Four-dimensional guidance algorithms for aircraft in an air traffic control environment

NASA Technical Reports Server (NTRS)

Pecsvaradi, T.

1975-01-01

Theoretical development and computer implementation of three guidance algorithms are presented. From a small set of input parameters the algorithms generate the ground track, altitude profile, and speed profile required to implement an experimental 4-D guidance system. Given a sequence of waypoints that define a nominal flight path, the first algorithm generates a realistic, flyable ground track consisting of a sequence of straight line segments and circular arcs. Each circular turn is constrained by the minimum turning radius of the aircraft. The ground track and the specified waypoint altitudes are used as inputs to the second algorithm which generates the altitude profile. The altitude profile consists of piecewise constant flight path angle segments, each segment lying within specified upper and lower bounds. The third algorithm generates a feasible speed profile subject to constraints on the rate of change in speed, permissible speed ranges, and effects of wind. Flight path parameters are then combined into a chronological sequence to form the 4-D guidance vectors. These vectors can be used to drive the autopilot/autothrottle of the aircraft so that a 4-D flight path could be tracked completely automatically; or these vectors may be used to drive the flight director and other cockpit displays, thereby enabling the pilot to track a 4-D flight path manually.

Dynamic Curvature Steering Control for Autonomous Vehicle: Performance Analysis

NASA Astrophysics Data System (ADS)

Aizzat Zakaria, Muhammad; Zamzuri, Hairi; Amri Mazlan, Saiful

2016-02-01

This paper discusses the design of dynamic curvature steering control for autonomous vehicle. The lateral control and longitudinal control are discussed in this paper. The controller is designed based on the dynamic curvature calculation to estimate the path condition and modify the vehicle speed and steering wheel angle accordingly. In this paper, the simulation results are presented to show the capability of the controller to track the reference path. The controller is able to predict the path and modify the vehicle speed to suit the path condition. The effectiveness of the controller is shown in this paper whereby identical performance is achieved with the benchmark but with extra curvature adaptation capabilites.

Vehicle Guidance and Control Along Circular Trajectories

DTIC Science & Technology

1992-09-01

the line of sight, while Chism [2] studied a cross track error based control law. Hawkinson [3] extended the results to the multiple input case when...Thesis, Naval Postgraduate School, Monterey, California, June. 2. Chism , S., (1990) "Robust path tracking of autonomous underwater vehicles using sliding

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

PubMed

Lin, Jhih-Hong; Chiang, Mao-Hsiung

2016-08-25

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

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

PubMed Central

Lin, Jhih-Hong; Chiang, Mao-Hsiung

2016-01-01

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

Evolution of the SOFIA tracking control system

NASA Astrophysics Data System (ADS)

Fiebig, Norbert; Jakob, Holger; Pfüller, Enrico; Röser, Hans-Peter; Wiedemann, Manuel; Wolf, Jürgen

2014-07-01

The airborne observatory SOFIA (Stratospheric Observatory for Infrared Astronomy) is undergoing a modernization of its tracking system. This included new, highly sensitive tracking cameras, control computers, filter wheels and other equipment, as well as a major redesign of the control software. The experiences along the migration path from an aged 19" VMbus based control system to the application of modern industrial PCs, from VxWorks real-time operating system to embedded Linux and a state of the art software architecture are presented. Further, the concept is presented to operate the new camera also as a scientific instrument, in parallel to tracking.

Results of a simulator test comparing two display concepts for piloted flight-path-angle control

NASA Technical Reports Server (NTRS)

Kelley, W. W.

1978-01-01

Results of a simulator experiment which was conducted in order to compare pilot gamma-control performance using two display formats are reported. Pilots flew a variable flight path angle tracking task in the landing configuration. Pilot and airplane performance parameters were recorded and pilot comments noted for each case.

Manual flying of curved precision approaches to landing with electromechanical instrumentation. A piloted simulation study

NASA Technical Reports Server (NTRS)

Knox, Charles E.

1993-01-01

A piloted simulation study was conducted to examine the requirements for using electromechanical flight instrumentation to provide situation information and flight guidance for manually controlled flight along curved precision approach paths to a landing. Six pilots were used as test subjects. The data from these tests indicated that flight director guidance is required for the manually controlled flight of a jet transport airplane on curved approach paths. Acceptable path tracking performance was attained with each of the three situation information algorithms tested. Approach paths with both multiple sequential turns and short final path segments were evaluated. Pilot comments indicated that all the approach paths tