of the closed-loop systems has been analyzed in the mean-square sense. A simulated example is included to show the effectiveness of the presented control algorithm, wheremore » encouraging results have been obtained.« less

Pre-frontal control of closed-loop limbic neurostimulation by rodents using a brain-computer interface

NASA Astrophysics Data System (ADS)

Widge, Alik S.; Moritz, Chet T.

2014-04-01

Objective. There is great interest in closed-loop neurostimulators that sense and respond to a patient's brain state. Such systems may have value for neurological and psychiatric illnesses where symptoms have high intraday variability. Animal models of closed-loop stimulators would aid preclinical testing. We therefore sought to demonstrate that rodents can directly control a closed-loop limbic neurostimulator via a brain-computer interface (BCI). Approach. We trained rats to use an auditory BCI controlled by single units in prefrontal cortex (PFC). The BCI controlled electrical stimulation in the medial forebrain bundle, a limbic structure involved in reward-seeking. Rigorous offline analyses were performed to confirm volitional control of the neurostimulator. Main results. All animals successfully learned to use the BCI and neurostimulator, with closed-loop control of this challenging task demonstrated at 80% of PFC recording locations. Analysis across sessions and animals confirmed statistically robust BCI control and specific, rapid modulation of PFC activity. Significance. Our results provide a preliminary demonstration of a method for emotion-regulating closed-loop neurostimulation. They further suggest that activity in PFC can be used to control a BCI without pre-training on a predicate task. This offers the potential for BCI-based treatments in refractory neurological and mental illness.

Two-motor direct drive control for elevation axis of telescope

NASA Astrophysics Data System (ADS)

Tang, T.; Tan, Y.; Ren, G.

2014-07-01

Two-motor application has become a very attractive filed in important field which high performance is permitted to achieve of position, speed, and acceleration. In the elevation axis of telescope control system, two-motor direct drive is proposed to enhance the high performance of tracking control system. Although there are several dominant strengths such as low size of motors and high torsional structural dynamics, the synchronization control of two motors is a very difficult and important. In this paper, a multi-loop control technique base master-slave current control is used to synchronize two motors, including current control loop, speed control loop and position control loop. First, the direct drive function of two motors is modeled. Compared of single motor direct control system, the resonance frequency of two motor control systems is same; while the anti-resonance frequency of two motors control system is 1.414 times than those of sing motor system. Because of rigid coupling for direct drive, the speed of two motor of the system is same, and the synchronization of torque for motors is critical. The current master-slave control technique is effective to synchronize the torque, which the current loop of the master motors is tracked the other slave motor. The speed feedback into the input of current loop of the master motors. The experiments test the performance of the two motors drive system. The random tracking error is 0.0119" for the line trajectory of 0.01°/s.

A numerical study of active structural acoustic control in a stiffened, double wall cylinder

NASA Technical Reports Server (NTRS)

Grosveld, Ferdinand W.; Coats, T. J.; Lester, H. C.; Silcox, R. J.

1994-01-01

It is demonstrated that active structural acoustic control of complex structural/acoustic coupling can be numerically modeled using finite element and boundary element techniques in conjunction with an optimization procedure to calculate control force amplitudes. Appreciable noise reduction is obtained when the structure is excited at a structural resonance of the outer shell or an acoustic resonance of the inner cavity. Adding ring stiffeners as a connection between the inner and outer shells provides an additional structural transmission path to the interior cavity and coupled the modal behavior of the inner and outer shells. For the case of excitation at the structural resonance of the unstiffened outer shell, adding the stiffeners raises the structural resonance frequencies. The effectiveness of the control forces is reduced due to the off resonance structural response. For excitation at an acoustic cavity resonance, the controller effectiveness is enhanced.

Sensory feedback in prosthetics: a standardized test bench for closed-loop control.

PubMed

Dosen, Strahinja; Markovic, Marko; Hartmann, Cornelia; Farina, Dario

2015-03-01

Closing the control loop by providing sensory feedback to the user of a prosthesis is an important challenge, with major impact on the future of prosthetics. Developing and comparing closed-loop systems is a difficult task, since there are many different methods and technologies that can be used to implement each component of the system. Here, we present a test bench developed in Matlab Simulink for configuring and testing the closed-loop human control system in standardized settings. The framework comprises a set of connected generic blocks with normalized inputs and outputs, which can be customized by selecting specific implementations from a library of predefined components. The framework is modular and extensible and it can be used to configure, compare and test different closed-loop system prototypes, thereby guiding the development towards an optimal system configuration. The use of the test bench was demonstrated by investigating two important aspects of closed-loop control: performance of different electrotactile feedback interfaces (spatial versus intensity coding) during a pendulum stabilization task and feedforward methods (joystick versus myocontrol) for force control. The first experiment demonstrated that in the case of trained subjects the intensity coding might be superior to spatial coding. In the second experiment, the control of force was rather poor even with a stable and precise control interface (joystick), demonstrating that inherent characteristics of the prosthesis can be an important limiting factor when considering the overall effectiveness of the closed-loop control. The presented test bench is an important instrument for investigating different aspects of human manual control with sensory feedback.

Back-stepping active disturbance rejection control design for integrated missile guidance and control system via reduced-order ESO.

PubMed

Xingling, Shao; Honglun, Wang

2015-07-01

This paper proposes a novel composite integrated guidance and control (IGC) law for missile intercepting against unknown maneuvering target with multiple uncertainties and control constraint. First, by using back-stepping technique, the proposed IGC law design is separated into guidance loop and control loop. The unknown target maneuvers and variations of aerodynamics parameters in guidance and control loop are viewed as uncertainties, which are estimated and compensated by designed model-assisted reduced-order extended state observer (ESO). Second, based on the principle of active disturbance rejection control (ADRC), enhanced feedback linearization (FL) based control law is implemented for the IGC model using the estimates generated by reduced-order ESO. In addition, performance analysis and comparisons between ESO and reduced-order ESO are examined. Nonlinear tracking differentiator is employed to construct the derivative of virtual control command in the control loop. Third, the closed-loop stability for the considered system is established. Finally, the effectiveness of the proposed IGC law in enhanced interception performance such as smooth interception course, improved robustness against multiple uncertainties as well as reduced control consumption during initial phase are demonstrated through simulations. Copyright © 2015 ISA. Published by Elsevier Ltd. All rights reserved.

Controlled-Root Approach To Digital Phase-Locked Loops

NASA Technical Reports Server (NTRS)

Stephens, Scott A.; Thomas, J. Brooks

1995-01-01

Performance tailored more flexibly and directly to satisfy design requirements. Controlled-root approach improved method for analysis and design of digital phase-locked loops (DPLLs). Developed rigorously from first principles for fully digital loops, making DPLL theory and design simpler and more straightforward (particularly for third- or fourth-order DPLL) and controlling performance more accurately in case of high gain.

Knowledge-based processing for aircraft flight control

NASA Technical Reports Server (NTRS)

Painter, John H.

1991-01-01

The purpose is to develop algorithms and architectures for embedding artificial intelligence in aircraft guidance and control systems. With the approach adopted, AI-computing is used to create an outer guidance loop for driving the usual aircraft autopilot. That is, a symbolic processor monitors the operation and performance of the aircraft. Then, based on rules and other stored knowledge, commands are automatically formulated for driving the autopilot so as to accomplish desired flight operations. The focus is on developing a software system which can respond to linguistic instructions, input in a standard format, so as to formulate a sequence of simple commands to the autopilot. The instructions might be a fairly complex flight clearance, input either manually or by data-link. Emphasis is on a software system which responds much like a pilot would, employing not only precise computations, but, also, knowledge which is less precise, but more like common-sense. The approach is based on prior work to develop a generic 'shell' architecture for an AI-processor, which may be tailored to many applications by describing the application in appropriate processor data bases (libraries). Such descriptions include numerical models of the aircraft and flight control system, as well as symbolic (linguistic) descriptions of flight operations, rules, and tactics.

Closed Loop Control of Oxygen Delivery and Oxygen Generation

DTIC Science & Technology

2017-08-01

AFRL-SA-WP-SR-2017-0024 Closed Loop Control of Oxygen Delivery and Oxygen Generation Dr. Jay Johannigman1, Richard Branson1...for failing to comply with a collection of information if it does not display a currently valid OMB control number. PLEASE DO NOT RETURN YOUR FORM TO...TITLE AND SUBTITLE Closed Loop Control of Oxygen Delivery and Oxygen Generation 5a. CONTRACT NUMBER FA8650-10-2-6140 5b. GRANT NUMBER

Closed-loop control of zebrafish response using a bioinspired robotic-fish in a preference test

PubMed Central

Kopman, Vladislav; Laut, Jeffrey; Polverino, Giovanni; Porfiri, Maurizio

2013-01-01

In this paper, we study the response of zebrafish to a robotic-fish whose morphology and colour pattern are inspired by zebrafish. Experiments are conducted in a three-chambered instrumented water tank where a robotic-fish is juxtaposed with an empty compartment, and the preference of live subjects is scored as the mean time spent in the vicinity of the tank's two lateral sides. The tail-beating of the robotic-fish is controlled in real-time based on feedback from fish motion to explore a spectrum of closed-loop systems, including proportional and integral controllers. Closed-loop control systems are complemented by open-loop strategies, wherein the tail-beat of the robotic-fish is independent of the fish motion. The preference space and the locomotory patterns of fish for each experimental condition are analysed and compared to understand the influence of real-time closed-loop control on zebrafish response. The results of this study show that zebrafish respond differently to the pattern of tail-beating motion executed by the robotic-fish. Specifically, the preference and behaviour of zebrafish depend on whether the robotic-fish tail-beating frequency is controlled as a function of fish motion and how such closed-loop control is implemented. PMID:23152102

Antenna Linear-Quadratic-Gaussian (LQG) Controllers: Properties, Limits of Performance, and Tuning Procedure

NASA Technical Reports Server (NTRS)

Gawronski, W.

2004-01-01

Wind gusts are the main disturbances that depreciate tracking precision of microwave antennas and radiotelescopes. The linear-quadratic-Gaussian (LQG) controllers - as compared with the proportional-and-integral (PI) controllers significantly improve the tracking precision in wind disturbances. However, their properties have not been satisfactorily understood; consequently, their tuning is a trial-and-error process. A control engineer has two tools to tune an LQG controller: the choice of coordinate system of the controller model and the selection of weights of the LQG performance index. This article analyzes properties of an open- and closed-loop antenna. It shows that the proper choice of coordinates of the open-loop model simplifies the shaping of the closed-loop performance. The closed-loop properties are influenced by the LQG weights. The article shows the impact of the weights on the antenna closed-loop bandwidth, disturbance rejection properties, and antenna acceleration. The bandwidth and the disturbance rejection characterize the antenna performance, while the acceleration represents the performance limit set by the antenna hardware (motors). The article presents the controller tuning procedure, based on the coordinate selection and the weight properties. The procedure rationally shapes the closed-loop performance, as an alternative to the trial-and-error approach.

Innovations in Rheometer Controlled-Rate Control Loop Design: Ultra Low Angular Speed Control and New Applications

NASA Astrophysics Data System (ADS)

Schulz, Ulrich; Sierro, Philippe; Nijman, Jint

2008-07-01

The design and implementation of an angular speed control loop for a universal rheometer is not a trivial task. The combination of a highly dynamic, very low inertia (drag cup) motor (motor inertia is 10-5 kg m2) with samples which can range in viscosity from 10-3 Pas to 108 Pas, which can be between purely viscous and higly viscoelastic, which can exhibit yield-stresses, etc. asks for a highly adaptive digital control loop. For the HAAKE MARS rotational rheometer a new adaptive control loop was developed which allows the control of angular speeds as low 5×10-9 rad/s and response times a short as 10 ms. The adaptation of the control loop to "difficult" samples is performed by analysing the response of the complete system to a short pre-test. In this paper we will show that the (very) short response times at (very) low angular speeds are not only achieved with ideal samples, but due to the adaptable control loop, also with "difficult" samples. We will show measurement results on "difficult" samples like cosmetic creams and emulsions, a laponite gel, etc. to proof that angular speeds down to 10-4 rad/s are reached within 10 ms to 20 ms and angular speeds down to 10-7 rad/s within 1 s to 2 s. The response times for reaching ultra low angular speeds down to 5×10-9 rad/s are in the order of 10 s to 30 s. With this new control loop it is, for the first time, possible to measure yield stresses by applying a very low constant shear-rate to the sample and measuring the torque response as a function of time.

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

NASA Astrophysics Data System (ADS)

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

2017-01-01

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

Molecular basis for CPAP-tubulin interaction in controlling centriolar and ciliary length

PubMed Central

Zheng, Xiangdong; Ramani, Anand; Soni, Komal; Gottardo, Marco; Zheng, Shuangping; Ming Gooi, Li; Li, Wenjing; Feng, Shan; Mariappan, Aruljothi; Wason, Arpit; Widlund, Per; Pozniakovsky, Andrei; Poser, Ina; Deng, Haiteng; Ou, Guangshuo; Riparbelli, Maria; Giuliano, Callaini; Hyman, Anthony A.; Sattler, Michael; Gopalakrishnan, Jay; Li, Haitao

2016-01-01

Centrioles and cilia are microtubule-based structures, whose precise formation requires controlled cytoplasmic tubulin incorporation. How cytoplasmic tubulin is recognized for centriolar/ciliary-microtubule construction remains poorly understood. Centrosomal-P4.1-associated-protein (CPAP) binds tubulin via its PN2-3 domain. Here, we show that a C-terminal loop-helix in PN2-3 targets β-tubulin at the microtubule outer surface, while an N-terminal helical motif caps microtubule's α-β surface of β-tubulin. Through this, PN2-3 forms a high-affinity complex with GTP-tubulin, crucial for defining numbers and lengths of centriolar/ciliary-microtubules. Surprisingly, two distinct mutations in PN2-3 exhibit opposite effects on centriolar/ciliary-microtubule lengths. CPAPF375A, with strongly reduced tubulin interaction, causes shorter centrioles and cilia exhibiting doublet- instead of triplet-microtubules. CPAPEE343RR that unmasks the β-tubulin polymerization surface displays slightly reduced tubulin-binding affinity inducing over-elongation of newly forming centriolar/ciliary-microtubules by enhanced dynamic release of its bound tubulin. Thus CPAP regulates delivery of its bound-tubulin to define the size of microtubule-based cellular structures using a ‘clutch-like' mechanism. PMID:27306797

Evaluation of inner-outer space distinction and verbal hallucinations in schizophrenia.

PubMed

Stephane, Massoud; Kuskowski, Michael; McClannahan, Kate; Surerus, Christa; Nelson, Katie

2010-09-01

Verbal hallucinations could result from attributing one's own inner speech to another. Inner speech is usually experienced in inner space, whereas hallucinations are often experienced in outer space. To clarify this paradox, we investigated schizophrenia patients' ability to distinguish between speech experienced in inner space, and speech experienced in outer space. 32 schizophrenia patients and 26 matched healthy controls underwent a two-stage experiment. First, they read sentences aloud or silently. Afterwards, they were required to distinguish between the sentences read aloud (experienced in outer space), the sentences read silently (experienced in inner space), and new sentences not previously read (no space coding). The sentences were in the first, second, or third person in equal proportions. Linear mixed models were used to investigate the effects of group, sentence location, pronoun, and hallucinations status. Schizophrenia patients were similar to controls in recognition capacity of sentences without space coding. They exhibited both inner-outer and outer-inner space confusion (they confused silently read sentences for sentences read aloud, and vice versa). Patients who experienced hallucinations inside their head were more likely to have outer-inner space bias. For speech generated by one's own brain, schizophrenia patients have bidirectional failure of inner-outer space distinction (inner-outer and outer-inner space biases); this might explain why hallucinations (abnormal inner speech) could be experienced in outer space. Furthermore, the direction of inner-outer space indistinction could determine the spatial location of the experienced hallucinations (inside or outside the head).

Modeling and control of fuel cell based distributed generation systems

NASA Astrophysics Data System (ADS)

Jung, Jin Woo

This dissertation presents circuit models and control algorithms of fuel cell based distributed generation systems (DGS) for two DGS topologies. In the first topology, each DGS unit utilizes a battery in parallel to the fuel cell in a standalone AC power plant and a grid-interconnection. In the second topology, a Z-source converter, which employs both the L and C passive components and shoot-through zero vectors instead of the conventional DC/DC boost power converter in order to step up the DC-link voltage, is adopted for a standalone AC power supply. In Topology 1, two applications are studied: a standalone power generation (Single DGS Unit and Two DGS Units) and a grid-interconnection. First, dynamic model of the fuel cell is given based on electrochemical process. Second, two full-bridge DC to DC converters are adopted and their controllers are designed: an unidirectional full-bridge DC to DC boost converter for the fuel cell and a bidirectional full-bridge DC to DC buck/boost converter for the battery. Third, for a three-phase DC to AC inverter without or with a Delta/Y transformer, a discrete-time state space circuit model is given and two discrete-time feedback controllers are designed: voltage controller in the outer loop and current controller in the inner loop. And last, for load sharing of two DGS units and power flow control of two DGS units or the DGS connected to the grid, real and reactive power controllers are proposed. Particularly, for the grid-connected DGS application, a synchronization issue between an islanding mode and a paralleling mode to the grid is investigated, and two case studies are performed. To demonstrate the proposed circuit models and control strategies, simulation test-beds using Matlab/Simulink are constructed for each configuration of the fuel cell based DGS with a three-phase AC 120 V (L-N)/60 Hz/50 kVA and various simulation results are presented. In Topology 2, this dissertation presents system modeling, modified space vector PWM implementation (MSVPWM) and design of a closed-loop controller of the Z-source converter which utilizes L and C components and shoot-through zero vectors for the standalone AC power generation. The fuel cell system is modeled by an electrical R-C circuit in order to include slow dynamics of the fuel cells and a voltage-current characteristic of a cell is also considered. A discrete-time state space model is derived to implement digital control and a space vector pulse-width modulation (SVPWM) technique is modified to realize the shoot-through zero vectors that boost the DC-link voltage. Also, three discrete-time feedback controllers are designed: a discrete-time optimal voltage controller, a discrete-time sliding mode current controller, and a discrete-time PI DC-link voltage controller. Furthermore, an asymptotic observer is used to reduce the number of sensors and enhance the reliability of the system. To demonstrate the analyzed circuit model and proposed control strategy, various simulation results using Matlab/Simulink are presented under both light/heavy loads and linear/nonlinear loads for a three-phase AC 208 V (L-L)/60 Hz/10 kVA.

High alpha feedback control for agile half-loop maneuvers of the F-18 airplane

NASA Technical Reports Server (NTRS)

Stalford, Harold

1988-01-01

A nonlinear feedback control law for the F/A-18 airplane that provides time-optimal or agile maneuvering of the half-loop maneuver at high angles of attack is given. The feedback control law was developed using the mathematical approach of singular perturbations, in which the control devices considered were conventional aerodynamic control surfaces and thrusting. The derived nonlinear control law was used to simulate F/A-18 half-loop maneuvers. The simulated results at Mach 0.6 and 0.9 compared well with pilot simulations conducted at NASA.

A control system design approach for flexible spacecraft

NASA Technical Reports Server (NTRS)

Silverberg, L. M.

1985-01-01

A control system design approach for flexible spacecraft is presented. The control system design is carried out in two steps. The first step consists of determining the ideal control system in terms of a desirable dynamic performance. The second step consists of designing a control system using a limited number of actuators that possess a dynamic performance that is close to the ideal dynamic performance. The effects of using a limited number of actuators is that the actual closed-loop eigenvalues differ from the ideal closed-loop eigenvalues. A method is presented to approximate the actual closed-loop eigenvalues so that the calculation of the actual closed-loop eigenvalues can be avoided. Depending on the application, it also may be desirable to apply the control forces as impulses. The effect of digitizing the control to produce the appropriate impulses is also examined.

A Closed-loop Brain Computer Interface to a Virtual Reality Avatar: Gait Adaptation to Visual Kinematic Perturbations

PubMed Central

Luu, Trieu Phat; He, Yongtian; Brown, Samuel; Nakagome, Sho; Contreras-Vidal, Jose L.

2016-01-01

The control of human bipedal locomotion is of great interest to the field of lower-body brain computer interfaces (BCIs) for rehabilitation of gait. While the feasibility of a closed-loop BCI system for the control of a lower body exoskeleton has been recently shown, multi-day closed-loop neural decoding of human gait in a virtual reality (BCI-VR) environment has yet to be demonstrated. In this study, we propose a real-time closed-loop BCI that decodes lower limb joint angles from scalp electroencephalography (EEG) during treadmill walking to control the walking movements of a virtual avatar. Moreover, virtual kinematic perturbations resulting in asymmetric walking gait patterns of the avatar were also introduced to investigate gait adaptation using the closed-loop BCI-VR system over a period of eight days. Our results demonstrate the feasibility of using a closed-loop BCI to learn to control a walking avatar under normal and altered visuomotor perturbations, which involved cortical adaptations. These findings have implications for the development of BCI-VR systems for gait rehabilitation after stroke and for understanding cortical plasticity induced by a closed-loop BCI system. PMID:27713915

Similarity Metrics for Closed Loop Dynamic Systems

NASA Technical Reports Server (NTRS)

Whorton, Mark S.; Yang, Lee C.; Bedrossian, Naz; Hall, Robert A.

2008-01-01

To what extent and in what ways can two closed-loop dynamic systems be said to be "similar?" This question arises in a wide range of dynamic systems modeling and control system design applications. For example, bounds on error models are fundamental to the controller optimization with modern control design methods. Metrics such as the structured singular value are direct measures of the degree to which properties such as stability or performance are maintained in the presence of specified uncertainties or variations in the plant model. Similarly, controls-related areas such as system identification, model reduction, and experimental model validation employ measures of similarity between multiple realizations of a dynamic system. Each area has its tools and approaches, with each tool more or less suited for one application or the other. Similarity in the context of closed-loop model validation via flight test is subtly different from error measures in the typical controls oriented application. Whereas similarity in a robust control context relates to plant variation and the attendant affect on stability and performance, in this context similarity metrics are sought that assess the relevance of a dynamic system test for the purpose of validating the stability and performance of a "similar" dynamic system. Similarity in the context of system identification is much more relevant than are robust control analogies in that errors between one dynamic system (the test article) and another (the nominal "design" model) are sought for the purpose of bounding the validity of a model for control design and analysis. Yet system identification typically involves open-loop plant models which are independent of the control system (with the exception of limited developments in closed-loop system identification which is nonetheless focused on obtaining open-loop plant models from closed-loop data). Moreover the objectives of system identification are not the same as a flight test and hence system identification error metrics are not directly relevant. In applications such as launch vehicles where the open loop plant is unstable it is similarity of the closed-loop system dynamics of a flight test that are relevant.

Fuel control for gas turbine with continuous pilot flame

DOEpatents

Swick, Robert M.

1983-01-01

An improved fuel control for a gas turbine engine having a continuous pilot flame and a fuel distribution system including a pump drawing fuel from a source and supplying a line to the main fuel nozzle of the engine, the improvement being a control loop between the pump outlet and the pump inlet to bypass fuel, an electronically controlled throttle valve to restrict flow in the control loop when main nozzle demand exists and to permit substantially unrestricted flow without main nozzle demand, a minimum flow valve in the control loop downstream of the throttle valve to maintain a minimum pressure in the loop ahead of the flow valve, a branch tube from the pilot flame nozzle to the control loop between the throttle valve and the minimum flow valve, an orifice in the branch tube, and a feedback tube from the branch tube downstream of the orifice to the minimum flow valve, the minimum flow valve being operative to maintain a substantially constant pressure differential across the orifice to maintain constant fuel flow to the pilot flame nozzle.

Fault Management Metrics

NASA Technical Reports Server (NTRS)

Johnson, Stephen B.; Ghoshal, Sudipto; Haste, Deepak; Moore, Craig

2017-01-01

This paper describes the theory and considerations in the application of metrics to measure the effectiveness of fault management. Fault management refers here to the operational aspect of system health management, and as such is considered as a meta-control loop that operates to preserve or maximize the system's ability to achieve its goals in the face of current or prospective failure. As a suite of control loops, the metrics to estimate and measure the effectiveness of fault management are similar to those of classical control loops in being divided into two major classes: state estimation, and state control. State estimation metrics can be classified into lower-level subdivisions for detection coverage, detection effectiveness, fault isolation and fault identification (diagnostics), and failure prognosis. State control metrics can be classified into response determination effectiveness and response effectiveness. These metrics are applied to each and every fault management control loop in the system, for each failure to which they apply, and probabilistically summed to determine the effectiveness of these fault management control loops to preserve the relevant system goals that they are intended to protect.

Phase-lock loop frequency control and the dropout problem

NASA Technical Reports Server (NTRS)

Attwood, S.; Kline, A. J.

1968-01-01

Technique automatically sets the frequency of narrow band phase-lock loops within automatic lock-in-range. It presets a phase-lock loop to a desired center frequency with a closed loop electronic frequency discriminator and holds the phase-lock loop to that center frequency until lock is achieved.

Decentralized robust nonlinear model predictive controller for unmanned aerial systems

NASA Astrophysics Data System (ADS)

Garcia Garreton, Gonzalo A.

The nonlinear and unsteady nature of aircraft aerodynamics together with limited practical range of controls and state variables make the use of the linear control theory inadequate especially in the presence of external disturbances, such as wind. In the classical approach, aircraft are controlled by multiple inner and outer loops, designed separately and sequentially. For unmanned aerial systems in particular, control technology must evolve to a point where autonomy is extended to the entire mission flight envelope. This requires advanced controllers that have sufficient robustness, track complex trajectories, and use all the vehicles control capabilities at higher levels of accuracy. In this work, a robust nonlinear model predictive controller is designed to command and control an unmanned aerial system to track complex tight trajectories in the presence of internal and external perturbance. The Flight System developed in this work achieves the above performance by using: 1. A nonlinear guidance algorithm that enables the vehicle to follow an arbitrary trajectory shaped by moving points; 2. A formulation that embeds the guidance logic and trajectory information in the aircraft model, avoiding cross coupling and control degradation; 3. An artificial neural network, designed to adaptively estimate and provide aerodynamic and propulsive forces in real-time; and 4. A mixed sensitivity approach that enhances the robustness for a nonlinear model predictive controller overcoming the effect of un-modeled dynamics, external disturbances such as wind, and measurement additive perturbations, such as noise and biases. These elements have been integrated and tested in simulation and with previously stored flight test data and shown to be feasible.

Analytical design and evaluation of an active control system for helicopter vibration reduction and gust response alleviation

NASA Technical Reports Server (NTRS)

Taylor, R. B.; Zwicke, P. E.; Gold, P.; Miao, W.

1980-01-01

An analytical study was conducted to define the basic configuration of an active control system for helicopter vibration and gust response alleviation. The study culminated in a control system design which has two separate systems: narrow band loop for vibration reduction and wider band loop for gust response alleviation. The narrow band vibration loop utilizes the standard swashplate control configuration to input controller for the vibration loop is based on adaptive optimal control theory and is designed to adapt to any flight condition including maneuvers and transients. The prime characteristics of the vibration control system is its real time capability. The gust alleviation control system studied consists of optimal sampled data feedback gains together with an optimal one-step-ahead prediction. The prediction permits the estimation of the gust disturbance which can then be used to minimize the gust effects on the helicopter.

Origin and control of instability in SCR/triac three-phase motor controllers

NASA Technical Reports Server (NTRS)

Dearth, J. J.

1982-01-01

The energy savings and reactive power reduction functions initiated by the power factor controller (PFC) are discussed. A three-phase PFC with soft start is examined analytically and experimentally to determine how well it controls the open loop instability and other possible modes of instability. The detailed mechanism of the open loop instability is determined and shown to impose design constraints on the closed loop system. The design is shown to meet those constraints.

Ring Beholds a Delicate Flower

NASA Technical Reports Server (NTRS)

2005-01-01

NASA's Spitzer Space Telescope finds a delicate flower in the Ring Nebula, as shown in this image. The outer shell of this planetary nebula looks surprisingly similar to the delicate petals of a camellia blossom. A planetary nebula is a shell of material ejected from a dying star. Located about 2,000 light years from Earth in the constellation Lyra, the Ring Nebula is also known as Messier Object 57 and NGC 6720. It is one of the best examples of a planetary nebula and a favorite target of amateur astronomers.

The 'ring' is a thick cylinder of glowing gas and dust around the doomed star. As the star begins to run out of fuel, its core becomes smaller and hotter, boiling off its outer layers. The telescope's infrared array camera detected this material expelled from the withering star. Previous images of the Ring Nebula taken by visible-light telescopes usually showed just the inner glowing loop of gas around the star. The outer regions are especially prominent in this new image because Spitzer sees the infrared light from hydrogen molecules. The molecules emit infrared light because they have absorbed ultraviolet radiation from the star or have been heated by the wind from the star.

Download the QuickTime movie for the animated version of this Ring Nebula image.

Linear matrix inequality-based nonlinear adaptive robust control with application to unmanned aircraft systems

NASA Astrophysics Data System (ADS)

Kun, David William

Unmanned aircraft systems (UASs) are gaining popularity in civil and commercial applications as their lightweight on-board computers become more powerful and affordable, their power storage devices improve, and the Federal Aviation Administration addresses the legal and safety concerns of integrating UASs in the national airspace. Consequently, many researchers are pursuing novel methods to control UASs in order to improve their capabilities, dependability, and safety assurance. The nonlinear control approach is a common choice as it offers several benefits for these highly nonlinear aerospace systems (e.g., the quadrotor). First, the controller design is physically intuitive and is derived from well known dynamic equations. Second, the final control law is valid in a larger region of operation, including far from the equilibrium states. And third, the procedure is largely methodical, requiring less expertise with gain tuning, which can be arduous for a novice engineer. Considering these facts, this thesis proposes a nonlinear controller design method that combines the advantages of adaptive robust control (ARC) with the powerful design tools of linear matrix inequalities (LMI). The ARC-LMI controller is designed with a discontinuous projection-based adaptation law, and guarantees a prescribed transient and steady state tracking performance for uncertain systems in the presence of matched disturbances. The norm of the tracking error is bounded by a known function that depends on the controller design parameters in a known form. Furthermore, the LMI-based part of the controller ensures the stability of the system while overcoming polytopic uncertainties, and minimizes the control effort. This can reduce the number of parameters that require adaptation, and helps to avoid control input saturation. These desirable characteristics make the ARC-LMI control algorithm well suited for the quadrotor UAS, which may have unknown parameters and may encounter external disturbances such as wind gusts and turbulence. This thesis develops the ARC-LMI attitude and position controllers for an X-configuration quadrotor helicopter. The inner-loop of the autopilot controls the attitude and altitude of the quadrotor, and the outer-loop controls its position in the earth-fixed coordinate frame. Furthermore, by intelligently generating a smooth trajectory from the given reference coordinates (waypoints), the transient performance is improved. The simulation results indicate that the ARC-LMI controller design is useful for a variety of quadrotor applications, including precise trajectory tracking, autonomous waypoint navigation in the presence of disturbances, and package delivery without loss of performance.

Indirect Identification of Linear Stochastic Systems with Known Feedback Dynamics

NASA Technical Reports Server (NTRS)

Huang, Jen-Kuang; Hsiao, Min-Hung; Cox, David E.

1996-01-01

An algorithm is presented for identifying a state-space model of linear stochastic systems operating under known feedback controller. In this algorithm, only the reference input and output of closed-loop data are required. No feedback signal needs to be recorded. The overall closed-loop system dynamics is first identified. Then a recursive formulation is derived to compute the open-loop plant dynamics from the identified closed-loop system dynamics and known feedback controller dynamics. The controller can be a dynamic or constant-gain full-state feedback controller. Numerical simulations and test data of a highly unstable large-gap magnetic suspension system are presented to demonstrate the feasibility of this indirect identification method.

Closed-loop thrust and pressure profile throttling of a nitrous oxide/hydroxyl-terminated polybutadiene hybrid rocket motor

NASA Astrophysics Data System (ADS)

Peterson, Zachary W.

Hybrid motors that employ non-toxic, non-explosive components with a liquid oxidizer and a solid hydrocarbon fuel grain have inherently safe operating characteristics. The inherent safety of hybrid rocket motors offers the potential to greatly reduce overall operating costs. Another key advantage of hybrid rocket motors is the potential for in-flight shutdown, restart, and throttle by controlling the pressure drop between the oxidizer tank and the injector. This research designed, developed, and ground tested a closed-loop throttle controller for a hybrid rocket motor using nitrous oxide and hydroxyl-terminated polybutadiene as propellants. The research simultaneously developed closed-loop throttle algorithms and lab scale motor hardware to evaluate the fidelity of the throttle simulations and algorithms. Initial open-loop motor tests were performed to better classify system parameters and to validate motor performance values. Deep-throttle open-loop tests evaluated limits of stable thrust that can be achieved on the test hardware. Open-loop tests demonstrated the ability to throttle the motor to less than 10% of maximum thrust with little reduction in effective specific impulse and acoustical stability. Following the open-loop development, closed-loop, hardware-in-the-loop tests were performed. The closed-loop controller successfully tracked prescribed step and ramp command profiles with a high degree of fidelity. Steady-state accuracy was greatly improved over uncontrolled thrust.

Introduction to Loop Heat Pipes

NASA Technical Reports Server (NTRS)

Ku, Jentung

2015-01-01

This is the presentation file for the short course Introduction to Loop Heat Pipes, to be conducted at the 2015 Thermal Fluids and Analysis Workshop, August 3-7, 2015, Silver Spring, Maryland. This course will discuss operating principles and performance characteristics of a loop heat pipe. Topics include: 1) pressure profiles in the loop; 2) loop operating temperature; 3) operating temperature control; 4) loop startup; 4) loop shutdown; 5) loop transient behaviors; 6) sizing of loop components and determination of fluid inventory; 7) analytical modeling; 8) examples of flight applications; and 9) recent LHP developments.

Input filter compensation for switching regulators

NASA Technical Reports Server (NTRS)

Lee, F. C.; Kelkar, S. S.

1982-01-01

The problems caused by the interaction between the input filter, output filter, and the control loop are discussed. The input filter design is made more complicated because of the need to avoid performance degradation and also stay within the weight and loss limitations. Conventional input filter design techniques are then dicussed. The concept of pole zero cancellation is reviewed; this concept is the basis for an approach to control the peaking of the output impedance of the input filter and thus mitigate some of the problems caused by the input filter. The proposed approach for control of the peaking of the output impedance of the input filter is to use a feedforward loop working in conjunction with feedback loops, thus forming a total state control scheme. The design of the feedforward loop for a buck regulator is described. A possible implementation of the feedforward loop design is suggested.

Dual-loop model of the human controller

NASA Technical Reports Server (NTRS)

Hess, R. A.

1978-01-01

A dual-loop model of the human controller in single-axis compensatory tracking tasks is introduced. This model possesses an inner-loop closure that involves feeding back that portion of controlled element output rate that is due to control activity. A novel feature of the model is the explicit appearance of the human's internal representation of the manipulator-controlled element dynamics in the inner loop. The sensor inputs to the human controller are assumed to be system error and control force. The former can be sensed via visual, aural, or tactile displays, whereas the latter is assumed to be sensed in kinesthetic fashion. A set of general adaptive characteristics for the model is hypothesized, including a method for selecting simplified internal models of the manipulator-controlled element dynamics. It is demonstrated that the model can produce controller describing functions that closely approximate those measured in four laboratory tracking tasks in which the controlled element dynamics vary considerably in terms of ease of control. An empirically derived expression for the normalized injected error remnant spectrum is introduced.

Design and simulation of control algorithms for stored energy and plasma current in non-inductive scenarios on NSTX-U

NASA Astrophysics Data System (ADS)

Boyer, Mark; Andre, Robert; Gates, David; Gerhardt, Stefan; Menard, Jonathan; Poli, Francesca

2015-11-01

One of the major goals of NSTX-U is to demonstrate non-inductive operation. To facilitate this and other program goals, the center stack has been upgraded and a second neutral beam line has been added with three sources aimed more tangentially to provide higher current drive efficiency and the ability to shape the current drive profile. While non-inductive start-up and ramp-up scenarios are being developed, initial non-inductive studies will likely rely on clamping the Ohmic coil current after the plasma current has been established inductively. In this work the ability to maintain control of stored energy and plasma current once the Ohmic coil has been clamped is explored. The six neutral beam sources and the mid-plane outer gap of the plasma are considered as actuators. System identification is done using TRANSP simulations in which the actuators are modulated around a reference shot. The resulting reduced model is used to design an optimal control law with anti-windup and a recently developed framework for closed loop simulations in TRANSP is used to test the control. Limitations due to actuator saturation are assessed and robustness to beam modulation, changes in the plasma density and confinement, and changes in density and temperature profile shapes are studied. Supported by US DOE contract DE-AC02-09CH11466.

High precision locating control system based on VCM for Talbot lithography

NASA Astrophysics Data System (ADS)

Yao, Jingwei; Zhao, Lixin; Deng, Qian; Hu, Song

2016-10-01

Aiming at the high precision and efficiency requirements of Z-direction locating in Talbot lithography, a control system based on Voice Coil Motor (VCM) was designed. In this paper, we built a math model of VCM and its moving characteristic was analyzed. A double-closed loop control strategy including position loop and current loop were accomplished. The current loop was implemented by driver, in order to achieve the rapid follow of the system current. The position loop was completed by the digital signal processor (DSP) and the position feedback was achieved by high precision linear scales. Feed forward control and position feedback Proportion Integration Differentiation (PID) control were applied in order to compensate for dynamic lag and improve the response speed of the system. And the high precision and efficiency of the system were verified by simulation and experiments. The results demonstrated that the performance of Z-direction gantry was obviously improved, having high precision, quick responses, strong real-time and easily to expend for higher precision.

Closed Loop System Identification with Genetic Algorithms

NASA Technical Reports Server (NTRS)

Whorton, Mark S.

2004-01-01

High performance control design for a flexible space structure is challenging since high fidelity plant models are di.cult to obtain a priori. Uncertainty in the control design models typically require a very robust, low performance control design which must be tuned on-orbit to achieve the required performance. Closed loop system identi.cation is often required to obtain a multivariable open loop plant model based on closed-loop response data. In order to provide an accurate initial plant model to guarantee convergence for standard local optimization methods, this paper presents a global parameter optimization method using genetic algorithms. A minimal representation of the state space dynamics is employed to mitigate the non-uniqueness and over-parameterization of general state space realizations. This control-relevant system identi.cation procedure stresses the joint nature of the system identi.cation and control design problem by seeking to obtain a model that minimizes the di.erence between the predicted and actual closed-loop performance.

Human lysozyme possesses novel antimicrobial peptides within its N-terminal domain that target bacterial respiration.

PubMed

Ibrahim, Hisham R; Imazato, Kenta; Ono, Hajime

2011-09-28

Human milk lysozyme is thought to be a key defense factor in protecting the gastrointestinal tract of newborns against bacterial infection. Recently, evidence was found that pepsin, under conditions relevant to the newborn stomach, cleaves chicken lysozyme (cLZ) at specific loops to generate five antimicrobial peptide motifs. This study explores the antimicrobial role of the corresponding peptides of human lysozyme (hLZ), the actual protein in breast milk. Five peptide motifs of hLZ, one helix-loop-helix (HLH), its two helices (H1 and H2), and two helix-sheet motifs, H2-β-strands 1-2 (H2-S12) or H2-β-strands 1-3 (H2-S13), were synthesized and examined for antimicrobial action. The five peptides of hLZ exhibit microbicidal activity to various degrees against several bacterial strains. The HLH peptide and its N-terminal helix (H1) were significantly the most potent bactericidal to Gram-positive and Gram-negative bacteria and the fungus Candida albicans . Outer and inner membrane permeabilization studies, as well as measurements of transmembrane electrochemical potentials, provided evidence that HLH peptide and its N-terminal helix (H1) kill bacteria by crossing the outer membrane of Gram-negative bacteria via self-promoted uptake and are able to dissipate the membrane potential-dependent respiration of Gram-positive bacteria. This finding is the first to describe that hLZ possesses multiple antimicrobial peptide motifs within its N-terminal domain, providing insight into new classes of antibiotic peptides with potential use in the treatment of infectious diseases.

A Derivation of the Long-Term Degradation of a Pulsed Atomic Frequency Standard from a Control-Loop Model

NASA Technical Reports Server (NTRS)

Greenhall, C. A.

1996-01-01

The phase of a frequency standard that uses periodic interrogation and control of a local oscillator (LO) is degraded by a long-term random-walk component induced by downconversion of LO noise into the loop passband. The Dick formula for the noise level of this degradation is derived from an explicit solution of an LO control-loop model.

Allosteric Signaling Is Bidirectional in an Outer-Membrane Transport Protein.

PubMed

Sikora, Arthur; Joseph, Benesh; Matson, Morgan; Staley, Jacob R; Cafiso, David S

2016-11-01

In BtuB, the Escherichia coli TonB-dependent transporter for vitamin B 12 , substrate binding to the extracellular surface unfolds a conserved energy coupling motif termed the Ton box into the periplasm. This transmembrane signaling event facilitates an interaction between BtuB and the inner-membrane protein TonB. In this study, continuous-wave and pulse electron paramagnetic resonance in a native outer-membrane preparation demonstrate that signaling also occurs from the periplasmic to the extracellular surface in BtuB. The binding of a TonB fragment to the periplasmic interface alters the configuration of the second extracellular loop and partially dissociates a spin-labeled substrate analog. Moreover, mutants in the periplasmic Ton box that are transport-defective alter the binding site for vitamin B 12 in BtuB. This work demonstrates that the Ton box and the extracellular substrate binding site are allosterically coupled in BtuB, and that TonB binding may initiate a partial round of transport. Copyright © 2016 Biophysical Society. Published by Elsevier Inc. All rights reserved.

A semi-automatic computer-aided method for surgical template design

NASA Astrophysics Data System (ADS)

Chen, Xiaojun; Xu, Lu; Yang, Yue; Egger, Jan

2016-02-01

This paper presents a generalized integrated framework of semi-automatic surgical template design. Several algorithms were implemented including the mesh segmentation, offset surface generation, collision detection, ruled surface generation, etc., and a special software named TemDesigner was developed. With a simple user interface, a customized template can be semi- automatically designed according to the preoperative plan. Firstly, mesh segmentation with signed scalar of vertex is utilized to partition the inner surface from the input surface mesh based on the indicated point loop. Then, the offset surface of the inner surface is obtained through contouring the distance field of the inner surface, and segmented to generate the outer surface. Ruled surface is employed to connect inner and outer surfaces. Finally, drilling tubes are generated according to the preoperative plan through collision detection and merging. It has been applied to the template design for various kinds of surgeries, including oral implantology, cervical pedicle screw insertion, iliosacral screw insertion and osteotomy, demonstrating the efficiency, functionality and generality of our method.

Analytical instrument with apparatus and method for sample concentrating

DOEpatents

Zaromb, S.

1986-08-04

A system for analysis of trace concentrations of contaminants in air includes a portable liquid chromatograph and a preconcentrator for the contaminants to be analyzed. The preconcentrator includes a sample bag having an inlet valve and an outlet valve for collecting an air sample. When the sample is collected the sample bag is connected in series with a sorbing apparatus in a recirculation loop. The sorbing apparatus has an inner gas-permeable container containing a sorbent material and an outer gas-impermeable container. The sample is circulated through the outer container and around the inner container for trapping and preconcentrating the contaminants in the sorbent material. The sorbent material may be a liquid having the same composition as the mobile phase of the chromatograph for direct injection thereinto. Alternatively, the sorbent material may be a porous, solid body, to which mobile phase liquid is added after preconcentration of the contaminants for dissolving the contaminants, the liquid solution then being withdrawn for injection into the chromatograph.

An internal affinity-tag for purification and crystallization of the siderophore receptor FhuA, integral outer membrane protein from Escherichia coli K-12.

PubMed

Ferguson, A D; Breed, J; Diederichs, K; Welte, W; Coulton, J W

1998-07-01

FhuA (Mr 78,992, 714 amino acids), siderophore receptor for ferrichrome-iron in the outer membrane of Escherichia coli, was affinity tagged, rapidly purified, and crystallized. To obtain FhuA in quantities sufficient for crystallization, a hexahistidine tag was genetically inserted into the fhuA gene after amino acid 405, which resides in a known surface-exposed loop. Recombinant FhuA405.H6 was overexpressed in an E. coli strain that is devoid of several major porins and using metal-chelate chromatography was purified in large amounts to homogeneity. FhuA crystals were grown using the hanging drop vapor diffusion technique and were suitable for X-ray diffraction analysis. On a rotating anode X-ray source, diffraction was observed to 3.0 A resolution. The crystals belong to space group P6(1) or P6(5) with unit cell dimensions of a=b=174 A, c=88 A (alpha=beta=90 degrees, gamma=120 degrees).

Analytical instrument with apparatus for sample concentrating

DOEpatents

Zaromb, Solomon

1989-01-01

A system for analysis of trace concentrations of contaminants in air includes a portable liquid chromatograph and a preconcentrator for the contaminants to be analyzed. The preconcentrator includes a sample bag having an inlet valve and an outlet valve for collecting an air sample. When the sample is collected the sample bag is connected in series with a sorbing apparatus in a recirculation loop. The sorbing apparatus has an inner gas-permeable container containing a sorbent material and an outer gas-impermeable container. The sample is circulated through the outer container and around the inner container for trapping and preconcentrating the contaminants in the sorbent material. The sorbent material may be a liquid having the same composition as the mobile phase of the chromatograph for direct injection thereinto. Alternatively, the sorbent material may be a porous, solid body, to which mobile phase liquid is added after preconcentration of the contaminants for dissolving the contaminants, the liquid solution then being withdrawn for injection into the chromatograph.

Method for preconcentrating a sample for subsequent analysis

DOEpatents

Zaromb, Solomon

1990-01-01

A system for analysis of trace concentration of contaminants in air includes a portable liquid chromatograph and a preconcentrator for the contaminants to be analyzed. The preconcentrator includes a sample bag having an inlet valve and an outlet valve for collecting an air sample. When the sample is collected the sample bag is connected in series with a sorbing apparatus in a recirculation loop. The sorbing apparatus has an inner gas-permeable container containing a sorbent material and an outer gas-impermeable container. The sample is circulated through the outer container and around the inner container for trapping and preconcentrating the contaminants in the sorbent material. The sorbent material may be a liquid having the same composition as the mobile phase of the chromatograph for direct injection thereinto. Alternatively, the sorbent material may be a porous, solid body, to which mobile phase liquid is added after preconcentration of the contaminants for dissolving the contaminants, the liquid solution then being withdrawn for injection into the chromatograph.

Immunocytochemical localization of muscarinic, adrenergic and AT1 receptors.

PubMed

Schulze, W; Fu, M L

1996-01-01

By indirect immunofluorescence and post-embedding EM gold technique, the localization of alpha 1-adrenergic, M2-muscarinic and angiotensin II receptor-I (AT1) were determinated. With antipeptide antibodies directed against the second extracellular loops of all three receptors, these receptors were found to be localized at the sarcolemma of adult rat cardiomyocytes and at the surface membranes of cultivated neonatal heart cells. Additionally, M2 receptors were localized along T-tubule membranes of both rat and human adult cardiomyocytes. alpha 1-Adrenergic receptors were found intracellular near the surface of atrial granules (ANF-granules). By using M2 and alpha 1-adrenergic receptor antibodies the strongest fluorescence was found in the right atrium of the rat. Besides the localization in cardiomyocytes, AT1 receptors were also localized in outer plasma membranes and the endoplasmic reticulum of fibroblasts, and the surface of smooth muscle cells of the major arteries and veins. Likewise, the muscarinic M2 receptors were found along the outer membranes of endothelial cells from capillaries and endocardium.

A semi-automatic computer-aided method for surgical template design

PubMed Central

Chen, Xiaojun; Xu, Lu; Yang, Yue; Egger, Jan

2016-01-01

This paper presents a generalized integrated framework of semi-automatic surgical template design. Several algorithms were implemented including the mesh segmentation, offset surface generation, collision detection, ruled surface generation, etc., and a special software named TemDesigner was developed. With a simple user interface, a customized template can be semi- automatically designed according to the preoperative plan. Firstly, mesh segmentation with signed scalar of vertex is utilized to partition the inner surface from the input surface mesh based on the indicated point loop. Then, the offset surface of the inner surface is obtained through contouring the distance field of the inner surface, and segmented to generate the outer surface. Ruled surface is employed to connect inner and outer surfaces. Finally, drilling tubes are generated according to the preoperative plan through collision detection and merging. It has been applied to the template design for various kinds of surgeries, including oral implantology, cervical pedicle screw insertion, iliosacral screw insertion and osteotomy, demonstrating the efficiency, functionality and generality of our method. PMID:26843434

A semi-automatic computer-aided method for surgical template design.

PubMed

Chen, Xiaojun; Xu, Lu; Yang, Yue; Egger, Jan

2016-02-04

This paper presents a generalized integrated framework of semi-automatic surgical template design. Several algorithms were implemented including the mesh segmentation, offset surface generation, collision detection, ruled surface generation, etc., and a special software named TemDesigner was developed. With a simple user interface, a customized template can be semi- automatically designed according to the preoperative plan. Firstly, mesh segmentation with signed scalar of vertex is utilized to partition the inner surface from the input surface mesh based on the indicated point loop. Then, the offset surface of the inner surface is obtained through contouring the distance field of the inner surface, and segmented to generate the outer surface. Ruled surface is employed to connect inner and outer surfaces. Finally, drilling tubes are generated according to the preoperative plan through collision detection and merging. It has been applied to the template design for various kinds of surgeries, including oral implantology, cervical pedicle screw insertion, iliosacral screw insertion and osteotomy, demonstrating the efficiency, functionality and generality of our method.

Automatic treatment plan re-optimization for adaptive radiotherapy guided with the initial plan DVHs.

PubMed

Li, Nan; Zarepisheh, Masoud; Uribe-Sanchez, Andres; Moore, Kevin; Tian, Zhen; Zhen, Xin; Graves, Yan Jiang; Gautier, Quentin; Mell, Loren; Zhou, Linghong; Jia, Xun; Jiang, Steve

2013-12-21

Adaptive radiation therapy (ART) can reduce normal tissue toxicity and/or improve tumor control through treatment adaptations based on the current patient anatomy. Developing an efficient and effective re-planning algorithm is an important step toward the clinical realization of ART. For the re-planning process, manual trial-and-error approach to fine-tune planning parameters is time-consuming and is usually considered unpractical, especially for online ART. It is desirable to automate this step to yield a plan of acceptable quality with minimal interventions. In ART, prior information in the original plan is available, such as dose-volume histogram (DVH), which can be employed to facilitate the automatic re-planning process. The goal of this work is to develop an automatic re-planning algorithm to generate a plan with similar, or possibly better, DVH curves compared with the clinically delivered original plan. Specifically, our algorithm iterates the following two loops. An inner loop is the traditional fluence map optimization, in which we optimize a quadratic objective function penalizing the deviation of the dose received by each voxel from its prescribed or threshold dose with a set of fixed voxel weighting factors. In outer loop, the voxel weighting factors in the objective function are adjusted according to the deviation of the current DVH curves from those in the original plan. The process is repeated until the DVH curves are acceptable or maximum iteration step is reached. The whole algorithm is implemented on GPU for high efficiency. The feasibility of our algorithm has been demonstrated with three head-and-neck cancer IMRT cases, each having an initial planning CT scan and another treatment CT scan acquired in the middle of treatment course. Compared with the DVH curves in the original plan, the DVH curves in the resulting plan using our algorithm with 30 iterations are better for almost all structures. The re-optimization process takes about 30 s using our in-house optimization engine.

Thermal Vacuum Test of GLAS Propylene Loop Heat Pipe Development Model

NASA Technical Reports Server (NTRS)

Baker, Charles; Butler, Dan; Ku, Jentung; Kaya, Tarik; Nikitkin, Michael

2000-01-01

This paper presents viewgraphs on Thermal Vacuum Tests of the GLAS (Geoscience Laser Altimeter System) Propylene Loop Heat Pipe Development Model. The topics include: 1) Flight LHP System (Laser); 2) Test Design and Objectives; 3) DM (Development Model) LHP (Loop Heat Pipe) Test Design; 4) Starter Heater and Coupling Blocks; 5) CC Control Heaters and PRT; 6) Heater Plates (Shown in Reflux Mode); 7) Startup Tests; 8) CC Control Heater Power Tests for CC Temperature Control; and 9) Control Temperature Stability.

A training rule which guarantees finite-region stability for a class of closed-loop neural-network control systems.

PubMed

Kuntanapreeda, S; Fullmer, R R

1996-01-01

A training method for a class of neural network controllers is presented which guarantees closed-loop system stability. The controllers are assumed to be nonlinear, feedforward, sampled-data, full-state regulators implemented as single hidden-layer neural networks. The controlled systems must be locally hermitian and observable. Stability of the closed-loop system is demonstrated by determining a Lyapunov function, which can be used to identify a finite stability region about the regulator point.

A rationale for human operator pulsive control behavior

NASA Technical Reports Server (NTRS)

Hess, R. A.

1979-01-01

When performing tracking tasks which involve demanding controlled elements such as those with K/s-squared dynamics, the human operator often develops discrete or pulsive control outputs. A dual-loop model of the human operator is discussed, the dominant adaptive feature of which is the explicit appearance of an internal model of the manipulator-controlled element dynamics in an inner feedback loop. Using this model, a rationale for pulsive control behavior is offered which is based upon the assumption that the human attempts to reduce the computational burden associated with time integration of sensory inputs. It is shown that such time integration is a natural consequence of having an internal representation of the K/s-squared-controlled element dynamics in the dual-loop model. A digital simulation is discussed in which a modified form of the dual-loop model is shown to be capable of producing pulsive control behavior qualitively comparable to that obtained in experiment.

Robust fast controller design via nonlinear fractional differential equations.

PubMed

Zhou, Xi; Wei, Yiheng; Liang, Shu; Wang, Yong

2017-07-01

A new method for linear system controller design is proposed whereby the closed-loop system achieves both robustness and fast response. The robustness performance considered here means the damping ratio of closed-loop system can keep its desired value under system parameter perturbation, while the fast response, represented by rise time of system output, can be improved by tuning the controller parameter. We exploit techniques from both the nonlinear systems control and the fractional order systems control to derive a novel nonlinear fractional order controller. For theoretical analysis of the closed-loop system performance, two comparison theorems are developed for a class of fractional differential equations. Moreover, the rise time of the closed-loop system can be estimated, which facilitates our controller design to satisfy the fast response performance and maintain the robustness. Finally, numerical examples are given to illustrate the effectiveness of our methods. Copyright © 2017 ISA. Published by Elsevier Ltd. All rights reserved.

Second International Workshop on Grid Simulator Testing of Wind Turbine

Science.gov Websites

, Clemson University, USA Update on the FSU-CAPS Megawatt Scale Power Hardware in the Loop Laboratory Loop Based Anti-Islanding Testing of PV Converters-Michael Steurer, Florida State University, USA Closed-Loop Control of Modern Test Benches Advanced Control Techniques for Dynamic Testing of Wind

Energy Systems Integration News | Energy Systems Integration Facility |

Science.gov Websites

distribution feeder models for use in hardware-in-the-loop (HIL) experiments. Using this method, a full feeder ; proposes an additional control loop to improve frequency support while ensuring stable operation. The and Frequency Deviation," also proposes an additional control loop, this time to smooth the wind

Microgrids | Grid Modernization | NREL

Science.gov Websites

algorithms for microgrid integration Controller hardware-in-the-loop testing, where the physical controller interacts with a model of the microgrid and associated power devices Power hardware-in-the-loop testing of operation was validated in a power hardware-in-the-loop experiment using a programmable DC power supply to

Adaptive Data-based Predictive Control for Short Take-off and Landing (STOL) Aircraft

NASA Technical Reports Server (NTRS)

Barlow, Jonathan Spencer; Acosta, Diana Michelle; Phan, Minh Q.

2010-01-01

Data-based Predictive Control is an emerging control method that stems from Model Predictive Control (MPC). MPC computes current control action based on a prediction of the system output a number of time steps into the future and is generally derived from a known model of the system. Data-based predictive control has the advantage of deriving predictive models and controller gains from input-output data. Thus, a controller can be designed from the outputs of complex simulation code or a physical system where no explicit model exists. If the output data happens to be corrupted by periodic disturbances, the designed controller will also have the built-in ability to reject these disturbances without the need to know them. When data-based predictive control is implemented online, it becomes a version of adaptive control. The characteristics of adaptive data-based predictive control are particularly appropriate for the control of nonlinear and time-varying systems, such as Short Take-off and Landing (STOL) aircraft. STOL is a capability of interest to NASA because conceptual Cruise Efficient Short Take-off and Landing (CESTOL) transport aircraft offer the ability to reduce congestion in the terminal area by utilizing existing shorter runways at airports, as well as to lower community noise by flying steep approach and climb-out patterns that reduce the noise footprint of the aircraft. In this study, adaptive data-based predictive control is implemented as an integrated flight-propulsion controller for the outer-loop control of a CESTOL-type aircraft. Results show that the controller successfully tracks velocity while attempting to maintain a constant flight path angle, using longitudinal command, thrust and flap setting as the control inputs.

Stability Assessment and Tuning of an Adaptively Augmented Classical Controller for Launch Vehicle Flight Control

NASA Technical Reports Server (NTRS)

VanZwieten, Tannen; Zhu, J. Jim; Adami, Tony; Berry, Kyle; Grammar, Alex; Orr, Jeb S.; Best, Eric A.

2014-01-01

Recently, a robust and practical adaptive control scheme for launch vehicles [ [1] has been introduced. It augments a classical controller with a real-time loop-gain adaptation, and it is therefore called Adaptive Augmentation Control (AAC). The loop-gain will be increased from the nominal design when the tracking error between the (filtered) output and the (filtered) command trajectory is large; whereas it will be decreased when excitation of flex or sloshing modes are detected. There is a need to determine the range and rate of the loop-gain adaptation in order to retain (exponential) stability, which is critical in vehicle operation, and to develop some theoretically based heuristic tuning methods for the adaptive law gain parameters. The classical launch vehicle flight controller design technics are based on gain-scheduling, whereby the launch vehicle dynamics model is linearized at selected operating points along the nominal tracking command trajectory, and Linear Time-Invariant (LTI) controller design techniques are employed to ensure asymptotic stability of the tracking error dynamics, typically by meeting some prescribed Gain Margin (GM) and Phase Margin (PM) specifications. The controller gains at the design points are then scheduled, tuned and sometimes interpolated to achieve good performance and stability robustness under external disturbances (e.g. winds) and structural perturbations (e.g. vehicle modeling errors). While the GM does give a bound for loop-gain variation without losing stability, it is for constant dispersions of the loop-gain because the GM is based on frequency-domain analysis, which is applicable only for LTI systems. The real-time adaptive loop-gain variation of the AAC effectively renders the closed-loop system a time-varying system, for which it is well-known that the LTI system stability criterion is neither necessary nor sufficient when applying to a Linear Time-Varying (LTV) system in a frozen-time fashion. Therefore, a generalized stability metric for time-varying loop=gain perturbations is needed for the AAC.

The design of multirate digital control systems

NASA Technical Reports Server (NTRS)

Berg, M. C.

1986-01-01

The successive loop closures synthesis method is the only method for multirate (MR) synthesis in common use. A new method for MR synthesis is introduced which requires a gradient-search solution to a constrained optimization problem. Some advantages of this method are that the control laws for all control loops are synthesized simultaneously, taking full advantage of all cross-coupling effects, and that simple, low-order compensator structures are easily accomodated. The algorithm and associated computer program for solving the constrained optimization problem are described. The successive loop closures , optimal control, and constrained optimization synthesis methods are applied to two example design problems. A series of compensator pairs are synthesized for each example problem. The succesive loop closure, optimal control, and constrained optimization synthesis methods are compared, in the context of the two design problems.

Insulin delivery and nocturnal glucose control in children and adolescents with type 1 diabetes.

PubMed

Tauschmann, Martin; Hovorka, Roman

2017-12-01

Nocturnal glucose control remains challenging in children and adolescents with type 1 diabetes due to highly variable overnight insulin requirements. The issue may be addressed by glucose responsive insulin delivery based on real-time continuous glucose measurements. Areas covered: This review outlines recent developments of glucose responsive insulin delivery systems from a paediatric perspective. We cover threshold-based suspend application, predictive low glucose suspend, and more advanced single hormone and dual-hormone closed-loop systems. Approaches are evaluated in relation to nocturnal glucose control particularly during outpatient randomised controlled trials. Expert opinion: Significant progress translating research from controlled clinical centre settings to free-living unsupervised home studies have been achieved over the past decade. Nocturnal glycaemic control can be improved whilst reducing the risk of hypoglycaemia with closed-loop systems. Following the US regulatory approval of the first hybrid closed-loop system in non-paediatric population, large multinational closed-loop clinical trials and pivotal studies including paediatric populations are underway or in preparation to facilitate the use of closed-loop systems in clinical practice.

Molecular Velcro constructed from polymer loop brushes showing enhanced adhesion force

NASA Astrophysics Data System (ADS)

Zhou, Tian; Han, Biao; Han, Lin; Li, Christopher; Department of Materials Science; Engineering Team; School of Biomedical Engineering, Science; Health Systems Team

2015-03-01

Molecular Velcro is commonly seen in biological systems as the formation of strong physical entanglement at molecular scale could induce strong adhesion, which is crucial to many biological processes. To mimic this structure, we designed, and fabricated polymer loop brushes using polymer single crystals with desired surface functionality and controlled chain folding. Compared with reported loop brushes fabricated using triblock copolymers, the present loop bushes have precise loop sizes, loop grafting density, and well controlled tethering locations on the solid surface. Atomic force microscopy-based force spectroscopy measurements using a polymer chain coated probe reveal that the adhesion force are significantly enhanced on the loop brush surface as compared with its single-strand counterpart. This study directly shows the effect of polymer brush conformation on their properties, and suggests a promising strategy for advanced polymer surface design.

Cultivation of E. coli in single- and ten-stage tower-loop reactors.

PubMed

Adler, I; Schügerl, K

1983-02-01

E. Coli was cultivated in batch and continuous operations in the presence of an antifoam agent in stirred-tank and in single- and ten-stage airlift tower reactors with an outer loop. The maximum specific growth rate, mu(m), the substrate yield coefficient, Y(x/s), the respiratory quotient, RQ, substrate conversion, U(s), the volumetric mass transfer coefficient, K(L)a, the specific interfacial area, a, and the specific power input, P/V(L), were measured and compared. If a medium is used with a concentration of complex substrates (extracts) 2.5 times higher than that of glucose, a spectrum of C sources is available and cell regulation influences reactor performance. Both mu(m) and Y(X/S), which were evaluated in batch reactors, cannot be used for continuous reactors or, when measured in stirred-tank reactors, cannot be employed for tower-loop reactors: mu(m) is higher in the stirred-tank batch than in the tower-loop batch reactor, mu(m) and Y(x/s) are higher in the continuous reactor than in the batch single-stage tower-loop reactor. The performance of the single-stage is better than that of the ten-stage reactor due to the inefficient trays employed. A reduction of the medium recirculation rate reduces OTR, U(s), Pr, and Y(X/S) and causes cell sedimentation and flocculation. The volumetric mass transfer coefficient is reduced with increasing cultivation time; the Sauter bubble diameter, d(s), remains constant and does not depend on operational conditions. An increase in the medium recirculation rate reduces k(L)a. The specific power input, P/V(L), for the single-stage tower loop is much lower with the same k(L)a value than for a stirred tank. The relationship k(L)a vs. P/V(L) evaluated for model media in stirred tanks, can also be used for cultivations in these reactors.

Method and system for control of upstream flowfields of vehicle in supersonic or hypersonic atmospheric flight

NASA Technical Reports Server (NTRS)

Daso, Endwell O. (Inventor); Pritchett, II, Victor E. (Inventor); Wang, Ten-See (Inventor); Farr, Rebecca Ann (Inventor)

2012-01-01

The upstream flowfield of a vehicle traveling in supersonic or hypersonic atmospheric flight is actively controlled using attribute(s) experienced by the vehicle. Sensed attribute(s) include pressure along the vehicle's outer mold line, temperature along the vehicle's outer mold line, heat flux along the vehicle's outer mold line, and/or local acceleration response of the vehicle. A non-heated, non-plasma-producing gas is injected into an upstream flowfield of the vehicle from at least one surface location along the vehicle's outer mold line. The pressure of the gas so-injected is adjusted based on the attribute(s) so-sensed.

SimSup's Loop: A Control Theory Approach to Spacecraft Operator Training

NASA Technical Reports Server (NTRS)

Owens, Brandon Dewain; Crocker, Alan R.

2015-01-01

Immersive simulation is a staple of training for many complex system operators, including astronauts and ground operators of spacecraft. However, while much has been written about simulators, simulation facilities, and operator certification programs, the topic of how one develops simulation scenarios to train a spacecraft operator is relatively understated in the literature. In this paper, an approach is presented for using control theory as the basis for developing the immersive simulation scenarios for a spacecraft operator training program. The operator is effectively modeled as a high level controller of lower level hardware and software control loops that affect a select set of system state variables. Simulation scenarios are derived from a STAMP-based hazard analysis of the operator's high and low level control loops. The immersive simulation aspect of the overall training program is characterized by selecting a set of scenarios that expose the operator to the various inadequate control actions that stem from control flaws and inadequate control executions in the different sections of the typical control loop. Results from the application of this approach to the Lunar Atmosphere and Dust Environment Explorer (LADEE) mission are provided through an analysis of the simulation scenarios used for operator training and the actual anomalies that occurred during the mission. The simulation scenarios and inflight anomalies are mapped to specific control flaws and inadequate control executions in the different sections of the typical control loop to illustrate the characteristics of anomalies arising from the different sections of the typical control loop (and why it is important for operators to have exposure to these characteristics). Additionally, similarities between the simulation scenarios and inflight anomalies are highlighted to make the case that the simulation scenarios prepared the operators for the mission.

A Derivation of the Dick Effect from Control-Loop Models for Periodically Interrogated Passive Frequency Standards

NASA Technical Reports Server (NTRS)

Greenhall, Charles A.

1996-01-01

The phase of a frequency standard that uses periodic interrogation and control of a local oscillator (LO) is degraded by a long-term random-walk component induced by downconversion of LO noise into the loop passband. The Dick formula for the noise level of this degradation can be derived from explicit solotions of two LO control-loop models. A summary of the derivations is given here.

Closed-loop model identification of cooperative manipulators holding deformable objects

NASA Astrophysics Data System (ADS)

Alkathiri, A. A.; Akmeliawati, R.; Azlan, N. Z.

2017-11-01

This paper presents system identification to obtain the closed-loop models of a couple of cooperative manipulators in a system, which function to hold deformable objects. The system works using the master-slave principle. In other words, one of the manipulators is position-controlled through encoder feedback, while a force sensor gives feedback to the other force-controlled manipulator. Using the closed-loop input and output data, the closed-loop models, which are useful for model-based control design, are estimated. The criteria for model validation are a 95% fit between the measured and simulated output of the estimated models and residual analysis. The results show that for both position and force control respectively, the fits are 95.73% and 95.88%.

Smart Braid Feedback for the Closed-Loop Control of Soft Robotic Systems.

PubMed

Felt, Wyatt; Chin, Khai Yi; Remy, C David

2017-09-01

This article experimentally investigates the potential of using flexible, inductance-based contraction sensors in the closed-loop motion control of soft robots. Accurate motion control remains a highly challenging task for soft robotic systems. Precise models of the actuation dynamics and environmental interactions are often unavailable. This renders open-loop control impossible, while closed-loop control suffers from a lack of suitable feedback. Conventional motion sensors, such as linear or rotary encoders, are difficult to adapt to robots that lack discrete mechanical joints. The rigid nature of these sensors runs contrary to the aspirational benefits of soft systems. As truly soft sensor solutions are still in their infancy, motion control of soft robots has so far relied on laboratory-based sensing systems such as motion capture, electromagnetic (EM) tracking, or Fiber Bragg Gratings. In this article, we used embedded flexible sensors known as Smart Braids to sense the contraction of McKibben muscles through changes in inductance. We evaluated closed-loop control on two systems: a revolute joint and a planar, one degree of freedom continuum manipulator. In the revolute joint, our proposed controller compensated for elasticity in the actuator connections. The Smart Braid feedback allowed motion control with a steady-state root-mean-square (RMS) error of [1.5]°. In the continuum manipulator, Smart Braid feedback enabled tracking of the desired tip angle with a steady-state RMS error of [1.25]°. This work demonstrates that Smart Braid sensors can provide accurate position feedback in closed-loop motion control suitable for field applications of soft robotic systems.

Structural and mechanistic insights into phospholipid transfer by Ups1-Mdm35 in mitochondria

NASA Astrophysics Data System (ADS)

Watanabe, Yasunori; Tamura, Yasushi; Kawano, Shin; Endo, Toshiya

2015-08-01

Eukaryotic cells are compartmentalized into membrane-bounded organelles whose functions rely on lipid trafficking to achieve membrane-specific compositions of lipids. Here we focused on the Ups1-Mdm35 system, which mediates phosphatidic acid (PA) transfer between the outer and inner mitochondrial membranes, and determined the X-ray structures of Mdm35 and Ups1-Mdm35 with and without PA. The Ups1-Mdm35 complex constitutes a single domain that has a deep pocket and flexible Ω-loop lid. Structure-based mutational analyses revealed that a basic residue at the pocket bottom and the Ω-loop lid are important for PA extraction from the membrane following Ups1 binding. Ups1 binding to the membrane is enhanced by the dissociation of Mdm35. We also show that basic residues around the pocket entrance are important for Ups1 binding to the membrane and PA extraction. These results provide a structural basis for understanding the mechanism of PA transfer between mitochondrial membranes.

Open Loop Heat Pipe Radiator Having a Free-Piston for Wiping Condensed Working Fluid

NASA Technical Reports Server (NTRS)

Weinstein, Leonard M. (Inventor)

2015-01-01

An open loop heat pipe radiator comprises a radiator tube and a free-piston. The radiator tube has a first end, a second end, and a tube wall, and the tube wall has an inner surface and an outer surface. The free-piston is enclosed within the radiator tube and is capable of movement within the radiator tube between the first and second ends. The free-piston defines a first space between the free-piston, the first end, and the tube wall, and further defines a second space between the free-piston, the second end, and the tube wall. A gaseous-state working fluid, which was evaporated to remove waste heat, alternately enters the first and second spaces, and the free-piston wipes condensed working fluid from the inner surface of the tube wall as the free-piston alternately moves between the first and second ends. The condensed working fluid is then pumped back to the heat source.

An efficient algorithm for planar drawing of RNA structures with pseudoknots of any type.

PubMed

Byun, Yanga; Han, Kyungsook

2016-06-01

An RNA pseudoknot is a tertiary structural element in which bases of a loop pair with complementary bases are outside the loop. A drawing of RNA secondary structures is a tree, but a drawing of RNA pseudoknots is a graph that has an inner cycle within a pseudoknot and possibly outer cycles formed between the pseudoknot and other structural elements. Visualizing a large-scale RNA structure with pseudoknots as a planar drawing is challenging because a planar drawing of an RNA structure requires both pseudoknots and an entire structure enclosing the pseudoknots to be embedded into a plane without overlapping or crossing. This paper presents an efficient heuristic algorithm for visualizing a pseudoknotted RNA structure as a planar drawing. The algorithm consists of several parts for finding crossing stems and page mapping the stems, for the layout of stem-loops and pseudoknots, and for overlap detection between structural elements and resolving it. Unlike previous algorithms, our algorithm generates a planar drawing for a large RNA structure with pseudoknots of any type and provides a bracket view of the structure. It generates a compact and aesthetic structure graph for a large pseudoknotted RNA structure in O([Formula: see text]) time, where n is the number of stems of the RNA structure.

Online estimation of the wavefront outer scale profile from adaptive optics telemetry

NASA Astrophysics Data System (ADS)

Guesalaga, A.; Neichel, B.; Correia, C. M.; Butterley, T.; Osborn, J.; Masciadri, E.; Fusco, T.; Sauvage, J.-F.

2017-02-01

We describe an online method to estimate the wavefront outer scale profile, L0(h), for very large and future extremely large telescopes. The stratified information on this parameter impacts the estimation of the main turbulence parameters [turbulence strength, Cn2(h); Fried's parameter, r0; isoplanatic angle, θ0; and coherence time, τ0) and determines the performance of wide-field adaptive optics (AO) systems. This technique estimates L0(h) using data from the AO loop available at the facility instruments by constructing the cross-correlation functions of the slopes between two or more wavefront sensors, which are later fitted to a linear combination of the simulated theoretical layers having different altitudes and outer scale values. We analyse some limitations found in the estimation process: (I) its insensitivity to large values of L0(h) as the telescope becomes blind to outer scales larger than its diameter; (II) the maximum number of observable layers given the limited number of independent inputs that the cross-correlation functions provide and (III) the minimum length of data required for a satisfactory convergence of the turbulence parameters without breaking the assumption of statistical stationarity of the turbulence. The method is applied to the Gemini South multiconjugate AO system that comprises five wavefront sensors and two deformable mirrors. Statistics of L0(h) at Cerro Pachón from data acquired during 3 yr of campaigns show interesting resemblance to other independent results in the literature. A final analysis suggests that the impact of error sources will be substantially reduced in instruments of the next generation of giant telescopes.

Observation of a 3D Magnetic Null Point

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

Romano, P.; Falco, M.; Guglielmino, S. L.

2017-03-10

We describe high-resolution observations of a GOES B-class flare characterized by a circular ribbon at the chromospheric level, corresponding to the network at the photospheric level. We interpret the flare as a consequence of a magnetic reconnection event that occurred at a three-dimensional (3D) coronal null point located above the supergranular cell. The potential field extrapolation of the photospheric magnetic field indicates that the circular chromospheric ribbon is cospatial with the fan footpoints, while the ribbons of the inner and outer spines look like compact kernels. We found new interesting observational aspects that need to be explained by models: (1)more » a loop corresponding to the outer spine became brighter a few minutes before the onset of the flare; (2) the circular ribbon was formed by several adjacent compact kernels characterized by a size of 1″–2″; (3) the kernels with a stronger intensity emission were located at the outer footpoint of the darker filaments, departing radially from the center of the supergranular cell; (4) these kernels started to brighten sequentially in clockwise direction; and (5) the site of the 3D null point and the shape of the outer spine were detected by RHESSI in the low-energy channel between 6.0 and 12.0 keV. Taking into account all these features and the length scales of the magnetic systems involved in the event, we argue that the low intensity of the flare may be ascribed to the low amount of magnetic flux and to its symmetric configuration.« less

Dynamically limiting energy consumed by cooling apparatus

DOEpatents

Chainer, Timothy J.; David, Milnes P.; Iyengar, Madhusudan K.; Parida, Pritish R.; Schmidt, Roger R.; Schultz, Mark D.

2015-05-26

Cooling apparatuses and methods are provided which include one or more coolant-cooled structures associated with an electronics rack, a coolant loop coupled in fluid communication with one or more passages of the coolant-cooled structure(s), one or more heat exchange units coupled to facilitate heat transfer from coolant within the coolant loop, and N controllable components associated with the coolant loop or the heat exchange unit(s), wherein N.gtoreq.1. The N controllable components facilitate circulation of coolant through the coolant loop or transfer of heat from the coolant via the heat exchange unit(s). A controller is coupled to the N controllable components, and dynamically adjusts operation of the N controllable components, based on Z input parameters and one or more specified constraints, to provide a specified cooling to the coolant-cooled structure(s), while limiting energy consumed by the N controllable components, wherein Z.gtoreq.1.

A Review of Control Strategies in Closed-Loop Neuroprosthetic Systems

PubMed Central

Wright, James; Macefield, Vaughan G.; van Schaik, André; Tapson, Jonathan C.

2016-01-01

It has been widely recognized that closed-loop neuroprosthetic systems achieve more favorable outcomes for users then equivalent open-loop devices. Improved performance of tasks, better usability, and greater embodiment have all been reported in systems utilizing some form of feedback. However, the interdisciplinary work on neuroprosthetic systems can lead to miscommunication due to similarities in well-established nomenclature in different fields. Here we present a review of control strategies in existing experimental, investigational and clinical neuroprosthetic systems in order to establish a baseline and promote a common understanding of different feedback modes and closed-loop controllers. The first section provides a brief discussion of feedback control and control theory. The second section reviews the control strategies of recent Brain Machine Interfaces, neuromodulatory implants, neuroprosthetic systems, and assistive neurorobotic devices. The final section examines the different approaches to feedback in current neuroprosthetic and neurorobotic systems. PMID:27462202

Decoupling PI Controller Design for a Normal Conducting RF Cavity Using a Recursive LEVENBERG-MARQUARDT Algorithm

NASA Astrophysics Data System (ADS)

Kwon, Sung-il; Lynch, M.; Prokop, M.

2005-02-01

This paper addresses the system identification and the decoupling PI controller design for a normal conducting RF cavity. Based on the open-loop measurement data of an SNS DTL cavity, the open-loop system's bandwidths and loop time delays are estimated by using batched least square. With the identified system, a PI controller is designed in such a way that it suppresses the time varying klystron droop and decouples the In-phase and Quadrature of the cavity field. The Levenberg-Marquardt algorithm is applied for nonlinear least squares to obtain the optimal PI controller parameters. The tuned PI controller gains are downloaded to the low-level RF system by using channel access. The experiment of the closed-loop system is performed and the performance is investigated. The proposed tuning method is running automatically in real time interface between a host computer with controller hardware through ActiveX Channel Access.

Closed-loop and robust control of quantum systems.

PubMed

Chen, Chunlin; Wang, Lin-Cheng; Wang, Yuanlong

2013-01-01

For most practical quantum control systems, it is important and difficult to attain robustness and reliability due to unavoidable uncertainties in the system dynamics or models. Three kinds of typical approaches (e.g., closed-loop learning control, feedback control, and robust control) have been proved to be effective to solve these problems. This work presents a self-contained survey on the closed-loop and robust control of quantum systems, as well as a brief introduction to a selection of basic theories and methods in this research area, to provide interested readers with a general idea for further studies. In the area of closed-loop learning control of quantum systems, we survey and introduce such learning control methods as gradient-based methods, genetic algorithms (GA), and reinforcement learning (RL) methods from a unified point of view of exploring the quantum control landscapes. For the feedback control approach, the paper surveys three control strategies including Lyapunov control, measurement-based control, and coherent-feedback control. Then such topics in the field of quantum robust control as H(∞) control, sliding mode control, quantum risk-sensitive control, and quantum ensemble control are reviewed. The paper concludes with a perspective of future research directions that are likely to attract more attention.

Autonomous control system reconfiguration for spacecraft with non-redundant actuators

NASA Astrophysics Data System (ADS)

Grossman, Walter

1995-05-01

The Small Satellite Technology Initiative (SSTI) 'CLARK' spacecraft is required to be single-failure tolerant, i.e., no failure of any single component or subsystem shall result in complete mission loss. Fault tolerance is usually achieved by implementing redundant subsystems. Fault tolerant systems are therefore heavier and cost more to build and launch than non-redundent, non fault-tolerant spacecraft. The SSTI CLARK satellite Attitude Determination and Control System (ADACS) achieves single-fault tolerance without redundancy. The attitude determination system system uses a Kalman Filter which is inherently robust to loss of any single attitude sensor. The attitude control system uses three orthogonal reaction wheels for attitude control and three magnetic dipoles for momentum control. The nominal six-actuator control system functions by projecting the attitude correction torque onto the reaction wheels while a slower momentum management outer loop removes the excess momentum in the direction normal to the local B field. The actuators are not redundant so the nominal control law cannot be implemented in the event of a loss of a single actuator (dipole or reaction wheel). The spacecraft dynamical state (attitude, angular rate, and momentum) is controllable from any five-element subset of the six actuators. With loss of an actuator the instantaneous control authority may not span R(3) but the controllability gramian integral(limits between t,0) Phi(t, tau)B(tau )B(prime)(tau) Phi(prime)(t, tau)d tau retains full rank. Upon detection of an actuator failure the control torque is decomposed onto the remaining active axes. The attitude control torque is effected and the over-orbit momentum is controlled. The resulting control system performance approaches that of the nominal system.

Control of polymer network topology in semi-batch systems

NASA Astrophysics Data System (ADS)

Wang, Rui; Olsen, Bradley; Johnson, Jeremiah

Polymer networks invariably possess topological defects: loops of different orders. Since small loops (primary loops and secondary loops) both lower the modulus of network and lead to stress concentration that causes material failure at low deformation, it is desirable to greatly reduce the loop fraction. We have shown that achieving loop fraction close to zero is extremely difficult in the batch process due to the slow decay of loop fraction with the polymer concentration and chain length. Here, we develop a modified kinetic graph theory that can model network formation reactions in semi-batch systems. We demonstrate that the loop fraction is not sensitive to the feeding policy if the reaction volume maintains constant during the network formation. However, if we initially put concentrated solution of small junction molecules in the reactor and continuously adding polymer solutions, the fractions of both primary loop and higher-order loops will be significantly reduced. There is a limiting value (nonzero) of loop fraction that can be achieved in the semi-batch system in condition of extremely slow feeding rate. This minimum loop fraction only depends on a single dimensionless variable, the product of concentration and with single chain pervaded volume, and defines an operating zone in which the loop fraction of polymer networks can be controlled through adjusting the feeding rate of the semi-batch process.

Loop transfer recovery for general nonminimum phase discrete time systems. I - Analysis

NASA Technical Reports Server (NTRS)

Chen, Ben M.; Saberi, Ali; Sannuti, Peddapullaiah; Shamash, Yacov

1992-01-01

A complete analysis of loop transfer recovery (LTR) for general nonstrictly proper, not necessarily minimum phase discrete time systems is presented. Three different observer-based controllers, namely, `prediction estimator' and full or reduced-order type `current estimator' based controllers, are used. The analysis corresponding to all these three controllers is unified into a single mathematical framework. The LTR analysis given here focuses on three fundamental issues: (1) the recoverability of a target loop when it is arbitrarily given, (2) the recoverability of a target loop while taking into account its specific characteristics, and (3) the establishment of necessary and sufficient conditions on the given system so that it has at least one recoverable target loop transfer function or sensitivity function. Various differences that arise in LTR analysis of continuous and discrete systems are pointed out.

Preliminary demonstration of a robust controller design method

NASA Technical Reports Server (NTRS)

Anderson, L. R.

1980-01-01

Alternative computational procedures for obtaining a feedback control law which yields a control signal based on measurable quantitites are evaluated. The three methods evaluated are: (1) the standard linear quadratic regulator design model; (2) minimization of the norm of the feedback matrix, k via nonlinear programming subject to the constraint that the closed loop eigenvalues be in a specified domain in the complex plane; and (3) maximize the angles between the closed loop eigenvectors in combination with minimizing the norm of K also via the constrained nonlinear programming. The third or robust design method was chosen to yield a closed loop system whose eigenvalues are insensitive to small changes in the A and B matrices. The relationship between orthogonality of closed loop eigenvectors and the sensitivity of closed loop eigenvalues is described. Computer programs are described.

A conformal mapping based fractional order approach for sub-optimal tuning of PID controllers with guaranteed dominant pole placement

NASA Astrophysics Data System (ADS)

Saha, Suman; Das, Saptarshi; Das, Shantanu; Gupta, Amitava

2012-09-01

A novel conformal mapping based fractional order (FO) methodology is developed in this paper for tuning existing classical (Integer Order) Proportional Integral Derivative (PID) controllers especially for sluggish and oscillatory second order systems. The conventional pole placement tuning via Linear Quadratic Regulator (LQR) method is extended for open loop oscillatory systems as well. The locations of the open loop zeros of a fractional order PID (FOPID or PIλDμ) controller have been approximated in this paper vis-à-vis a LQR tuned conventional integer order PID controller, to achieve equivalent integer order PID control system. This approach eases the implementation of analog/digital realization of a FOPID controller with its integer order counterpart along with the advantages of fractional order controller preserved. It is shown here in the paper that decrease in the integro-differential operators of the FOPID/PIλDμ controller pushes the open loop zeros of the equivalent PID controller towards greater damping regions which gives a trajectory of the controller zeros and dominant closed loop poles. This trajectory is termed as "M-curve". This phenomena is used to design a two-stage tuning algorithm which reduces the existing PID controller's effort in a significant manner compared to that with a single stage LQR based pole placement method at a desired closed loop damping and frequency.

Four-wall turbine airfoil with thermal strain control for reduced cycle fatigue

DOEpatents

Cambell, Christian X

2013-09-17

A turbine airfoil (20B) with a thermal expansion control mechanism that increases the airfoil camber (60, 61) under operational heating. The airfoil has four-wall geometry, including pressure side outer and inner walls (26, 28B), and suction side outer and inner walls (32, 34B). It has near-wall cooling channels (31F, 31A, 33F, 33A) between the outer and inner walls. A cooling fluid flow pattern (50C, 50W, 50H) in the airfoil causes the pressure side inner wall (28B) to increase in curvature under operational heating. The pressure side inner wall (28B) is thicker than walls (26, 34B) that oppose it in camber deformation, so it dominates them in collaboration with the suction side outer wall (32), and the airfoil camber increases. This reduces and relocates a maximum stress area (47) from the suction side outer wall (32) to the suction side inner wall (34B, 72) and the pressure side outer wall (26).

Analysis of TMT primary mirror control-structure interaction

NASA Astrophysics Data System (ADS)

MacMynowski, Douglas G.; Thompson, Peter M.; Sirota, Mark J.

2008-07-01

The primary mirror control system (M1CS) keeps the 492 segments of the Thirty Meter Telescope primary mirror aligned in the presence of disturbances. A global position control loop uses feedback from inter-segment edge sensors to three actuators behind each segment that control segment piston, tip and tilt. If soft force actuators are used (e.g. voice-coil), then in addition to the global position loop there will be a local servo loop to provide stiffness. While the M1 control system at Keck compensates only for slow disturbances such as gravity and thermal variations, the M1CS for TMT will need to provide some compensation for higher frequency wind disturbances in order to meet stringent error budget targets. An analysis of expected high-wavenumber wind forces on M1 suggests that a 1Hz control bandwidth is required for the global feedback of segment edge-sensorbased position information in order to minimize high spatial frequency segment response for both seeing-limited and adaptive optics performance. A much higher bandwidth is required from the local servo loop to provide adequate stiffness to wind or acoustic disturbances. A related paper presents the control designs for the local actuator servo loops. The disturbance rejection requirements would not be difficult to achieve for a single segment, but the structural coupling between segments mounted on a flexible mirror cell results in controlstructure interaction (CSI) that limits the achievable bandwidth. Using a combination of simplified modeling to build intuition and the full telescope finite element model for verification, we present designs and analysis for both the local servo loop and global loop demonstrating sufficient bandwidth and resulting wind-disturbance rejection despite the presence of CSI.

Planform Dynamics of a Mixed Bedrock-Alluvial Meandering River

NASA Astrophysics Data System (ADS)

Rhoads, B. L.; Konsoer, K. M.; Best, J.; Garcia, M. H.; Abad, J. D.

2013-12-01

The planform evolution of meandering rivers involves dynamic interactions among planform geometry, three-dimensional flow structure, bed morphology, sediment transport, and bank resistance. Modes of interaction among these factors in different types of bends have yet to be completely determined. This paper examines flow structure, bed morphology, and planform evolution in three different types of bends on the Wabash River, Illinois: an elongated loop with forested banks and extensive bedrock at the downstream end of the bend (Horseshoe Bend), an elongated loop with unforested banks and local bedrock control within the bend (Maier Bend), and a series of simple bends with forested banks and no bedrock control. Data consist of velocity measurements obtained between May 2011 and February 2013 for bankfull or near-bankfull flows using acoustic Doppler current profilers. Rates of migration and planform evolution were determined through GIS-based analysis of historical aerial photography from 1938 to present, including annual photos in recent years. Lidar data, sediment samples, and multi-beam echosounding data provide information on bed morphology, on the spatial extent of bedrock, and on bank materials. Horseshoe Bend has not moved substantially over the historical period of record. This lack of migration is in part related to extensive bedrock control, but also reflects high near-bank flow resistance produced by LWD and the relatively high resistance of bank materials to erosion. At Maier Bend, migration rates are high due to low resistance of bank materials to erosion, resulting in bend extension; however, the pattern of extension has been strongly influenced by the local outcropping of bedrock into the channel. In the simple bends, planform evolution has been dominated by translation, despite migration of the channel into forested sections of the floodplain. Bed morphology in these bends, especially the structure of point bars, strongly influences flow structure, resulting in high velocities near the outer bank well downstream of the bend apex. The results show that bedrock control can have an important influence on the planform evolution of mixed alluvial-bedrock rivers, yet also highlight the substantive effects of planform geometry, bed morphology, and bank resistance on bend development in these types of rivers.

Analysis and optimisation of the convergence behaviour of the single channel digital tanlock loop

NASA Astrophysics Data System (ADS)

Al-Kharji Al-Ali, Omar; Anani, Nader; Al-Araji, Saleh; Al-Qutayri, Mahmoud

2013-09-01

The mathematical analysis of the convergence behaviour of the first-order single channel digital tanlock loop (SC-DTL) is presented. This article also describes a novel technique that allows controlling the convergence speed of the loop, i.e. the time taken by the phase-error to reach its steady-state value, by using a specialised controller unit. The controller is used to adjust the convergence speed so as to selectively optimise a given performance parameter of the loop. For instance, the controller may be used to speed up the convergence in order to increase the lock range and improve the acquisition speed. However, since increasing the lock range can degrade the noise immunity of the system, in a noisy environment the controller can slow down the convergence speed until locking is achieved. Once the system is in lock, the convergence speed can be increased to improve the acquisition speed. The performance of the SC-DTL system was assessed against similar arctan-based loops and the results demonstrate the success of the controller in optimising the performance of the SC-DTL loop. The results of the system testing using MATLAB/Simulink simulation are presented. A prototype of the proposed system was implemented using a field programmable gate array module and the practical results are in good agreement with those obtained by simulation.

High-Performance Computing Data Center Waste Heat Reuse | Computational

Science.gov Websites

control room With heat exchangers, heat energy in the energy recovery water (ERW) loop becomes available to heat the facility's process hot water (PHW) loop. Once heated, the PHW loop supplies: Active loop in the courtyard of the ESIF's main entrance District heating loop: If additional heat is needed

Development of closed loop roll control for magnetic balance systems

NASA Technical Reports Server (NTRS)

Covert, E. E.; Haldeman, C. W.; Ramohalli, G.; Way, P.

1982-01-01

This research was undertaken with the goal of demonstrating closed loop control of the roll degree of freedom on the NASA prototype magnetic suspension and balance system at the MIT Aerophysics Laboratory, thus, showing feasibility for a roll control system for any large magnetic balance system which might be built in the future. During the research under this grant, study was directed toward the several areas of torque generation, position sensing, model construction and control system design. These effects were then integrated to produce successful closed loop operation of the analogue roll control system. This experience indicated the desirability of microprocessor control for the angular degrees of freedom.

On the feasibility of closed-loop control of intra-aortic balloon pumping

NASA Technical Reports Server (NTRS)

Clark, J. W., Jr.; Bourland, H. M.; Kane, G. R.

1973-01-01

A closed-loop control scheme for the control of intra-aortic balloon pumping has been developed and tested in dog experiments. A performance index reflecting the general objectives of balloon-assist pumping is developed and a modified steepest ascent control algorithm is utilized for the selection of a proper operating point for the balloon during its pumping cycle. This paper attempts to indicate the feasibility of closed-loop control of balloon pumping, and particularly its flexibility in achieving both diastolic augmentation of mean aortic pressure and control of the level of end-diastolic pressure (EDP) an important factor in reducing heart work.

Behavioural system identification of visual flight speed control in Drosophila melanogaster

PubMed Central

Rohrseitz, Nicola; Fry, Steven N.

2011-01-01

Behavioural control in many animals involves complex mechanisms with intricate sensory-motor feedback loops. Modelling allows functional aspects to be captured without relying on a description of the underlying complex, and often unknown, mechanisms. A wide range of engineering techniques are available for modelling, but their ability to describe time-continuous processes is rarely exploited to describe sensory-motor control mechanisms in biological systems. We performed a system identification of visual flight speed control in the fruitfly Drosophila, based on an extensive dataset of open-loop responses previously measured under free flight conditions. We identified a second-order under-damped control model with just six free parameters that well describes both the transient and steady-state characteristics of the open-loop data. We then used the identified control model to predict flight speed responses after a visual perturbation under closed-loop conditions and validated the model with behavioural measurements performed in free-flying flies under the same closed-loop conditions. Our system identification of the fruitfly's flight speed response uncovers the high-level control strategy of a fundamental flight control reflex without depending on assumptions about the underlying physiological mechanisms. The results are relevant for future investigations of the underlying neuromotor processing mechanisms, as well as for the design of biomimetic robots, such as micro-air vehicles. PMID:20525744

Plug-in module acceleration feedback control for fast steering mirror-based beam stabilization systems

NASA Astrophysics Data System (ADS)

Deng, Chao; Ren, Wei; Mao, Yao; Ren, Ge

2017-08-01

A plug-in module acceleration feedback control (Plug-In AFC) strategy based on the disturbance observer (DOB) principle is proposed for charge-coupled device (CCD)-based fast steering mirror (FSM) stabilization systems. In classical FSM tracking systems, dual-loop control (DLC), including velocity feedback and position feedback, is usually utilized to enhance the closed-loop performance. Due to the mechanical resonance of the system and CCD time delay, the closed-loop bandwidth is severely restricted. To solve this problem, cascade acceleration feedback control (AFC), which is a kind of high-precision robust control method, is introduced to strengthen the disturbance rejection property. However, in practical applications, it is difficult to realize an integral algorithm in an acceleration controller to compensate for the quadratic differential contained in the FSM acceleration model, resulting in a challenging controller design and a limited improvement. To optimize the acceleration feedback framework in the FSM system, different from the cascade AFC, the accelerometers are used to construct DOB to compensate for the platform vibrations directly. The acceleration nested loop can be plugged into the velocity loop without changing the system stability, and the controller design is quite simple. A series of comparative experimental results demonstrate that the disturbance rejection property of the CCD-based FSM can be effectively improved by the proposed approach.

Behavioural system identification of visual flight speed control in Drosophila melanogaster.

PubMed

Rohrseitz, Nicola; Fry, Steven N

2011-02-06

Behavioural control in many animals involves complex mechanisms with intricate sensory-motor feedback loops. Modelling allows functional aspects to be captured without relying on a description of the underlying complex, and often unknown, mechanisms. A wide range of engineering techniques are available for modelling, but their ability to describe time-continuous processes is rarely exploited to describe sensory-motor control mechanisms in biological systems. We performed a system identification of visual flight speed control in the fruitfly Drosophila, based on an extensive dataset of open-loop responses previously measured under free flight conditions. We identified a second-order under-damped control model with just six free parameters that well describes both the transient and steady-state characteristics of the open-loop data. We then used the identified control model to predict flight speed responses after a visual perturbation under closed-loop conditions and validated the model with behavioural measurements performed in free-flying flies under the same closed-loop conditions. Our system identification of the fruitfly's flight speed response uncovers the high-level control strategy of a fundamental flight control reflex without depending on assumptions about the underlying physiological mechanisms. The results are relevant for future investigations of the underlying neuromotor processing mechanisms, as well as for the design of biomimetic robots, such as micro-air vehicles.

Analytical solutions to optimal underactuated spacecraft formation reconfiguration

NASA Astrophysics Data System (ADS)

Huang, Xu; Yan, Ye; Zhou, Yang

2015-11-01

Underactuated systems can generally be defined as systems with fewer number of control inputs than that of the degrees of freedom to be controlled. In this paper, analytical solutions to optimal underactuated spacecraft formation reconfiguration without either the radial or the in-track control are derived. By using a linear dynamical model of underactuated spacecraft formation in circular orbits, controllability analysis is conducted for either underactuated case. Indirect optimization methods based on the minimum principle are then introduced to generate analytical solutions to optimal open-loop underactuated reconfiguration problems. Both fixed and free final conditions constraints are considered for either underactuated case and comparisons between these two final conditions indicate that the optimal control strategies with free final conditions require less control efforts than those with the fixed ones. Meanwhile, closed-loop adaptive sliding mode controllers for both underactuated cases are designed to guarantee optimal trajectory tracking in the presence of unmatched external perturbations, linearization errors, and system uncertainties. The adaptation laws are designed via a Lyapunov-based method to ensure the overall stability of the closed-loop system. The explicit expressions of the terminal convergent regions of each system states have also been obtained. Numerical simulations demonstrate the validity and feasibility of the proposed open-loop and closed-loop control schemes for optimal underactuated spacecraft formation reconfiguration in circular orbits.

Novel imaging closed loop control strategy for heliostats

NASA Astrophysics Data System (ADS)

Bern, Gregor; Schöttl, Peter; Heimsath, Anna; Nitz, Peter

2017-06-01

Central Receiver Systems use up to thousands of heliostats to concentrate solar radiation. The precise control of heliostat aiming points is crucial not only for efficiency but also for reliable plant operation. Besides the calibration of open loop control systems, closed loop tracking strategies are developed to address a precise and efficient aiming strategy. The need for cost reductions in the heliostat field intensifies the motivation for economic closed loop control systems. This work introduces an approach for a closed loop heliostat tracking strategy using image analysis and signal modulation. The approach aims at the extraction of heliostat focal spot position within the receiver domain by means of a centralized remote vision system decoupled from the rough conditions close to the focal area. Taking an image sequence of the receiver while modulating a signal on different heliostats, their aiming points are retrieved. The work describes the methodology and shows first results from simulations and practical tests performed in small scale, motivating further investigation and deployment.

A platform for dynamic simulation and control of movement based on OpenSim and MATLAB.

PubMed

Mansouri, Misagh; Reinbolt, Jeffrey A

2012-05-11

Numerical simulations play an important role in solving complex engineering problems and have the potential to revolutionize medical decision making and treatment strategies. In this paper, we combine the rapid model-based design, control systems and powerful numerical method strengths of MATLAB/Simulink with the simulation and human movement dynamics strengths of OpenSim by developing a new interface between the two software tools. OpenSim is integrated with Simulink using the MATLAB S-function mechanism, and the interface is demonstrated using both open-loop and closed-loop control systems. While the open-loop system uses MATLAB/Simulink to separately reproduce the OpenSim Forward Dynamics Tool, the closed-loop system adds the unique feature of feedback control to OpenSim, which is necessary for most human movement simulations. An arm model example was successfully used in both open-loop and closed-loop cases. For the open-loop case, the simulation reproduced results from the OpenSim Forward Dynamics Tool with root mean square (RMS) differences of 0.03° for the shoulder elevation angle and 0.06° for the elbow flexion angle. MATLAB's variable step-size integrator reduced the time required to generate the forward dynamic simulation from 7.1s (OpenSim) to 2.9s (MATLAB). For the closed-loop case, a proportional-integral-derivative controller was used to successfully balance a pole on model's hand despite random force disturbances on the pole. The new interface presented here not only integrates the OpenSim and MATLAB/Simulink software tools, but also will allow neuroscientists, physiologists, biomechanists, and physical therapists to adapt and generate new solutions as treatments for musculoskeletal conditions. Copyright © 2012 Elsevier Ltd. All rights reserved.

A platform for dynamic simulation and control of movement based on OpenSim and MATLAB

PubMed Central

Mansouri, Misagh; Reinbolt, Jeffrey A.

2013-01-01

Numerical simulations play an important role in solving complex engineering problems and have the potential to revolutionize medical decision making and treatment strategies. In this paper, we combine the rapid model-based design, control systems and powerful numerical method strengths of MATLAB/Simulink with the simulation and human movement dynamics strengths of OpenSim by developing a new interface between the two software tools. OpenSim is integrated with Simulink using the MATLAB S-function mechanism, and the interface is demonstrated using both open-loop and closed-loop control systems. While the open-loop system uses MATLAB/Simulink to separately reproduce the OpenSim Forward Dynamics Tool, the closed-loop system adds the unique feature of feedback control to OpenSim, which is necessary for most human movement simulations. An arm model example was successfully used in both open-loop and closed-loop cases. For the open-loop case, the simulation reproduced results from the OpenSim Forward Dynamics Tool with root mean square (RMS) differences of 0.03° for the shoulder elevation angle and 0.06° for the elbow flexion angle. MATLAB’s variable step-size integrator reduced the time required to generate the forward dynamic simulation from 7.1 s (OpenSim) to 2.9 s (MATLAB). For the closed-loop case, a proportional–integral–derivative controller was used to successfully balance a pole on model’s hand despite random force disturbances on the pole. The new interface presented here not only integrates the OpenSim and MATLAB/Simulink software tools, but also will allow neuroscientists, physiologists, biomechanists, and physical therapists to adapt and generate new solutions as treatments for musculoskeletal conditions. PMID:22464351

Optimal design strategy of switching converters employing current injected control

NASA Astrophysics Data System (ADS)

Lee, F. C.; Fang, Z. D.; Lee, T. H.

1985-01-01

This paper analyzes a buck/boost regulator employing current-injected control (CIC). It reveals the complex interactions between the dc loop and the current-injected loop and underlines the fundamental principle that governs the loop gain determination. Three commonly used compensation techniques are compared. The integral and lead/lag compensation are shown to be most desirable for performance optimization and stability.

Coherent random lasing controlled by Brownian motion of the active scatterer

NASA Astrophysics Data System (ADS)

Liang, Shuofeng; Yin, Leicheng; Zhang, ZhenZhen; Xia, Jiangying; Xie, Kang; Zou, Gang; Hu, Zhijia; Zhang, Qijin

2018-05-01

The stability of the scattering loop is fundamental for coherent random lasing in a dynamic scattering system. In this work, fluorescence of DPP (N, N-di [3-(isobutyl polyhedral oligomeric silsesquioxanes) propyl] perylene diimide) is scattered to produce RL and we realize the transition from incoherent RL to coherent RL by controlling the Brownian motion of the scatterers (dimer aggregates of DPP) and the stability of scattering loop. To produce coherent random lasers, the loop needs to maintain a stable state within the loop-stable time, which can be determined through controlled Brownian motion of scatterers in the scattering system. The result shows that the loop-stable time is within 5.83 × 10‑5 s to 1.61 × 10‑4 s based on the transition from coherent to incoherent random lasing. The time range could be tuned by finely controlling the viscosity of the solution. This work not only develops a method to predict the loop-stable time, but also develops the study between Brownian motion and random lasers, which opens the road to a variety of novel interdisciplinary investigations involving modern statistical mechanics and disordered photonics.

Closed-Loop HIRF Experiments Performed on a Fault Tolerant Flight Control Computer

NASA Technical Reports Server (NTRS)

Belcastro, Celeste M.

1997-01-01

ABSTRACT Closed-loop HIRF experiments were performed on a fault tolerant flight control computer (FCC) at the NASA Langley Research Center. The FCC used in the experiments was a quad-redundant flight control computer executing B737 Autoland control laws. The FCC was placed in one of the mode-stirred reverberation chambers in the HIRF Laboratory and interfaced to a computer simulation of the B737 flight dynamics, engines, sensors, actuators, and atmosphere in the Closed-Loop Systems Laboratory. Disturbances to the aircraft associated with wind gusts and turbulence were simulated during tests. Electrical isolation between the FCC under test and the simulation computer was achieved via a fiber optic interface for the analog and discrete signals. Closed-loop operation of the FCC enabled flight dynamics and atmospheric disturbances affecting the aircraft to be represented during tests. Upset was induced in the FCC as a result of exposure to HIRF, and the effect of upset on the simulated flight of the aircraft was observed and recorded. This paper presents a description of these closed- loop HIRF experiments, upset data obtained from the FCC during these experiments, and closed-loop effects on the simulated flight of the aircraft.

An adaptive human response mechanism controlling the V/STOL aircraft. Appendix 3: The adaptive control model of a pilot in V/STOL aircraft control loops. M.S. Thesis. Final Report

NASA Technical Reports Server (NTRS)

Kucuk, Senol

1988-01-01

Importance of the role of human operator in control systems has led to the particular area of manual control theory. Human describing functions were developed to model human behavior for manual control studies to take advantage of the successful and safe human operations. A single variable approach is presented that can be extended for multi-variable tasks where a low order human response model is used together with its rules, to adapt the model on-line, being capable of responding to the changes in the controlled element dynamics. Basic control theory concepts are used to combine the model, constrained with the physical observations, particularly, for the case of aircraft control. Pilot experience is represented as the initial model parameters. An adaptive root-locus method is presented as the adaptation law of the model where the closed loop bandwidth of the system is to be preserved in a stable manner with the adjustments of the pilot handling qualities which relate the latter to the closed loop bandwidth and damping of the closed loop pilot aircraft combination. A Kalman filter parameter estimator is presented as the controlled element identifier of the adaptive model where any discrepancies of the open loop dynamics from the presented one, are sensed to be compensated.

Closed-loop motor control using high-speed fiber optics

NASA Technical Reports Server (NTRS)

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

1991-01-01

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

Study of a Simulation Tool to Determine Achievable Control Dynamics and Control Power Requirements with Perfect Tracking

NASA Technical Reports Server (NTRS)

Ostroff, Aaron J.

1998-01-01

This paper contains a study of two methods for use in a generic nonlinear simulation tool that could be used to determine achievable control dynamics and control power requirements while performing perfect tracking maneuvers over the entire flight envelope. The two methods are NDI (nonlinear dynamic inversion) and the SOFFT(Stochastic Optimal Feedforward and Feedback Technology) feedforward control structure. Equivalent discrete and continuous SOFFT feedforward controllers have been developed. These equivalent forms clearly show that the closed-loop plant model loop is a plant inversion and is the same as the NDI formulation. The main difference is that the NDI formulation has a closed-loop controller structure whereas SOFFT uses an open-loop command model. Continuous, discrete, and hybrid controller structures have been developed and integrated into the formulation. Linear simulation results show that seven different configurations all give essentially the same response, with the NDI hybrid being slightly different. The SOFFT controller gave better tracking performance compared to the NDI controller when a nonlinear saturation element was added. Future plans include evaluation using a nonlinear simulation.

Active Control of Thermal Convection in a Rectangular Loop by Changing its Spatial Orientation

NASA Astrophysics Data System (ADS)

Bratsun, Dmitry A.; Krasnyakov, Ivan V.; Zyuzgin, Alexey V.

2018-02-01

The problem of the automatic control of the fluid flow in a rectangular convective loop heated from below is studied theoretically and experimentally. The control is performed by using a feedback subsystem which changes the convection regimes by introducing small discrete changes in the spatial orientation of the loop with respect to gravity. We focus on effects that arise when the feedback controller operates with an unavoidable time delay, which is cause by the thermal inertia of the medium. The mathematical model of the phenomenon is developed. The dynamic regimes of the convection in the thermosyphon loop under control are studied. It is shown that the proposed control method can successfully stabilize not only a no-motion state of the fluid, but also time-dependent modes of convection including the irregular fluid flow at high values of the Rayleigh number. It is shown that the excessive gain of the proportional feedback can result in oscillations in the loop orientation exciting the unsteady convection modes. The comparison of the experimental data obtained for dielectric oil and dodecane with theory is given, and their good agreement is demonstrated.

Active Control of Thermal Convection in a Rectangular Loop by Changing its Spatial Orientation

NASA Astrophysics Data System (ADS)

Bratsun, Dmitry A.; Krasnyakov, Ivan V.; Zyuzgin, Alexey V.

2017-12-01

The problem of the automatic control of the fluid flow in a rectangular convective loop heated from below is studied theoretically and experimentally. The control is performed by using a feedback subsystem which changes the convection regimes by introducing small discrete changes in the spatial orientation of the loop with respect to gravity. We focus on effects that arise when the feedback controller operates with an unavoidable time delay, which is cause by the thermal inertia of the medium. The mathematical model of the phenomenon is developed. The dynamic regimes of the convection in the thermosyphon loop under control are studied. It is shown that the proposed control method can successfully stabilize not only a no-motion state of the fluid, but also time-dependent modes of convection including the irregular fluid flow at high values of the Rayleigh number. It is shown that the excessive gain of the proportional feedback can result in oscillations in the loop orientation exciting the unsteady convection modes. The comparison of the experimental data obtained for dielectric oil and dodecane with theory is given, and their good agreement is demonstrated.

Open-loop-feedback control of serum drug concentrations: pharmacokinetic approaches to drug therapy.

PubMed

Jelliffe, R W

1983-01-01

Recent developments to optimize open-loop-feedback control of drug dosage regimens, generally applicable to pharmacokinetically oriented therapy with many drugs, involve computation of patient-individualized strategies for obtaining desired serum drug concentrations. Analyses of past therapy are performed by least squares, extended least squares, and maximum a posteriori probability Bayesian methods of fitting pharmacokinetic models to serum level data. Future possibilities for truly optimal open-loop-feedback therapy with full Bayesian methods, and conceivably for optimal closed-loop therapy in such data-poor clinical situations, are also discussed. Implementation of these various therapeutic strategies, using automated, locally controlled infusion devices, has also been achieved in prototype form.

Closed-Loop Process Control for Electron Beam Freeform Fabrication and Deposition Processes

NASA Technical Reports Server (NTRS)

Taminger, Karen M. (Inventor); Hofmeister, William H. (Inventor); Martin, Richard E. (Inventor); Hafley, Robert A. (Inventor)

2013-01-01

A closed-loop control method for an electron beam freeform fabrication (EBF(sup 3)) process includes detecting a feature of interest during the process using a sensor(s), continuously evaluating the feature of interest to determine, in real time, a change occurring therein, and automatically modifying control parameters to control the EBF(sup 3) process. An apparatus provides closed-loop control method of the process, and includes an electron gun for generating an electron beam, a wire feeder for feeding a wire toward a substrate, wherein the wire is melted and progressively deposited in layers onto the substrate, a sensor(s), and a host machine. The sensor(s) measure the feature of interest during the process, and the host machine continuously evaluates the feature of interest to determine, in real time, a change occurring therein. The host machine automatically modifies control parameters to the EBF(sup 3) apparatus to control the EBF(sup 3) process in a closed-loop manner.

Spacecraft momentum management procedures. [large space telescope

NASA Technical Reports Server (NTRS)

Chen, L. C.; Davenport, P. B.; Sturch, C. R.

1980-01-01

Techniques appropriate for implementation onboard the space telescope and other spacecraft to manage the accumulation of momentum in reaction wheel control systems using magnetic torquing coils are described. Generalized analytical equations are derived for momentum control laws that command the magnetic torquers. These control laws naturally fall into two main categories according to the methods used for updating the magnetic dipole command: closed loop, in which the update is based on current measurements to achieve a desired torque instantaneously, and open-loop, in which the update is based on predicted information to achieve a desired momentum at the end of a period of time. Physical interpretations of control laws in general and of the Space Telescope cross product and minimum energy control laws in particular are presented, and their merits and drawbacks are discussed. A technique for retaining the advantages of both the open-loop and the closed-loop control laws is introduced. Simulation results are presented to compare the performance of these control laws in the Space Telescope environment.

Structural robustness with suboptimal responses for linear state space model

NASA Technical Reports Server (NTRS)

Keel, L. H.; Lim, Kyong B.; Juang, Jer-Nan

1989-01-01

A relationship between the closed-loop eigenvalues and the amount of perturbations in the open-loop matrix is addressed in the context of performance robustness. If the allowable perturbation ranges of elements of the open-loop matrix A and the desired tolerance of the closed-loop eigenvalues are given such that max(j) of the absolute value of Delta-lambda(j) (A+BF) should be less than some prescribed value, what is a state feedback controller F which satisfies the closed-loop eigenvalue perturbation-tolerance requirement for a class of given perturbation in A? The paper gives an algorithm to design such a controller. Numerical examples are included for illustration.

Generation of mechanical oscillation applicable to vibratory rate gyroscopes

NASA Technical Reports Server (NTRS)

Lemkin, Mark A. (Inventor); Juneau, Thor N. (Inventor); Clark, William A. (Inventor); Roessig, Allen W. (Inventor)

2001-01-01

To achieve a drive-axis oscillation with improved frequency and amplitude stability, additional feedback loops are used to adjust force-feedback loop parameters. An amplitude-control loop measures oscillation amplitude, compares this value to the desired level, and adjusts damping of the mechanical sense-element to grow or shrink oscillation amplitude as appropriate. A frequency-tuning loop measures the oscillation frequency, compares this value with a highly stable reference, and adjusts the gain in the force-feedback loop to keep the drive-axis oscillation frequency at the reference value. The combined topology simultaneously controls both amplitude and frequency. Advantages of the combined topology include improved stability, fast oscillation start-up, low power consumption, and excellent shock rejection.

Automated hybrid closed-loop control with a proportional-integral-derivative based system in adolescents and adults with type 1 diabetes: individualizing settings for optimal performance.

PubMed

Ly, Trang T; Weinzimer, Stuart A; Maahs, David M; Sherr, Jennifer L; Roy, Anirban; Grosman, Benyamin; Cantwell, Martin; Kurtz, Natalie; Carria, Lori; Messer, Laurel; von Eyben, Rie; Buckingham, Bruce A

2017-08-01

Automated insulin delivery systems, utilizing a control algorithm to dose insulin based upon subcutaneous continuous glucose sensor values and insulin pump therapy, will soon be available for commercial use. The objective of this study was to determine the preliminary safety and efficacy of initialization parameters with the Medtronic hybrid closed-loop controller by comparing percentage of time in range, 70-180 mg/dL (3.9-10 mmol/L), mean glucose values, as well as percentage of time above and below target range between sensor-augmented pump therapy and hybrid closed-loop, in adults and adolescents with type 1 diabetes. We studied an initial cohort of 9 adults followed by a second cohort of 15 adolescents, using the Medtronic hybrid closed-loop system with the proportional-integral-derivative with insulin feed-back (PID-IFB) algorithm. Hybrid closed-loop was tested in supervised hotel-based studies over 4-5 days. The overall mean percentage of time in range (70-180 mg/dL, 3.9-10 mmol/L) during hybrid closed-loop was 71.8% in the adult cohort and 69.8% in the adolescent cohort. The overall percentage of time spent under 70 mg/dL (3.9 mmol/L) was 2.0% in the adult cohort and 2.5% in the adolescent cohort. Mean glucose values were 152 mg/dL (8.4 mmol/L) in the adult cohort and 153 mg/dL (8.5 mmol/L) in the adolescent cohort. Closed-loop control using the Medtronic hybrid closed-loop system enables adaptive, real-time basal rate modulation. Initializing hybrid closed-loop in clinical practice will involve individualizing initiation parameters to optimize overall glucose control. © 2016 John Wiley & Sons A/S. Published by John Wiley & Sons Ltd.

Frequency control circuit for all-digital phase-lock loops

NASA Technical Reports Server (NTRS)

Anderson, T. O.

1973-01-01

Phase-lock loop references all its operations to fixed high-frequency service clock operating at highest speed which digital circuits permit. Wide-range control circuit provides linear control of frequency of reference signal. It requires only two counters in combination with control circuit consisting only of flip-flop and gate.

Rotation flexure with temperature controlled modal frequency

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

Salas, Theodore E.; Barney, Patrick S.; Ison, Aaron M.

A flexure bearing includes an inner race, an outer race, and a plurality of substantially planar radially extending blades coupled between the inner and outer race. The blades have a thickness that is thinner than a thickness of the inner and outer races. The inner race, outer race, and blades have substantially the same height. At least one heating element is coupled to the inner race and/or the outer race. The heating element is configured to apply heat to the race that it is coupled to in order to tune the flexure bearing.

Plate with decentralised velocity feedback loops: Power absorption and kinetic energy considerations

NASA Astrophysics Data System (ADS)

Gardonio, P.; Miani, S.; Blanchini, F.; Casagrande, D.; Elliott, S. J.

2012-04-01

This paper is focused on the vibration effects produced by an array of decentralised velocity feedback loops that are evenly distributed over a rectangular thin plate to minimise its flexural response. The velocity feedback loops are formed by collocated ideal velocity sensor and point force actuator pairs, which are unconditionally stable and produce 'sky-hook' damping on the plate. The study compares how the overall flexural vibration of the plate and the local absorption of vibration power by the feedback loops vary with the control gains. The analysis is carried out both considering a typical frequency-domain formulation based on kinetic energy and structural power physical quantities, which is normally used to study vibration and noise problems, and a time-domain formulation also based on kinetic energy and structural power, which is usually implemented to investigate control problems. The time-domain formulation shows to be much more computationally efficient and robust with reference to truncation errors. Thus it has been used to perform a parametric study to assess if, and under which conditions, the minimum of the kinetic energy and the maximum of the absorbed power cost functions match with reference to: (a) the number of feedback control loops, (b) the structural damping in the plate, (c) the mutual distance of a pair of control loops and (d) the mutual gains implemented in a pair of feedback loops.

Auto-positioning ultrasonic transducer system

NASA Technical Reports Server (NTRS)

Buchanan, Randy K. (Inventor)

2010-01-01

An ultrasonic transducer apparatus and process for determining the optimal transducer position for flow measurement along a conduit outer surface. The apparatus includes a transmitting transducer for transmitting an ultrasonic signal, said transducer affixed to a conduit outer surface; a guide rail attached to a receiving transducer for guiding movement of a receiving transducer along the conduit outer surface, wherein the receiving transducer receives an ultrasonic signal from the transmitting transducer and sends a signal to a data acquisition system; and a motor for moving the receiving transducer along the guide rail, wherein the motor is controlled by a controller. The method includes affixing a transmitting transducer to an outer surface of a conduit; moving a receiving transducer on the conduit outer surface, wherein the receiving transducer is moved along a guide rail by a motor; transmitting an ultrasonic signal from the transmitting transducer that is received by the receiving transducer; communicating the signal received by the receiving transducer to a data acquisition and control system; and repeating the moving, transmitting, and communicating along a length of the conduit.

Dynamically limiting energy consumed by cooling apparatus

DOEpatents

Chainer, Timothy J.; David, Milnes P.; Iyengar, Madhusudan K.; Parida, Pritish R.; Schmidt, Roger R.; Schultz, Mark D.

2015-06-09

Cooling methods are provided which include providing: one or more coolant-cooled structures associated with an electronics rack, a coolant loop coupled in fluid communication with one or more passages of the coolant-cooled structure(s), one or more heat exchange units coupled to facilitate heat transfer from coolant within the coolant loop, and N controllable components associated with the coolant loop or the heat exchange unit(s), wherein N.gtoreq.1. The N controllable components facilitate circulation of coolant through the coolant loop or transfer of heat from the coolant via the heat exchange unit(s). A controller is also provided to dynamically adjust operation of the N controllable components, based on Z input parameters and one or more specified constraints, and provide a specified cooling to the coolant-cooled structure(s), while limiting energy consumed by the N controllable components, wherein Z.gtoreq.1.

Multi-mode ultrasonic welding control and optimization

DOEpatents

Tang, Jason C.H.; Cai, Wayne W

2013-05-28

A system and method for providing multi-mode control of an ultrasonic welding system. In one embodiment, the control modes include the energy of the weld, the time of the welding process and the compression displacement of the parts being welded during the welding process. The method includes providing thresholds for each of the modes, and terminating the welding process after the threshold for each mode has been reached, the threshold for more than one mode has been reached or the threshold for one of the modes has been reached. The welding control can be either open-loop or closed-loop, where the open-loop process provides the mode thresholds and once one or more of those thresholds is reached the welding process is terminated. The closed-loop control provides feedback of the weld energy and/or the compression displacement so that the weld power and/or weld pressure can be increased or decreased accordingly.

The insertion of human dynamics models in the flight control loops of V/STOL research aircraft. Appendix 2: The optimal control model of a pilot in V/STOL aircraft control loops

NASA Technical Reports Server (NTRS)

Zipf, Mark E.

1989-01-01

An overview is presented of research work focussed on the design and insertion of classical models of human pilot dynamics within the flight control loops of V/STOL aircraft. The pilots were designed and configured for use in integrated control system research and design. The models of human behavior that were considered are: McRuer-Krendel (a single variable transfer function model); and Optimal Control Model (a multi-variable approach based on optimal control and stochastic estimation theory). These models attempt to predict human control response characteristics when confronted with compensatory tracking and state regulation tasks. An overview, mathematical description, and discussion of predictive limitations of the pilot models is presented. Design strategies and closed loop insertion configurations are introduced and considered for various flight control scenarios. Models of aircraft dynamics (both transfer function and state space based) are developed and discussed for their use in pilot design and application. Pilot design and insertion are illustrated for various flight control objectives. Results of pilot insertion within the control loops of two V/STOL research aricraft (Sikorski Black Hawk UH-60A, McDonnell Douglas Harrier II AV-8B) are presented and compared against actual pilot flight data. Conclusions are reached on the ability of the pilot models to adequately predict human behavior when confronted with similar control objectives.

Power in the loop real time simulation platform for renewable energy generation

NASA Astrophysics Data System (ADS)

Li, Yang; Shi, Wenhui; Zhang, Xing; He, Guoqing

2018-02-01

Nowadays, a large scale of renewable energy sources has been connecting to power system and the real time simulation platform is widely used to carry out research on integration control algorithm, power system stability etc. Compared to traditional pure digital simulation and hardware in the loop simulation, power in the loop simulation has higher accuracy and degree of reliability. In this paper, a power in the loop analog digital hybrid simulation platform has been built and it can be used not only for the single generation unit connecting to grid, but also for multiple new energy generation units connecting to grid. A wind generator inertia control experiment was carried out on the platform. The structure of the inertia control platform was researched and the results verify that the platform is up to need for renewable power in the loop real time simulation.

Rational Design and Evaluation of an Artificial Escherichia coli K1 Protein Vaccine Candidate Based on the Structure of OmpA

PubMed Central

Gu, Hao; Liao, Yaling; Zhang, Jin; Wang, Ying; Liu, Zhiyong; Cheng, Ping; Wang, Xingyong; Zou, Quanming; Gu, Jiang

2018-01-01

Escherichia coli (E. coli) K1 causes meningitis and remains an unsolved problem in neonates, despite the application of antibiotics and supportive care. The cross-reactivity of bacterial capsular polysaccharides with human antigens hinders their application as vaccine candidates. Thus, protein antigens could be an alternative strategy for the development of an E. coli K1 vaccine. Outer membrane protein A (OmpA) of E. coli K1 is a potential vaccine candidate because of its predominant contribution to bacterial pathogenesis and sub-cellular localization. However, little progress has been made regarding the use of OmpA for this purpose due to difficulties in OmpA production. In the present study, we first investigated the immunogenicity of the four extracellular loops of OmpA. Using the structure of OmpA, we rationally designed and successfully generated the artificial protein OmpAVac, composed of connected loops from OmpA. Recombinant OmpAVac was successfully produced in E. coli BL21 and behaved as a soluble homogenous monomer in the aqueous phase. Vaccination with OmpAVac induced Th1, Th2, and Th17 immune responses and conferred effective protection in mice. In addition, OmpAVac-specific antibodies were able to mediate opsonophagocytosis and inhibit bacterial invasion, thereby conferring prophylactic protection in E. coli K1-challenged adult mice and neonatal mice. These results suggest that OmpAVac could be a good vaccine candidate for the control of E. coli K1 infection and provide an additional example of structure-based vaccine design. PMID:29876324

Rational Design and Evaluation of an Artificial Escherichia coli K1 Protein Vaccine Candidate Based on the Structure of OmpA.

PubMed

Gu, Hao; Liao, Yaling; Zhang, Jin; Wang, Ying; Liu, Zhiyong; Cheng, Ping; Wang, Xingyong; Zou, Quanming; Gu, Jiang

2018-01-01

Escherichia coli ( E. coli ) K1 causes meningitis and remains an unsolved problem in neonates, despite the application of antibiotics and supportive care. The cross-reactivity of bacterial capsular polysaccharides with human antigens hinders their application as vaccine candidates. Thus, protein antigens could be an alternative strategy for the development of an E. coli K1 vaccine. Outer membrane protein A (OmpA) of E. coli K1 is a potential vaccine candidate because of its predominant contribution to bacterial pathogenesis and sub-cellular localization. However, little progress has been made regarding the use of OmpA for this purpose due to difficulties in OmpA production. In the present study, we first investigated the immunogenicity of the four extracellular loops of OmpA. Using the structure of OmpA, we rationally designed and successfully generated the artificial protein OmpAVac, composed of connected loops from OmpA. Recombinant OmpAVac was successfully produced in E. coli BL21 and behaved as a soluble homogenous monomer in the aqueous phase. Vaccination with OmpAVac induced Th1, Th2, and Th17 immune responses and conferred effective protection in mice. In addition, OmpAVac-specific antibodies were able to mediate opsonophagocytosis and inhibit bacterial invasion, thereby conferring prophylactic protection in E. coli K1-challenged adult mice and neonatal mice. These results suggest that OmpAVac could be a good vaccine candidate for the control of E. coli K1 infection and provide an additional example of structure-based vaccine design.

Method for pressure modulation of turbine sidewall cavities

DOEpatents

Leone, Sal Albert; Book, Matthew David; Banares, Christopher R.

2002-01-01

A method is provided for controlling cooling air flow for pressure modulation of turbine components, such as the turbine outer sidewall cavities. The pressure at which cooling and purge air is supplied to the turbine outer side wall cavities is modulated, based on compressor discharge pressure (Pcd), thereby to generally maintain the back flow margin (BFM) so as to minimize excessive leakage and the consequent performance deterioration. In an exemplary embodiment, the air pressure within the third stage outer side wall cavity and the air pressure within the fourth stage outer side wall cavity are each controlled to a respective value that is a respective prescribed percentage of the concurrent compressor discharge pressure. The prescribed percentage may be determined from a ratio of the respective outer side wall pressure to compressor discharge pressure at Cold Day Turn Down (CDTD) required to provide a prescribed back flow margin.

System for pressure modulation of turbine sidewall cavities

DOEpatents

Leone, Sal Albert; Book, Matthew David; Banares, Christopher R.

2002-01-01

A system and method are provided for controlling cooling air flow for pressure modulation of turbine components, such as the turbine outer sidewall cavities. The pressure at which cooling and purge air is supplied to the turbine outer side wall cavities is modulated, based on compressor discharge pressure (Pcd), thereby to generally maintain the back flow margin (BFM) so as to minimize excessive leakage and the consequent performance deterioration. In an exemplary embodiment, the air pressure within the third stage outer side wall cavity and the air pressure within the fourth stage outer side wall cavity are each controlled to a respective value that is a respective prescribed percentage of the concurrent compressor discharge pressure. The prescribed percentage may be determined from a ratio of the respective outer side wall pressure to compressor discharge pressure at Cold Day Turn Down (CDTD) required to provide a prescribed back flow margin.

Real-time control of hind limb functional electrical stimulation using feedback from dorsal root ganglia recordings

NASA Astrophysics Data System (ADS)

Bruns, Tim M.; Wagenaar, Joost B.; Bauman, Matthew J.; Gaunt, Robert A.; Weber, Douglas J.

2013-04-01

Objective. Functional electrical stimulation (FES) approaches often utilize an open-loop controller to drive state transitions. The addition of sensory feedback may allow for closed-loop control that can respond effectively to perturbations and muscle fatigue. Approach. We evaluated the use of natural sensory nerve signals obtained with penetrating microelectrode arrays in lumbar dorsal root ganglia (DRG) as real-time feedback for closed-loop control of FES-generated hind limb stepping in anesthetized cats. Main results. Leg position feedback was obtained in near real-time at 50 ms intervals by decoding the firing rates of more than 120 DRG neurons recorded simultaneously. Over 5 m of effective linear distance was traversed during closed-loop stepping trials in each of two cats. The controller compensated effectively for perturbations in the stepping path when DRG sensory feedback was provided. The presence of stimulation artifacts and the quality of DRG unit sorting did not significantly affect the accuracy of leg position feedback obtained from the linear decoding model as long as at least 20 DRG units were included in the model. Significance. This work demonstrates the feasibility and utility of closed-loop FES control based on natural neural sensors. Further work is needed to improve the controller and electrode technologies and to evaluate long-term viability.

Real-time control of hind limb functional electrical stimulation using feedback from dorsal root ganglia recordings

PubMed Central

Bruns, Tim M; Wagenaar, Joost B; Bauman, Matthew J; Gaunt, Robert A; Weber, Douglas J

2013-01-01

Objective Functional electrical stimulation (FES) approaches often utilize an open-loop controller to drive state transitions. The addition of sensory feedback may allow for closed-loop control that can respond effectively to perturbations and muscle fatigue. Approach We evaluated the use of natural sensory nerve signals obtained with penetrating microelectrode arrays in lumbar dorsal root ganglia (DRG) as real-time feedback for closed-loop control of FES-generated hind limb stepping in anesthetized cats. Main results Leg position feedback was obtained in near real-time at 50 ms intervals by decoding the firing rates of more than 120 DRG neurons recorded simultaneously. Over 5 m of effective linear distance was traversed during closed-loop stepping trials in each of two cats. The controller compensated effectively for perturbations in the stepping path when DRG sensory feedback was provided. The presence of stimulation artifacts and the quality of DRG unit sorting did not significantly affect the accuracy of leg position feedback obtained from the linear decoding model as long as at least 20 DRG units were included in the model. Significance This work demonstrates the feasibility and utility of closed-loop FES control based on natural neural sensors. Further work is needed to improve the controller and electrode technologies and to evaluate long-term viability. PMID:23503062

Split radiator design for heat rejection optimization for a waste heat recovery system

DOEpatents

Ernst, Timothy C.; Nelson, Christopher R.

2016-10-18

A cooling system provides improved heat recovery by providing a split core radiator for both engine cooling and condenser cooling for a Rankine cycle (RC). The cooling system includes a radiator having a first cooling core portion and a second cooling core portion. An engine cooling loop is fluidly connected the second cooling core portion. A condenser of an RC has a cooling loop fluidly connected to the first cooling core portion. A valve is provided between the engine cooling loop and the condenser cooling loop adjustably control the flow of coolant in the condenser cooling loop into the engine cooling loop. The cooling system includes a controller communicatively coupled to the valve and adapted to determine a load requirement for the internal combustion engine and adjust the valve in accordance with the engine load requirement.

A loop-based neural architecture for structured behavior encoding and decoding.

PubMed

Gisiger, Thomas; Boukadoum, Mounir

2018-02-01

We present a new type of artificial neural network that generalizes on anatomical and dynamical aspects of the mammal brain. Its main novelty lies in its topological structure which is built as an array of interacting elementary motifs shaped like loops. These loops come in various types and can implement functions such as gating, inhibitory or executive control, or encoding of task elements to name a few. Each loop features two sets of neurons and a control region, linked together by non-recurrent projections. The two neural sets do the bulk of the loop's computations while the control unit specifies the timing and the conditions under which the computations implemented by the loop are to be performed. By functionally linking many such loops together, a neural network is obtained that may perform complex cognitive computations. To demonstrate the potential offered by such a system, we present two neural network simulations. The first illustrates the structure and dynamics of a single loop implementing a simple gating mechanism. The second simulation shows how connecting four loops in series can produce neural activity patterns that are sufficient to pass a simplified delayed-response task. We also show that this network reproduces electrophysiological measurements gathered in various regions of the brain of monkeys performing similar tasks. We also demonstrate connections between this type of neural network and recurrent or long short-term memory network models, and suggest ways to generalize them for future artificial intelligence research. Copyright © 2017 Elsevier Ltd. All rights reserved.

Use of beam deflection to control an electron beam wire deposition process

NASA Technical Reports Server (NTRS)

Taminger, Karen M. (Inventor); Hofmeister, William H. (Inventor); Hafley, Robert A. (Inventor)

2013-01-01

A method for controlling an electron beam process wherein a wire is melted and deposited on a substrate as a molten pool comprises generating the electron beam with a complex raster pattern, and directing the beam onto an outer surface of the wire to thereby control a location of the wire with respect to the molten pool. Directing the beam selectively heats the outer surface of the wire and maintains the position of the wire with respect to the molten pool. An apparatus for controlling an electron beam process includes a beam gun adapted for generating the electron beam, and a controller adapted for providing the electron beam with a complex raster pattern and for directing the electron beam onto an outer surface of the wire to control a location of the wire with respect to the molten pool.

Tuning and performance evaluation of PID controller for superheater steam temperature control of 200 MW boiler using gain phase assignment algorithm

NASA Astrophysics Data System (ADS)

Begum, A. Yasmine; Gireesh, N.

2018-04-01

In superheater, steam temperature is controlled in a cascade control loop. The cascade control loop consists of PI and PID controllers. To improve the superheater steam temperature control the controller's gains in a cascade control loop has to be tuned efficiently. The mathematical model of the superheater is derived by sets of nonlinear partial differential equations. The tuning methods taken for study here are designed for delay plus first order transfer function model. Hence from the dynamical model of the superheater, a FOPTD model is derived using frequency response method. Then by using Chien-Hrones-Reswick Tuning Algorithm and Gain-Phase Assignment Algorithm optimum controller gains has been found out based on the least value of integral time weighted absolute error.

Comprehensive Aeroelastic Analysis of Helicopter Rotor with Trailing-Edge Flap for Primary Control and Vibration Control

DTIC Science & Technology

2003-01-01

183 3.34 5/rev fixed system hub normal force with 4/rev open loop trailing-edge flap input...184 3.35 5/rev fixed system hub normal force with 5/rev open loop trailing-edge flap input...185 3.36 5/rev fixed system hub normal force with 6/rev open loop trailing-edge flap

Artificial intelligence programming with LabVIEW: genetic algorithms for instrumentation control and optimization.

PubMed

Moore, J H

1995-06-01

A genetic algorithm for instrumentation control and optimization was developed using the LabVIEW graphical programming environment. The usefulness of this methodology for the optimization of a closed loop control instrument is demonstrated with minimal complexity and the programming is presented in detail to facilitate its adaptation to other LabVIEW applications. Closed loop control instruments have variety of applications in the biomedical sciences including the regulation of physiological processes such as blood pressure. The program presented here should provide a useful starting point for those wishing to incorporate genetic algorithm approaches to LabVIEW mediated optimization of closed loop control instruments.

Design of PI Controlled Non Isolated Bidirectional DC to DC Converter for Electric Vehicle Application

NASA Astrophysics Data System (ADS)

Geetha, A.; Subramani, C.; Thamizh Thentral, T. M.; Krithika, V.; Usha, S.

2018-04-01

Non isolated Bidirectional DC-DC Converter (NIBDDC) is a good interface between DC source and inverter Fed induction motor drive. This paper deals with comparison between open loop and PI controlled Bidirectional DC to DC Converter Inverter System (BDDCIS). The modelling and control of BDDC is becomes an important issue. Open loop BDDCIS and closed loop PI controlled BDDCIS are designed, modelled and simulated using Matlab- simulink and their results are presented. The investigations indicate superior performance of PI controlled BDDCIS. The proposed BDDCIS has advantages like bidirectional power transfer ability, reduced hardware count and improved dynamic response.

Closed-Loop and Robust Control of Quantum Systems

PubMed Central

Wang, Lin-Cheng

2013-01-01

For most practical quantum control systems, it is important and difficult to attain robustness and reliability due to unavoidable uncertainties in the system dynamics or models. Three kinds of typical approaches (e.g., closed-loop learning control, feedback control, and robust control) have been proved to be effective to solve these problems. This work presents a self-contained survey on the closed-loop and robust control of quantum systems, as well as a brief introduction to a selection of basic theories and methods in this research area, to provide interested readers with a general idea for further studies. In the area of closed-loop learning control of quantum systems, we survey and introduce such learning control methods as gradient-based methods, genetic algorithms (GA), and reinforcement learning (RL) methods from a unified point of view of exploring the quantum control landscapes. For the feedback control approach, the paper surveys three control strategies including Lyapunov control, measurement-based control, and coherent-feedback control. Then such topics in the field of quantum robust control as H ∞ control, sliding mode control, quantum risk-sensitive control, and quantum ensemble control are reviewed. The paper concludes with a perspective of future research directions that are likely to attract more attention. PMID:23997680

Performance of Water Recirculation Loop Maintenance Components for the Advanced Spacesuit Water Membrane Evaporator

NASA Technical Reports Server (NTRS)

Rector, Tony; Peyton, Barbara M.; Steele, John W.; Makinen, Janice; Bue, Grant C.; Campbell, Colin

2014-01-01

Water loop maintenance components to maintain the water quality of the Advanced Spacesuit Water Membrane Evaporation (SWME) water recirculation loop have undergone a comparative performance evaluation with a recirculating control loop which had no water quality maintenance. Results show that periodic water maintenance can improve performance of the SWME. The SWME is a heat rejection device under development at the NASA Johnson Space Center to perform thermal control for advanced spacesuits. One advantage of this technology is the potential for a significantly greater degree of tolerance to contamination when compared to the existing sublimator technology. The driver for the evaluation of water recirculation maintenance components was to enhance the robustness of the SWME through the leveraging of fluid loop management lessons learned from the International Space Station (ISS). A patented bed design that was developed for a United Technologies Aerospace System military application provided a low pressure drop means for water maintenance in the SWME recirculation loop. The bed design is coupled with high capacity ion exchange resins, organic adsorbents, and a cyclic methodology developed for the Extravehicular Mobility Unit (EMU) Transport Water loop. The maintenance cycle included the use of a biocide delivery component developed for the ISS to introduce a biocide in a microgravity compatible manner for the Internal Active Thermal Control System (IATCS). The leveraging of these water maintenance technologies to the SWME recirculation loop is a unique demonstration of applying the valuable lessons learned on the ISS to the next generation of manned spaceflight Environmental Control and Life Support System (ECLSS) hardware.

The external pore loop interacts with S6 and S3-S4 linker in domain 4 to assume an essential role in gating control and anticonvulsant action in the Na+ channel

PubMed Central

Yang, Ya-Chin; Hsieh, Jui-Yi

2009-01-01

Carbamazepine, phenytoin, and lamotrigine are widely prescribed anticonvulsants in neurological clinics. These drugs bind to the same receptor site, probably with the diphenyl motif in their structure, to inhibit the Na+ channel. However, the location of the drug receptor remains controversial. In this study, we demonstrate close proximity and potential interaction between an external aromatic residue (W1716 in the external pore loop) and an internal aromatic residue (F1764 in the pore-lining part of the sixth transmembrane segment, S6) of domain 4 (D4), both being closely related to anticonvulsant and/or local anesthetic binding to the Na+ channel. Double-mutant cycle analysis reveals significant cooperativity between the two phenyl residues for anticonvulsant binding. Concomitant F1764C mutation evidently decreases the susceptibility of W1716C to external Cd2+ and membrane-impermeable methanethiosulfonate reagents. Also, the W1716E/F1764R and G1715E/F1764R double mutations significantly alter the selectivity for Na+ over K+ and markedly shift the activation curve, respectively. W1716 and F1764 therefore very likely form a link connecting the outer and inner compartments of the Na+ channel pore (in addition to the selectivity filter). Anticonvulsants and local anesthetics may well traverse this “S6 recess” without trespassing on the selectivity filter. Furthermore, we found that Y1618K, a point mutation in the S3-4 linker (the extracellular extension of D4S4), significantly alters the consequences of carbamazepine binding to the Na+ channel. The effect of Y1618K mutation, however, is abolished by concomitant point mutations in the vicinity of Y1618, but not by those in the internally located inactivation machinery, supporting a direct local rather than a long-range allosteric action. Moreover, Y1618 could interact with D4 pore residues W1716 and L1719 to have a profound effect on both channel gating and anticonvulsant action. We conclude that there are direct interactions among the external S3-4 linker, the external pore loop, and the internal S6 segment in D4, making the external pore loop a pivotal point critically coordinating ion permeation, gating, and anticonvulsant binding in the Na+ channel. PMID:19635852

The external pore loop interacts with S6 and S3-S4 linker in domain 4 to assume an essential role in gating control and anticonvulsant action in the Na(+) channel.

PubMed

Yang, Ya-Chin; Hsieh, Jui-Yi; Kuo, Chung-Chin

2009-08-01

Carbamazepine, phenytoin, and lamotrigine are widely prescribed anticonvulsants in neurological clinics. These drugs bind to the same receptor site, probably with the diphenyl motif in their structure, to inhibit the Na(+) channel. However, the location of the drug receptor remains controversial. In this study, we demonstrate close proximity and potential interaction between an external aromatic residue (W1716 in the external pore loop) and an internal aromatic residue (F1764 in the pore-lining part of the sixth transmembrane segment, S6) of domain 4 (D4), both being closely related to anticonvulsant and/or local anesthetic binding to the Na(+) channel. Double-mutant cycle analysis reveals significant cooperativity between the two phenyl residues for anticonvulsant binding. Concomitant F1764C mutation evidently decreases the susceptibility of W1716C to external Cd(2+) and membrane-impermeable methanethiosulfonate reagents. Also, the W1716E/F1764R and G1715E/F1764R double mutations significantly alter the selectivity for Na(+) over K(+) and markedly shift the activation curve, respectively. W1716 and F1764 therefore very likely form a link connecting the outer and inner compartments of the Na(+) channel pore (in addition to the selectivity filter). Anticonvulsants and local anesthetics may well traverse this "S6 recess" without trespassing on the selectivity filter. Furthermore, we found that Y1618K, a point mutation in the S3-4 linker (the extracellular extension of D4S4), significantly alters the consequences of carbamazepine binding to the Na(+) channel. The effect of Y1618K mutation, however, is abolished by concomitant point mutations in the vicinity of Y1618, but not by those in the internally located inactivation machinery, supporting a direct local rather than a long-range allosteric action. Moreover, Y1618 could interact with D4 pore residues W1716 and L1719 to have a profound effect on both channel gating and anticonvulsant action. We conclude that there are direct interactions among the external S3-4 linker, the external pore loop, and the internal S6 segment in D4, making the external pore loop a pivotal point critically coordinating ion permeation, gating, and anticonvulsant binding in the Na(+) channel.

Two AFC Loops For Low CNR And High Dynamics

NASA Technical Reports Server (NTRS)

Hinedi, Sami M.; Aguirre, Sergio

1992-01-01

Two alternative digital automatic-frequency-control (AFC) loops proposed to acquire (or reacquire) and track frequency of received carrier radio signal. Intended for use where carrier-to-noise ratios (CNR's) low and carrier frequency characterized by high Doppler shift and Doppler rate because of high relative speed and acceleration, respectively, between transmitter and receiver. Either AFC loops used in place of phase-locked loop. New loop concepts integrate ideas from classical spectrum-estimation, digital-phase-locked-loop, and Kalman-Filter theories.

Automatic control of finite element models for temperature-controlled radiofrequency ablation.

PubMed

Haemmerich, Dieter; Webster, John G

2005-07-14

The finite element method (FEM) has been used to simulate cardiac and hepatic radiofrequency (RF) ablation. The FEM allows modeling of complex geometries that cannot be solved by analytical methods or finite difference models. In both hepatic and cardiac RF ablation a common control mode is temperature-controlled mode. Commercial FEM packages don't support automating temperature control. Most researchers manually control the applied power by trial and error to keep the tip temperature of the electrodes constant. We implemented a PI controller in a control program written in C++. The program checks the tip temperature after each step and controls the applied voltage to keep temperature constant. We created a closed loop system consisting of a FEM model and the software controlling the applied voltage. The control parameters for the controller were optimized using a closed loop system simulation. We present results of a temperature controlled 3-D FEM model of a RITA model 30 electrode. The control software effectively controlled applied voltage in the FEM model to obtain, and keep electrodes at target temperature of 100 degrees C. The closed loop system simulation output closely correlated with the FEM model, and allowed us to optimize control parameters. The closed loop control of the FEM model allowed us to implement temperature controlled RF ablation with minimal user input.

Allosteric mechanism controls traffic in the chaperone/usher pathway.

PubMed

Di Yu, Xiao; Dubnovitsky, Anatoly; Pudney, Alex F; Macintyre, Sheila; Knight, Stefan D; Zavialov, Anton V

2012-11-07

Many virulence organelles of Gram-negative bacterial pathogens are assembled via the chaperone/usher pathway. The chaperone transports organelle subunits across the periplasm to the outer membrane usher, where they are released and incorporated into growing fibers. Here, we elucidate the mechanism of the usher-targeting step in assembly of the Yersinia pestis F1 capsule at the atomic level. The usher interacts almost exclusively with the chaperone in the chaperone:subunit complex. In free chaperone, a pair of conserved proline residues at the beginning of the subunit-binding loop form a "proline lock" that occludes the usher-binding surface and blocks usher binding. Binding of the subunit to the chaperone rotates the proline lock away from the usher-binding surface, allowing the chaperone-subunit complex to bind to the usher. We show that the proline lock exists in other chaperone/usher systems and represents a general allosteric mechanism for selective targeting of chaperone:subunit complexes to the usher and for release and recycling of the free chaperone. Copyright © 2012 Elsevier Ltd. All rights reserved.

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.

Phase-locked Optical Signal Recovery

DTIC Science & Technology

2009-01-01

detection . However, implementing an optical phase lock loop ( OPLL ) to generate the synchronised carrier for the homodyne technique requires... Loop (OIPLL) in which a narrow bandwidth optical phase lock loop ( OPLL ) is used to control the free -running frequency of an optically injection...receiver uses an Optical Injection Phase Lock Loop (OIPLL) for carrier recovery,

Phase-locked Optical Signal Recovery

DTIC Science & Technology

2009-01-01

detection . However, implementing an optical phase lock loop ( OPLL ) to generate the synchronised carrier for the homodyne technique requires... Loop (OIPLL) in which a narrow bandwidth optical phase lock loop ( OPLL ) is used to control the free -running frequency of an optically injection...The receiver uses an Optical Injection Phase Lock Loop (OIPLL) for carrier

Interaction of E. coli outer-membrane protein A with sugars on the receptors of the brain microvascular endothelial cells.

PubMed

Datta, Deepshikha; Vaidehi, Nagarajan; Floriano, Wely B; Kim, Kwang S; Prasadarao, Nemani V; Goddard, William A

2003-02-01

Esherichia coli, the most common gram-negative bacteria, can penetrate the brain microvascular endothelial cells (BMECs) during the neonatal period to cause meningitis with significant morbidity and mortality. Experimental studies have shown that outer-membrane protein A (OmpA) of E. coli plays a key role in the initial steps of the invasion process by binding to specific sugar moieties present on the glycoproteins of BMEC. These experiments also show that polymers of chitobiose (GlcNAcbeta1-4GlcNAc) block the invasion, while epitopes substituted with the L-fucosyl group do not. We used HierDock computational technique that consists of a hierarchy of coarse grain docking method with molecular dynamics (MD) to predict the binding sites and energies of interactions of GlcNAcbeta1-4GlcNAc and other sugars with OmpA. The results suggest two important binding sites for the interaction of carbohydrate epitopes of BMEC glycoproteins to OmpA. We identify one site as the binding pocket for chitobiose (GlcNAcbeta1-4GlcNAc) in OmpA, while the second region (including loops 1 and 2) may be important for recognition of specific sugars. We find that the site involving loops 1 and 2 has relative binding energies that correlate well with experimental observations. This theoretical study elucidates the interaction sites of chitobiose with OmpA and the binding site predictions made in this article are testable either by mutation studies or invasion assays. These results can be further extended in suggesting possible peptide antagonists and drug design for therapeutic strategies. Copyright 2002 Wiley-Liss, Inc.

Insights into PG-binding, conformational change, and dimerization of the OmpA C-terminal domains from Salmonella enterica serovar Typhimurium and Borrelia burgdorferi: Characterization of OmpA C-Terminal Domain

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

Tan, Kemin; Deatherage Kaiser, Brooke L.; Wu, Ruiying

S. Typhimurium can induce both humoral and cell-mediated responses when establishing itself in the host. These responses are primarily stimulated against the lipopolysaccharide and major outer membrane (OM) proteins of the bacterium. OmpA is one of these major OM proteins. It comprises a N-terminal eight-stranded -barrel membrane domain and a C-terminal so-called OmpA C-terminal domain (OmpACTD). The OmpACTD and its homologs are believed to bind to peptidoglycan (PG) within the periplasm, maintaining bacterial osmotic homeostasis and modulating the permeability and integrity of the outer membrane. Here we present the structures of two forms of the OmpACTD of S. Typhimurium (STOmpACTD)more » and one structure of the less-studied OmpACTD of Borrelia burgdorferi (BbOmpACTD). In the open form of STOmpACTD, an aspartic acid residue from a long 2-3 loop points into the binding pocket, suggesting that an anion group such as a carboxylate group from PG is favored at the binding site. In the closed form of STOmpACTD and in the structure of BbOmpACTD, a sulfate group from the crystallization buffer is tightly bound at the equivalent site. The differences between the closed and open forms of STOmpACTD, suggest a large conformational change that includes an extension of 3 helix by ordering a part of 2-3 loop. We suggest that the sulfate anion observed in these structures mimics the carboxylate group of PG when bound to STOmpACTD. In addition, the binding of PG or a ligand mimic may enhance dimerization of STOmpACTD, or possibly that of full length STOmpA.« less

Maximum urine concentrating capability in a mathematical model of the inner medulla of the rat kidney.

PubMed

Marcano, Mariano; Layton, Anita T; Layton, Harold E

2010-02-01

In a mathematical model of the urine concentrating mechanism of the inner medulla of the rat kidney, a nonlinear optimization technique was used to estimate parameter sets that maximize the urine-to-plasma osmolality ratio (U/P) while maintaining the urine flow rate within a plausible physiologic range. The model, which used a central core formulation, represented loops of Henle turning at all levels of the inner medulla and a composite collecting duct (CD). The parameters varied were: water flow and urea concentration in tubular fluid entering the descending thin limbs and the composite CD at the outer-inner medullary boundary; scaling factors for the number of loops of Henle and CDs as a function of medullary depth; location and increase rate of the urea permeability profile along the CD; and a scaling factor for the maximum rate of NaCl transport from the CD. The optimization algorithm sought to maximize a quantity E that equaled U/P minus a penalty function for insufficient urine flow. Maxima of E were sought by changing parameter values in the direction in parameter space in which E increased. The algorithm attained a maximum E that increased urine osmolality and inner medullary concentrating capability by 37.5% and 80.2%, respectively, above base-case values; the corresponding urine flow rate and the concentrations of NaCl and urea were all within or near reported experimental ranges. Our results predict that urine osmolality is particularly sensitive to three parameters: the urea concentration in tubular fluid entering the CD at the outer-inner medullary boundary, the location and increase rate of the urea permeability profile along the CD, and the rate of decrease of the CD population (and thus of CD surface area) along the cortico-medullary axis.

Control of Bacteriophage T4 Tail Lysozyme Activity During the Infection Process

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

Kanamaru, Shuji; Ishiwata, Yasutaka; Suzuki, Toshiharu

2010-07-19

Bacteriophage T4 has an efficient mechanism for injecting the host Escherichia coli cell with genomic DNA. Its gene product 5 (gp5) has a needle-like structure attached to the end of a tube through which the DNA passes on its way out of the head and into the host. The gp5 needle punctures the outer cell membrane and then digests the peptidoglycan cell wall in the periplasmic space. gp5 is normally post-translationally cleaved between residues 351 and 352. The function of this process in controlling the lysozyme activity of gp5 has now been investigated. When gp5 is over-expressed in E. coli,more » two mutants (S351H and S351A) showed a reduction of cleavage products and five other mutants (S351L, S351K, S351Y, S351Q, and S351T) showed no cleavage. Furthermore, in a complementation assay at 20 C, the mutants that had no cleavage of gp5 produced a reduced number of plaques compared to wild-type T4. The crystal structure of the non-cleavage phenotype mutant of gp5, S351L, complexed with gene product 27, showed that the 18 residues in the vicinity of the potential cleavage site (disordered in the wild-type structure) had visible electron density. The polypeptide around the potential cleavage site is exposed, thus allowing access for an E. coli protease. The lysozyme activity is inhibited in the wild-type structure by a loop from the adjacent gp5 monomer that binds into the substrate-binding site. The same inhibition is apparent in the mutant structure, showing that the lysozyme is inhibited before gp5 is cleaved and, presumably, the lysozyme is activated only after gp5 has penetrated the outer membrane.« less

Hypoglycaemia incidence and recovery during home use of hybrid closed-loop insulin delivery in adults with type 1 diabetes.

PubMed

Ruan, Yue; Bally, Lia; Thabit, Hood; Leelarathna, Lalantha; Hartnell, Sara; Tauschmann, Martin; Wilinska, Malgorzata E; Evans, Mark L; Mader, Julia K; Kojzar, Harald; Dellweg, Sibylle; Benesch, Carsten; Arnolds, Sabine; Pieber, Thomas R; Hovorka, Roman

2018-03-25

Glucose excursion was assessed prior to and post hypoglycaemia to increase understanding of hypoglycaemia incidence and recovery during hybrid closed-loop insulin delivery. We retrospectively analysed data from 60 adults with type 1 diabetes who received, in a crossover randomized design, day-and-night hybrid closed-loop insulin delivery and insulin pump therapy, the latter with or without real-time continuous glucose monitoring. Over 4-week study periods, we identified hypoglycaemic episodes, defined as sensor glucose <3.0 mmol/L, and analysed sensor glucose relative to the onset of hypoglycaemia. We identified 377 hypoglycaemic episodes during hybrid closed-loop intervention vs 662 during control intervention (P < .001), with a predominant reduction of nocturnal hypoglycaemia. The slope of sensor glucose prior to hypoglycaemia was steeper during closed-loop intervention than during control intervention (P < .01), while insulin delivery was reduced (P < .01). During both day and night, participants recovered from hypoglycaemia faster when treated by closed-loop intervention. At 120 minutes post hypoglycaemia, sensor glucose levels were higher during closed-loop intervention compared to the control period (P < .05). In conclusion, closed-loop intervention reduces the risk of hypoglycaemia, particularly overnight, with swift recovery from hypoglycaemia leading to higher 2-hour post-hypoglycaemia glucose levels. © 2018 John Wiley & Sons Ltd.

The Inverse Optimal Control Problem for a Three-Loop Missile Autopilot

NASA Astrophysics Data System (ADS)

Hwang, Donghyeok; Tahk, Min-Jea

2018-04-01

The performance characteristics of the autopilot must have a fast response to intercept a maneuvering target and reasonable robustness for system stability under the effect of un-modeled dynamics and noise. By the conventional approach, the three-loop autopilot design is handled by time constant, damping factor and open-loop crossover frequency to achieve the desired performance requirements. Note that the general optimal theory can be also used to obtain the same gain as obtained from the conventional approach. The key idea of using optimal control technique for feedback gain design revolves around appropriate selection and interpretation of the performance index for which the control is optimal. This paper derives an explicit expression, which relates the weight parameters appearing in the quadratic performance index to the design parameters such as open-loop crossover frequency, phase margin, damping factor, or time constant, etc. Since all set of selection of design parameters do not guarantee existence of optimal control law, explicit inequalities, which are named the optimality criteria for the three-loop autopilot (OC3L), are derived to find out all set of design parameters for which the control law is optimal. Finally, based on OC3L, an efficient gain selection procedure is developed, where time constant is set to design objective and open-loop crossover frequency and phase margin as design constraints. The effectiveness of the proposed technique is illustrated through numerical simulations.

Multiple Flow Loop SCADA System Implemented on the Production Prototype Loop

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

Baily, Scott A.; Dalmas, Dale Allen; Wheat, Robert Mitchell

2015-11-16

The following report covers FY 15 activities to develop supervisory control and data acquisition (SCADA) system for the Northstar Moly99 production prototype gas flow loop. The goal of this effort is to expand the existing system to include a second flow loop with a larger production-sized blower. Besides testing the larger blower, this system will demonstrate the scalability of our solution to multiple flow loops.

Disturbance rejection performance analyses of closed loop control systems by reference to disturbance ratio.

PubMed

Alagoz, Baris Baykant; Deniz, Furkan Nur; Keles, Cemal; Tan, Nusret

2015-03-01

This study investigates disturbance rejection capacity of closed loop control systems by means of reference to disturbance ratio (RDR). The RDR analysis calculates the ratio of reference signal energy to disturbance signal energy at the system output and provides a quantitative evaluation of disturbance rejection performance of control systems on the bases of communication channel limitations. Essentially, RDR provides a straightforward analytical method for the comparison and improvement of implicit disturbance rejection capacity of closed loop control systems. Theoretical analyses demonstrate us that RDR of the negative feedback closed loop control systems are determined by energy spectral density of controller transfer function. In this manner, authors derived design criteria for specifications of disturbance rejection performances of PID and fractional order PID (FOPID) controller structures. RDR spectra are calculated for investigation of frequency dependence of disturbance rejection capacity and spectral RDR analyses are carried out for PID and FOPID controllers. For the validation of theoretical results, simulation examples are presented. Copyright © 2014 ISA. Published by Elsevier Ltd. All rights reserved.

LINC-NIRVANA piston control elements

NASA Astrophysics Data System (ADS)

Brix, Mario; Pott, Jörg-Uwe; Bertram, Thomas; Rost, Steffen; Borelli, Jose Luis; Herbst, Thomas M.; Kuerster, Martin; Rohloff, Ralf-Rainer

2010-07-01

We review the status of hardware developments related to the Linc-Nirvana optical path difference (OPD) control. The status of our telescope vibration measurements is given. We present the design concept of a feed-forward loop to damp the impact of telescope mirror vibrations on the OPD seen by Linc-Nirvana. At the focus of the article is a description of the actuator of the OPD control loop. The weight and vibration optimized construction of this actuator (aka piston mirror) and its mount has a complex dynamical behavior, which prevents classical PI feedback control from delivering fast and precise motion of the mirror surface. Therefore, an H-; optimized control strategy will be applied, custom designed for the piston mirror. The effort of realizing a custom controller on a DSP to drive the piezo is balanced by the outlook of achieving more than 5x faster servo bandwidths. The laboratory set-up to identify the system, and verify the closed loop control performance is presented. Our goal is to achieve 30 Hz closed-loop control bandwidth at a precision of 30 nm.

Finite-dimensional modeling of network-induced delays for real-time control systems

NASA Technical Reports Server (NTRS)

Ray, Asok; Halevi, Yoram

1988-01-01

In integrated control systems (ICS), a feedback loop is closed by the common communication channel, which multiplexes digital data from the sensor to the controller and from the controller to the actuator along with the data traffic from other control loops and management functions. Due to asynchronous time-division multiplexing in the network access protocols, time-varying delays are introduced in the control loop, which degrade the system dynamic performance and are a potential source of instability. The delayed control system is represented by a finite-dimensional, time-varying, discrete-time model which is less complex than the existing continuous-time models for time-varying delays; this approach allows for simpler schemes for analysis and simulation of the ICS.

Inverted Pendulum Standing Apparatus for Investigating Closed-Loop Control of Ankle Joint Muscle Contractions during Functional Electrical Stimulation.

PubMed

Tan, John F; Masani, Kei; Vette, Albert H; Zariffa, José; Robinson, Mark; Lynch, Cheryl; Popovic, Milos R

2014-01-01

The restoration of arm-free standing in individuals with paraplegia can be facilitated via functional electrical stimulation (FES). In developing adequate control strategies for FES systems, it remains challenging to test the performance of a particular control scheme on human subjects. In this study, we propose a testing platform for developing effective control strategies for a closed-loop FES system for standing. The Inverted Pendulum Standing Apparatus (IPSA) is a mechanical inverted pendulum, whose angular position is determined by the subject's ankle joint angle as controlled by the FES system while having the subject's body fixed in a standing frame. This approach provides a setup that is safe, prevents falling, and enables a research and design team to rigorously test various closed-loop controlled FES systems applied to the ankle joints. To demonstrate the feasibility of using the IPSA, we conducted a case series that employed the device for studying FES closed-loop controllers for regulating ankle joint kinematics during standing. The utilized FES system stimulated, in able-bodied volunteers, the plantarflexors as they prevent toppling during standing. Four different conditions were compared, and we were able to show unique performance of each condition using the IPSA. We concluded that the IPSA is a useful tool for developing and testing closed-loop controlled FES systems for regulating ankle joint position during standing.

Inverted Pendulum Standing Apparatus for Investigating Closed-Loop Control of Ankle Joint Muscle Contractions during Functional Electrical Stimulation

PubMed Central

Tan, John F.; Masani, Kei; Vette, Albert H.; Zariffa, José; Robinson, Mark; Lynch, Cheryl; Popovic, Milos R.

2014-01-01

The restoration of arm-free standing in individuals with paraplegia can be facilitated via functional electrical stimulation (FES). In developing adequate control strategies for FES systems, it remains challenging to test the performance of a particular control scheme on human subjects. In this study, we propose a testing platform for developing effective control strategies for a closed-loop FES system for standing. The Inverted Pendulum Standing Apparatus (IPSA) is a mechanical inverted pendulum, whose angular position is determined by the subject's ankle joint angle as controlled by the FES system while having the subject's body fixed in a standing frame. This approach provides a setup that is safe, prevents falling, and enables a research and design team to rigorously test various closed-loop controlled FES systems applied to the ankle joints. To demonstrate the feasibility of using the IPSA, we conducted a case series that employed the device for studying FES closed-loop controllers for regulating ankle joint kinematics during standing. The utilized FES system stimulated, in able-bodied volunteers, the plantarflexors as they prevent toppling during standing. Four different conditions were compared, and we were able to show unique performance of each condition using the IPSA. We concluded that the IPSA is a useful tool for developing and testing closed-loop controlled FES systems for regulating ankle joint position during standing. PMID:27350992

Simultaneous gains tuning in boiler/turbine PID-based controller clusters using iterative feedback tuning methodology.

PubMed

Zhang, Shu; Taft, Cyrus W; Bentsman, Joseph; Hussey, Aaron; Petrus, Bryan

2012-09-01

Tuning a complex multi-loop PID based control system requires considerable experience. In today's power industry the number of available qualified tuners is dwindling and there is a great need for better tuning tools to maintain and improve the performance of complex multivariable processes. Multi-loop PID tuning is the procedure for the online tuning of a cluster of PID controllers operating in a closed loop with a multivariable process. This paper presents the first application of the simultaneous tuning technique to the multi-input-multi-output (MIMO) PID based nonlinear controller in the power plant control context, with the closed-loop system consisting of a MIMO nonlinear boiler/turbine model and a nonlinear cluster of six PID-type controllers. Although simplified, the dynamics and cross-coupling of the process and the PID cluster are similar to those used in a real power plant. The particular technique selected, iterative feedback tuning (IFT), utilizes the linearized version of the PID cluster for signal conditioning, but the data collection and tuning is carried out on the full nonlinear closed-loop system. Based on the figure of merit for the control system performance, the IFT is shown to deliver performance favorably comparable to that attained through the empirical tuning carried out by an experienced control engineer. Copyright © 2012 ISA. Published by Elsevier Ltd. All rights reserved.

Removable inner turbine shell with bucket tip clearance control

DOEpatents

Sexton, Brendan F.; Knuijt, Hans M.; Eldrid, Sacheverel Q.; Myers, Albert; Coneybeer, Kyle E.; Johnson, David Martin; Kellock, Iain R.

2000-01-01

A turbine includes a plurality of inner shell sections mounting first and second stage nozzle and shroud portions. The inner shell sections are pinned to an outer containment shell formed of sections to preclude circumferential movement of the inner shell relative to the outer shell and enable thermal expansion and contraction of the inner shell relative to the outer shell. Positive bucket tip clearance control is afforded by passing a thermal medium about the inner shell in heat transfer relation with the shrouds about the first and second stage bucket tips, the thermal medium being provided from a source of heating/cooling fluid independent of the turbine. Access is provided to the rotor and turbine buckets by removing the outer and inner shell sections.

A Comparison of Multivariable Control Design Techniques for a Turbofan Engine Control

NASA Technical Reports Server (NTRS)

Garg, Sanjay; Watts, Stephen R.

1995-01-01

This paper compares two previously published design procedures for two different multivariable control design techniques for application to a linear engine model of a jet engine. The two multivariable control design techniques compared were the Linear Quadratic Gaussian with Loop Transfer Recovery (LQG/LTR) and the H-Infinity synthesis. The two control design techniques were used with specific previously published design procedures to synthesize controls which would provide equivalent closed loop frequency response for the primary control loops while assuring adequate loop decoupling. The resulting controllers were then reduced in order to minimize the programming and data storage requirements for a typical implementation. The reduced order linear controllers designed by each method were combined with the linear model of an advanced turbofan engine and the system performance was evaluated for the continuous linear system. Included in the performance analysis are the resulting frequency and transient responses as well as actuator usage and rate capability for each design method. The controls were also analyzed for robustness with respect to structured uncertainties in the unmodeled system dynamics. The two controls were then compared for performance capability and hardware implementation issues.

DC servomechanism parameter identification: a Closed Loop Input Error approach.

PubMed

Garrido, Ruben; Miranda, Roger

2012-01-01

This paper presents a Closed Loop Input Error (CLIE) approach for on-line parametric estimation of a continuous-time model of a DC servomechanism functioning in closed loop. A standard Proportional Derivative (PD) position controller stabilizes the loop without requiring knowledge on the servomechanism parameters. The analysis of the identification algorithm takes into account the control law employed for closing the loop. The model contains four parameters that depend on the servo inertia, viscous, and Coulomb friction as well as on a constant disturbance. Lyapunov stability theory permits assessing boundedness of the signals associated to the identification algorithm. Experiments on a laboratory prototype allows evaluating the performance of the approach. Copyright © 2011 ISA. Published by Elsevier Ltd. All rights reserved.

A vision-based system for fast and accurate laser scanning in robot-assisted phonomicrosurgery.

PubMed

Dagnino, Giulio; Mattos, Leonardo S; Caldwell, Darwin G

2015-02-01

Surgical quality in phonomicrosurgery can be improved by open-loop laser control (e.g., high-speed scanning capabilities) with a robust and accurate closed-loop visual servoing systems. A new vision-based system for laser scanning control during robot-assisted phonomicrosurgery was developed and tested. Laser scanning was accomplished with a dual control strategy, which adds a vision-based trajectory correction phase to a fast open-loop laser controller. The system is designed to eliminate open-loop aiming errors caused by system calibration limitations and by the unpredictable topology of real targets. Evaluation of the new system was performed using CO(2) laser cutting trials on artificial targets and ex-vivo tissue. This system produced accuracy values corresponding to pixel resolution even when smoke created by the laser-target interaction clutters the camera view. In realistic test scenarios, trajectory following RMS errors were reduced by almost 80 % with respect to open-loop system performances, reaching mean error values around 30 μ m and maximum observed errors in the order of 60 μ m. A new vision-based laser microsurgical control system was shown to be effective and promising with significant positive potential impact on the safety and quality of laser microsurgeries.

PIG's Speed Estimated with Pressure Transducers and Hall Effect Sensor: An Industrial Application of Sensors to Validate a Testing Laboratory.

PubMed

Lima, Gustavo F; Freitas, Victor C G; Araújo, Renan P; Maitelli, André L; Salazar, Andrés O

2017-09-15

The pipeline inspection using a device called Pipeline Inspection Gauge (PIG) is safe and reliable when the PIG is at low speeds during inspection. We built a Testing Laboratory, containing a testing loop and supervisory system to study speed control techniques for PIGs. The objective of this work is to present and validate the Testing Laboratory, which will allow development of a speed controller for PIGs and solve an existing problem in the oil industry. The experimental methodology used throughout the project is also presented. We installed pressure transducers on pipeline outer walls to detect the PIG's movement and, with data from supervisory, calculated an average speed of 0.43 m/s. At the same time, the electronic board inside the PIG received data from odometer and calculated an average speed of 0.45 m/s. We found an error of 4.44%, which is experimentally acceptable. The results showed that it is possible to successfully build a Testing Laboratory to detect the PIG's passage and estimate its speed. The validation of the Testing Laboratory using data from the odometer and its auxiliary electronic was very successful. Lastly, we hope to develop more research in the oil industry area using this Testing Laboratory.

PIG’s Speed Estimated with Pressure Transducers and Hall Effect Sensor: An Industrial Application of Sensors to Validate a Testing Laboratory

PubMed Central

Freitas, Victor C. G.; Araújo, Renan P.; Maitelli, André L.; Salazar, Andrés O.

2017-01-01

The pipeline inspection using a device called Pipeline Inspection Gauge (PIG) is safe and reliable when the PIG is at low speeds during inspection. We built a Testing Laboratory, containing a testing loop and supervisory system to study speed control techniques for PIGs. The objective of this work is to present and validate the Testing Laboratory, which will allow development of a speed controller for PIGs and solve an existing problem in the oil industry. The experimental methodology used throughout the project is also presented. We installed pressure transducers on pipeline outer walls to detect the PIG’s movement and, with data from supervisory, calculated an average speed of 0.43 m/s. At the same time, the electronic board inside the PIG received data from odometer and calculated an average speed of 0.45 m/s. We found an error of 4.44%, which is experimentally acceptable. The results showed that it is possible to successfully build a Testing Laboratory to detect the PIG’s passage and estimate its speed. The validation of the Testing Laboratory using data from the odometer and its auxiliary electronic was very successful. Lastly, we hope to develop more research in the oil industry area using this Testing Laboratory. PMID:28914757

A Selected Operational History of the Internal Thermal Control System (ITCS) for International Space Station (ISS)

NASA Technical Reports Server (NTRS)

Patel, Vipul P.; Winton, Dale; Ibarra, Thomas H.

2004-01-01

The Internal Thermal Control System (ITCS) has been developed jointly by Boeing Corporation, Huntsville, Alabama and Honeywell Engines & Systems, Torrance, California to meet the internal thermal control needs for the International Space Station (ISS). The ITCS provides heat removal for the critical life support systems and thermal conditioning for numerous experiment racks. The ITCS will be fitted on a number of modules on the ISS. The first US Element containing the ITCS, Node 1, was launched in December 1998. Since Node 1 does not contain a pump to circulate the fluid it was not filled with ITCS fluid until after the US Laboratory Module was installed. The second US Element module, US Laboratory Module, which contains the pumps and all the major ITCS control hardware, was launched in February 2001. The third US Element containing the ITCS, the US Airlock, was launched in July 2001. The dual loop system of the ITCS is comprised of a lowtemperature loop (LTL) and a moderate-temperature loop (MTL). Each loop has a pump package assembly (PPA), a system flow control assembly (SFCA), a threeway mixing valve (TWMV), several rack flow control assemblies (RFCA), cold plates, pressure sensors, temperature sensors, pump bypass assembly (PBA) and a heat exchanger. In addition, the MTL has an additional TWMV, a payload regeneration heat exchanger (P/RHE) and a manual flow control valve (MFCV). The LTL has a service performance and checkout unit (SPCU) heat exchanger. The two loops are linked via one loop crossover assembly (LCA) providing cross loop capabilities and a single PPA, two-loop functionality. One important parameter monitored by the ground stations and on-orbit is the amount of fluid leakage from the ITCS. ISS fluid leakage is of importance since ITCS fluid is costly to re-supply, may be difficult to clean up in zero-g, and if uncontained could lead to equipment failures and potential hazards. This paper examines the nominal leakage observed over period of a year of on-orbit operation and compares this with analysis predictions. This paper also addresses the off-nominal leakage and a fluid transfer event causing significant changes in accumulator quantity.

Ventilatory control sensitivity in patients with obstructive sleep apnea is sleep stage dependent.

PubMed

Landry, Shane A; Andara, Christopher; Terrill, Philip I; Joosten, Simon A; Leong, Paul; Mann, Dwayne L; Sands, Scott A; Hamilton, Garun S; Edwards, Bradley A

2018-05-01

The severity of obstructive sleep apnea (OSA) is known to vary according to sleep stage; however, the pathophysiology responsible for this robust observation is incompletely understood. The objective of the present work was to examine how ventilatory control system sensitivity (i.e. loop gain) varies during sleep in patients with OSA. Loop gain was estimated using signals collected from standard diagnostic polysomnographic recordings performed in 44 patients with OSA. Loop gain measurements associated with nonrapid eye movement (NREM) stage 2 (N2), stage 3 (N3), and REM sleep were calculated and compared. The sleep period was also split into three equal duration tertiles to investigate how loop gain changes over the course of sleep. Loop gain was significantly lower (i.e. ventilatory control more stable) in REM (Mean ± SEM: 0.51 ± 0.04) compared with N2 sleep (0.63 ± 0.04; p = 0.001). Differences in loop gain between REM and N3 (p = 0.095), and N2 and N3 (p = 0.247) sleep were not significant. Furthermore, N2 loop gain was significantly lower in the first third (0.57 ± 0.03) of the sleep period compared with later second (0.64 ± 0.03, p = 0.012) and third (0.64 ± 0.03, p = 0.015) tertiles. REM loop gain also tended to increase across the night; however, this trend was not statistically significant [F(2, 12) = 3.49, p = 0.09]. These data suggest that loop gain varies between REM and NREM sleep and modestly increases over the course of sleep. Lower loop gain in REM is unlikely to contribute to the worsened OSA severity typically observed in REM sleep, but may explain the reduced propensity for central sleep apnea in this sleep stage.

A Nodal-independent and tissue-intrinsic mechanism controls heart-looping chirality

NASA Astrophysics Data System (ADS)

Noël, Emily S.; Verhoeven, Manon; Lagendijk, Anne Karine; Tessadori, Federico; Smith, Kelly; Choorapoikayil, Suma; den Hertog, Jeroen; Bakkers, Jeroen

2013-11-01

Breaking left-right symmetry in bilateria is a major event during embryo development that is required for asymmetric organ position, directional organ looping and lateralized organ function in the adult. Asymmetric expression of Nodal-related genes is hypothesized to be the driving force behind regulation of organ laterality. Here we identify a Nodal-independent mechanism that drives asymmetric heart looping in zebrafish embryos. In a unique mutant defective for the Nodal-related southpaw gene, preferential dextral looping in the heart is maintained, whereas gut and brain asymmetries are randomized. As genetic and pharmacological inhibition of Nodal signalling does not abolish heart asymmetry, a yet undiscovered mechanism controls heart chirality. This mechanism is tissue intrinsic, as explanted hearts maintain ex vivo retain chiral looping behaviour and require actin polymerization and myosin II activity. We find that Nodal signalling regulates actin gene expression, supporting a model in which Nodal signalling amplifies this tissue-intrinsic mechanism of heart looping.

Open-Loop HIRF Experiments Performed on a Fault Tolerant Flight Control Computer

NASA Technical Reports Server (NTRS)

Koppen, Daniel M.

1997-01-01

During the third quarter of 1996, the Closed-Loop Systems Laboratory was established at the NASA Langley Research Center (LaRC) to study the effects of High Intensity Radiated Fields on complex avionic systems and control system components. This new facility provided a link and expanded upon the existing capabilities of the High Intensity Radiated Fields Laboratory at LaRC that were constructed and certified during 1995-96. The scope of the Closed-Loop Systems Laboratory is to place highly integrated avionics instrumentation into a high intensity radiated field environment, interface the avionics to a real-time flight simulation that incorporates aircraft dynamics, engines, sensors, actuators and atmospheric turbulence, and collect, analyze, and model aircraft performance. This paper describes the layout and functionality of the Closed-Loop Systems Laboratory, and the open-loop calibration experiments that led up to the commencement of closed-loop real-time flight experiments.

Structural Basis for Translocation of a Biofilm-supporting Exopolysaccharide across the Bacterial Outer Membrane.

PubMed

Wang, Yan; Andole Pannuri, Archana; Ni, Dongchun; Zhou, Haizhen; Cao, Xiou; Lu, Xiaomei; Romeo, Tony; Huang, Yihua

2016-05-06

The partially de-N-acetylated poly-β-1,6-N-acetyl-d-glucosamine (dPNAG) polymer serves as an intercellular biofilm adhesin that plays an essential role for the development and maintenance of integrity of biofilms of diverse bacterial species. Translocation of dPNAG across the bacterial outer membrane is mediated by a tetratricopeptide repeat-containing outer membrane protein, PgaA. To understand the molecular basis of dPNAG translocation, we determined the crystal structure of the C-terminal transmembrane domain of PgaA (residues 513-807). The structure reveals that PgaA forms a 16-strand transmembrane β-barrel, closed by four loops on the extracellular surface. Half of the interior surface of the barrel that lies parallel to the translocation pathway is electronegative, suggesting that the corresponding negatively charged residues may assist the secretion of the positively charged dPNAG polymer. In vivo complementation assays in a pgaA deletion bacterial strain showed that a cluster of negatively charged residues proximal to the periplasm is necessary for biofilm formation. Biochemical analyses further revealed that the tetratricopeptide repeat domain of PgaA binds directly to the N-deacetylase PgaB and is critical for biofilm formation. Our studies support a model in which the positively charged PgaB-bound dPNAG polymer is delivered to PgaA through the PgaA-PgaB interaction and is further targeted to the β-barrel lumen of PgaA potentially via a charge complementarity mechanism, thus priming the translocation of dPNAG across the bacterial outer membrane. © 2016 by The American Society for Biochemistry and Molecular Biology, Inc.

Inner and Outer Coordination Shells of Mg(2+) in CorA Selectivity Filter from Molecular Dynamics Simulations.

PubMed

Kitjaruwankul, Sunan; Wapeesittipan, Pattama; Boonamnaj, Panisak; Sompornpisut, Pornthep

2016-01-28

Structural data of CorA Mg(2+) channels show that the five Gly-Met-Asn (GMN) motifs at the periplasmic loop of the pentamer structure form a molecular scaffold serving as a selectivity filter. Unfortunately, knowledge about the cation selectivity of Mg(2+) channels remains limited. Since Mg(2+) in aqueous solution has a strong first hydration shell and apparent second hydration sphere, the coordination structure of Mg(2+) in a CorA selectivity filter is expected to be different from that in bulk water. Hence, this study investigated the hydration structure and ligand coordination of Mg(2+) in a selectivity filter of CorA using molecular dynamics (MD) simulations. The simulations reveal that the inner-shell structure of Mg(2+) in the filter is not significantly different from that in aqueous solution. The major difference is the characteristic structural features of the outer shell. The GMN residues engage indirectly in the interactions with the metal ion as ligands in the second shell of Mg(2+). Loss of hydrogen bonds between inner- and outer-shell waters observed from Mg(2+) in bulk water is mostly compensated by interactions between waters in the first solvation shell and the GMN motif. Some water molecules in the second shell remain in the selectivity filter and become less mobile to support the metal binding. Removal of Mg(2+) from the divalent cation sensor sites of the protein had an impact on the structure and metal binding of the filter. From the results, it can be concluded that the GMN motif enhances the affinity of the metal binding site in the CorA selectivity filter by acting as an outer coordination ligand.

Self-consistent simulations of a von Kármán type dynamo in a spherical domain with metallic walls.

PubMed

Guervilly, Céline; Brummell, Nicholas H

2012-10-01

We have performed numerical simulations of boundary-driven dynamos using a three-dimensional nonlinear magnetohydrodynamical model in a spherical shell geometry. A conducting fluid of magnetic Prandtl number Pm=0.01 is driven into motion by the counter-rotation of the two hemispheric walls. The resulting flow is of von Kármán type, consisting of a layer of zonal velocity close to the outer wall and a secondary meridional circulation. Above a certain forcing threshold, the mean flow is unstable to non-axisymmetric motions within an equatorial belt. For fixed forcing above this threshold, we have studied the dynamo properties of this flow. The presence of a conducting outer wall is essential to the existence of a dynamo at these parameters. We have therefore studied the effect of changing the material parameters of the wall (magnetic permeability, electrical conductivity, and thickness) on the dynamo. In common with previous studies, we find that dynamos are obtained only when either the conductivity or the permeability is sufficiently large. However, we find that the effect of these two parameters on the dynamo process are different and can even compete to the detriment of the dynamo. Our self-consistent approach allow us to analyze in detail the dynamo feedback loop. The dynamos we obtain are typically dominated by an axisymmetric toroidal magnetic field and an axial dipole component. We show that the ability of the outer shear layer to produce a strong toroidal field depends critically on the presence of a conducting outer wall, which shields the fluid from the vacuum outside. The generation of the axisymmetric poloidal field, on the other hand, occurs in the equatorial belt and does not depend on the wall properties.

A keyboard control method for loop measurement

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

Gao, Z.W.

1994-12-31

This paper describes a keyboard control mode based on the DEC VAX computer. The VAX Keyboard code can be found under running of a program was developed. During the loop measurement or multitask operation, it ables to be distinguished from a keyboard code to stop current operation or transfer to another operation while previous information can be held. The combining of this mode, the author successfully used one key control loop measurement for test Dual Input Memory module which is used in a rearrange Energy Trigger system for LEP 8 Bunch operation.

A New Hybrid BFOA-PSO Optimization Technique for Decoupling and Robust Control of Two-Coupled Distillation Column Process.

PubMed

Abdelkarim, Noha; Mohamed, Amr E; El-Garhy, Ahmed M; Dorrah, Hassen T

2016-01-01

The two-coupled distillation column process is a physically complicated system in many aspects. Specifically, the nested interrelationship between system inputs and outputs constitutes one of the significant challenges in system control design. Mostly, such a process is to be decoupled into several input/output pairings (loops), so that a single controller can be assigned for each loop. In the frame of this research, the Brain Emotional Learning Based Intelligent Controller (BELBIC) forms the control structure for each decoupled loop. The paper's main objective is to develop a parameterization technique for decoupling and control schemes, which ensures robust control behavior. In this regard, the novel optimization technique Bacterial Swarm Optimization (BSO) is utilized for the minimization of summation of the integral time-weighted squared errors (ITSEs) for all control loops. This optimization technique constitutes a hybrid between two techniques, which are the Particle Swarm and Bacterial Foraging algorithms. According to the simulation results, this hybridized technique ensures low mathematical burdens and high decoupling and control accuracy. Moreover, the behavior analysis of the proposed BELBIC shows a remarkable improvement in the time domain behavior and robustness over the conventional PID controller.

A New Hybrid BFOA-PSO Optimization Technique for Decoupling and Robust Control of Two-Coupled Distillation Column Process

PubMed Central

Mohamed, Amr E.; Dorrah, Hassen T.

2016-01-01

The two-coupled distillation column process is a physically complicated system in many aspects. Specifically, the nested interrelationship between system inputs and outputs constitutes one of the significant challenges in system control design. Mostly, such a process is to be decoupled into several input/output pairings (loops), so that a single controller can be assigned for each loop. In the frame of this research, the Brain Emotional Learning Based Intelligent Controller (BELBIC) forms the control structure for each decoupled loop. The paper's main objective is to develop a parameterization technique for decoupling and control schemes, which ensures robust control behavior. In this regard, the novel optimization technique Bacterial Swarm Optimization (BSO) is utilized for the minimization of summation of the integral time-weighted squared errors (ITSEs) for all control loops. This optimization technique constitutes a hybrid between two techniques, which are the Particle Swarm and Bacterial Foraging algorithms. According to the simulation results, this hybridized technique ensures low mathematical burdens and high decoupling and control accuracy. Moreover, the behavior analysis of the proposed BELBIC shows a remarkable improvement in the time domain behavior and robustness over the conventional PID controller. PMID:27807444

Self-actuated nuclear reactor shutdown system using induction pump to facilitate sensing of core coolant temperature

DOEpatents

Sievers, Robert K.; Cooper, Martin H.; Tupper, Robert B.

1987-01-01

A self-actuated shutdown system incorporated into a reactivity control assembly in a nuclear reactor includes pumping means for creating an auxiliary downward flow of a portion of the heated coolant exiting from the fuel assemblies disposed adjacent to the control assembly. The shutdown system includes a hollow tubular member which extends through the outlet of the control assembly top nozzle so as to define an outer annular flow channel through the top nozzle outlet separate from an inner flow channel for primary coolant flow through the control assembly. Also, a latching mechanism is disposed in an inner duct of the control assembly and is operable for holding absorber bundles in a raised position in the control assembly and for releasing them to drop them into the core of the reactor for shutdown purposes. The latching mechanism has an inner flow passage extending between and in flow communication with the absorber bundles and the inner flow channel of the top nozzle for accommodating primary coolant flow upwardly through the control assembly. Also, an outer flow passage separate from the inner flow passage extends through the latching mechanism between and in flow communication with the inner duct and the outer flow channel of the top nozzle for accommodating inflow of a portion of the heated coolant from the adjacent fuel assemblies. The latching mechanism contains a magnetic material sensitive to temperature and operable to cause mating or latching together of the components of the latching mechanism when the temperature sensed is below a known temperature and unmating or unlatching thereof when the temperature sensed is above a given temperature. The temperature sensitive magnetic material is positioned in communication with the heated coolant flow through the outer flow passage for directly sensing the temperature thereof. Finally, the pumping means includes a jet induction pump nozzle and diffuser disposed adjacent the bottom nozzle of the control assembly and in flow communication with the inlet thereof. The pump nozzle is operable to create an upward driving flow of primary coolant through the pump diffuser and then to the absorber bundles. The upward driving flow of primary coolant, in turn, creates a suction head within the outer flow channel of the top nozzle and thereby an auxiliary downward flow of the heated coolant portion exiting from the upper end of the adjacent fuel assemblies through the outer flow channel to the pump nozzle via the outer flow passage of the latching mechanism and an annular space between the outer and inner spaced ducts of the control assembly housing. The temperature of the heated coolant exiting from the adjacent fuel assemblies can thereby be sensed directly by the temperature sensitive magnetic material in the latching mechanism.

Effects of maneuver dynamics on drag polars of the X-29A forward-swept-wing aircraft with automatic wing camber control

NASA Technical Reports Server (NTRS)

Hicks, John W.; Moulton, Bryan J.

1988-01-01

The camber control loop of the X-29A FSW aircraft was designed to furnish the optimum L/D for trimmed, stabilized flight. A marked difference was noted between automatic wing camber control loop behavior in dynamic maneuvers and in stabilized flight conditions, which in turn affected subsonic aerodynamic performance. The degree of drag level increase was a direct function of maneuver rate. Attention is given to the aircraft flight drag polar effects of maneuver dynamics in light of wing camber control loop schedule. The effect of changing camber scheduling to better track the optimum automatic camber control L/D schedule is discussed.

Adaptation of a modern medium helicopter (Sikorsky S-76) to higher harmonic control

NASA Technical Reports Server (NTRS)

Oleary, J. J.; Kottapalli, S. B. R.; Davis, M. W.

1985-01-01

Sikorsky Aircraft has performed analytical studies, design analyses, and risk reduction tests have been performed for Higher Harmonic Control (HHC) on the S-76. The S-76 is an 8 to 10,000 lb helicopter which cruises at 145 kts. Flight test hardware has been assembled, main servo frequency response tested and upgraded, aircraft control system shake tested and verified, open loop controllers designed and fabricated, closed loop controllers defined and evaluated, and rotors turning ground and flight tests planned for the near future. Open loop analysis shows that about 2 deg of higher harmonic feathering at the blade 75% radius will be required to eliminate 4P vibration in the cockpit.

Optimal Lorentz-augmented spacecraft formation flying in elliptic orbits

NASA Astrophysics Data System (ADS)

Huang, Xu; Yan, Ye; Zhou, Yang

2015-06-01

An electrostatically charged spacecraft accelerates as it moves through the Earth's magnetic field due to the induced Lorentz force, providing a new means of propellantless electromagnetic propulsion for orbital maneuvers. The feasibility of Lorentz-augmented spacecraft formation flying in elliptic orbits is investigated in this paper. Assuming the Earth's magnetic field as a tilted dipole corotating with Earth, a nonlinear dynamical model that characterizes the orbital motion of Lorentz spacecraft in the vicinity of arbitrary elliptic orbits is developed. To establish a predetermined formation configuration at given terminal time, pseudospectral method is used to solve the optimal open-loop trajectories of hybrid control inputs consisted of Lorentz acceleration and thruster-generated control acceleration. A nontilted dipole model is also introduced to analyze the effect of dipole tilt angle via comparisons with the tilted one. Meanwhile, to guarantee finite-time convergence and system robustness against external perturbations, a continuous fast nonsingular terminal sliding mode controller is designed and the closed-loop system stability is proved by Lyapunov theory. Numerical simulations substantiate the validity of proposed open-loop and closed-loop control schemes, and the results indicate that an almost propellantless formation establishment can be achieved by choosing appropriate objective function in the pseudospectral method. Furthermore, compared to the nonsingular terminal sliding mode controller, the closed-loop controller presents superior convergence rate with only a bit more control effort. And the proposed controller can be applied in other Lorentz-augmented relative orbital control problems.

Numerical simulation of axisymmetric valve operation for different outer cone angle

NASA Astrophysics Data System (ADS)

Smyk, Emil

One of the method of flow separation control is application of axisymmetric valve. It is composed of nozzle with core. Normally the main flow is attached to inner cone and flow by preferential collector to primary flow pipe. If through control nozzle starts flow jet (control jet) the main flow is switched to annular secondary collector. In both situation the main flow is deflected to inner or outer cone (placed at the outlet of the valve's nozzle) by Coanda effect. The paper deals with the numerical simulation of this axisymetric annular nozzle with integrated synthetic jet actuator. The aim of the work is influence examination of outer cone angle on deflection on main stream.

A digital optical phase-locked loop for diode lasers based on field programmable gate array.

PubMed

Xu, Zhouxiang; Zhang, Xian; Huang, Kaikai; Lu, Xuanhui

2012-09-01

We have designed and implemented a highly digital optical phase-locked loop (OPLL) for diode lasers in atom interferometry. The three parts of controlling circuit in this OPLL, including phase and frequency detector (PFD), loop filter and proportional integral derivative (PID) controller, are implemented in a single field programmable gate array chip. A structure type compatible with the model MAX9382∕MCH12140 is chosen for PFD and pipeline and parallelism technology have been adapted in PID controller. Especially, high speed clock and twisted ring counter have been integrated in the most crucial part, the loop filter. This OPLL has the narrow beat note line width below 1 Hz, residual mean-square phase error of 0.14 rad(2) and transition time of 100 μs under 10 MHz frequency step. A main innovation of this design is the completely digitalization of the whole controlling circuit in OPLL for diode lasers.

A digital optical phase-locked loop for diode lasers based on field programmable gate array

NASA Astrophysics Data System (ADS)

Xu, Zhouxiang; Zhang, Xian; Huang, Kaikai; Lu, Xuanhui

2012-09-01

We have designed and implemented a highly digital optical phase-locked loop (OPLL) for diode lasers in atom interferometry. The three parts of controlling circuit in this OPLL, including phase and frequency detector (PFD), loop filter and proportional integral derivative (PID) controller, are implemented in a single field programmable gate array chip. A structure type compatible with the model MAX9382/MCH12140 is chosen for PFD and pipeline and parallelism technology have been adapted in PID controller. Especially, high speed clock and twisted ring counter have been integrated in the most crucial part, the loop filter. This OPLL has the narrow beat note line width below 1 Hz, residual mean-square phase error of 0.14 rad2 and transition time of 100 μs under 10 MHz frequency step. A main innovation of this design is the completely digitalization of the whole controlling circuit in OPLL for diode lasers.

Miniature Fourier transform spectrometer with a dual closed-loop controlled electrothermal micromirror.

PubMed

Han, Fengtian; Wang, Wei; Zhang, Xiaoyang; Xie, Huikai

2016-10-03

A large piston-displacement electrothermal micromirror with closed-loop control of both piston scan and tilting of the mirror plate is demonstrated for use in a miniature Fourier transform spectrometer. Constant scan velocity in an ultra large piston scan range has been demonstrated by the proposed closed-loop piston control scheme which can be easily implemented without considerably increasing system complexity. The experimental results show that the usable linear scan range generated by the micromirror has been extended up to 505 μm. The measured spectral resolution in a compact spectrometer reaches 20 cm^-1, or 0.57 nm at 532 nm wavelength. Compared to other presented systems, this microspectrometer will benefit from the closed-loop thermal actuator approach utilizing both the piston servo and tilt control to provide more consistent spectral response, improved spectral resolution and enhanced robustness to disturbances.

Cooling system with automated seasonal freeze protection

DOEpatents

Campbell, Levi A.; Chu, Richard C.; David, Milnes P.; Ellsworth, Jr., Michael J.; Iyengar, Madhusudan K.; Simons, Robert E.; Singh, Prabjit; Zhang, Jing

2016-05-24

An automated multi-fluid cooling system and method are provided for cooling an electronic component(s). The cooling system includes a coolant loop, a coolant tank, multiple valves, and a controller. The coolant loop is at least partially exposed to outdoor ambient air temperature(s) during normal operation, and the coolant tank includes first and second reservoirs containing first and second fluids, respectively. The first fluid freezes at a lower temperature than the second, the second fluid has superior cooling properties compared with the first, and the two fluids are soluble. The multiple valves are controllable to selectively couple the first or second fluid into the coolant in the coolant loop, wherein the coolant includes at least the second fluid. The controller automatically controls the valves to vary first fluid concentration level in the coolant loop based on historical, current, or anticipated outdoor air ambient temperature(s) for a time of year.

Lessons Learned and Flight Results from the F15 Intelligent Flight Control System Project

NASA Technical Reports Server (NTRS)

Bosworth, John

2006-01-01

A viewgraph presentation on the lessons learned and flight results from the F15 Intelligent Flight Control System (IFCS) project is shown. The topics include: 1) F-15 IFCS Project Goals; 2) Motivation; 3) IFCS Approach; 4) NASA F-15 #837 Aircraft Description; 5) Flight Envelope; 6) Limited Authority System; 7) NN Floating Limiter; 8) Flight Experiment; 9) Adaptation Goals; 10) Handling Qualities Performance Metric; 11) Project Phases; 12) Indirect Adaptive Control Architecture; 13) Indirect Adaptive Experience and Lessons Learned; 14) Gen II Direct Adaptive Control Architecture; 15) Current Status; 16) Effect of Canard Multiplier; 17) Simulated Canard Failure Stab Open Loop; 18) Canard Multiplier Effect Closed Loop Freq. Resp.; 19) Simulated Canard Failure Stab Open Loop with Adaptation; 20) Canard Multiplier Effect Closed Loop with Adaptation; 21) Gen 2 NN Wts from Simulation; 22) Direct Adaptive Experience and Lessons Learned; and 23) Conclusions

Cooling method with automated seasonal freeze protection

DOEpatents

Cambell, Levi; Chu, Richard; David, Milnes; Ellsworth, Jr, Michael; Iyengar, Madhusudan; Simons, Robert; Singh, Prabjit; Zhang, Jing

2016-05-31

An automated multi-fluid cooling method is provided for cooling an electronic component(s). The method includes obtaining a coolant loop, and providing a coolant tank, multiple valves, and a controller. The coolant loop is at least partially exposed to outdoor ambient air temperature(s) during normal operation, and the coolant tank includes first and second reservoirs containing first and second fluids, respectively. The first fluid freezes at a lower temperature than the second, the second fluid has superior cooling properties compared with the first, and the two fluids are soluble. The multiple valves are controllable to selectively couple the first or second fluid into the coolant in the coolant loop, wherein the coolant includes at least the second fluid. The controller automatically controls the valves to vary first fluid concentration level in the coolant loop based on historical, current, or anticipated outdoor air ambient temperature(s) for a time of year.

Design and simulation of a sensor for heliostat field closed loop control

NASA Astrophysics Data System (ADS)

Collins, Mike; Potter, Daniel; Burton, Alex

2017-06-01

Significant research has been completed in pursuit of capital cost reductions for heliostats [1],[2]. The camera array closed loop control concept has potential to radically alter the way heliostats are controlled and installed by replacing high quality open loop targeting systems with low quality targeting devices that rely on measurement of image position to remove tracking errors during operation. Although the system could be used for any heliostat size, the system significantly benefits small heliostats by reducing actuation costs, enabling large numbers of heliostats to be calibrated simultaneously, and enabling calibration of heliostats that produce low irradiance (similar or less than ambient light images) on Lambertian calibration targets, such as small heliostats that are far from the tower. A simulation method for the camera array has been designed and verified experimentally. The simulation tool demonstrates that closed loop calibration or control is possible using this device.

ORION Environmental Control and Life Support Systems Suit Loop and Pressure Control Analysis

NASA Technical Reports Server (NTRS)

Eckhardt, Brad; Conger, Bruce; Stambaugh, Imelda C.

2015-01-01

Under NASA's ORION Multi-Purpose Crew Vehicle (MPCV) Environmental Control and Life Support System (ECLSS) Project at Johnson Space Center's (JSC), the Crew and Thermal Systems Division has developed performance models of the air system using Thermal Desktop/FloCAD. The Thermal Desktop model includes an Air Revitalization System (ARS Loop), a Suit Loop, a Cabin Loop, and Pressure Control System (PCS) for supplying make-up gas (N2 and O2) to the Cabin and Suit Loop. The ARS and PCS are designed to maintain air quality at acceptable O2, CO2 and humidity levels as well as internal pressures in the vehicle Cabin and during suited operations. This effort required development of a suite of Thermal Desktop Orion ECLSS models to address the need for various simulation capabilities regarding ECLSS performance. An initial highly detailed model of the ARS Loop was developed in order to simulate rapid pressure transients (water hammer effects) within the ARS Loop caused by events such as cycling of the Pressurized Swing Adsorption (PSA) Beds and required high temporal resolution (small time steps) in the model during simulation. A second ECLSS model was developed to simulate events which occur over longer periods of time (over 30 minutes) where O2, CO2 and humidity levels, as well as internal pressures needed to be monitored in the cabin and for suited operations. Stand-alone models of the PCS and the Negative Pressure relief Valve (NPRV) were developed to study thermal effects within the PCS during emergency scenarios (Cabin Leak) and cabin pressurization during vehicle re-entry into Earth's atmosphere. Results from the Orion ECLSS models were used during Orion Delta-PDR (July, 2014) to address Key Design Requirements (KDR's) for Suit Loop operations for multiple mission scenarios.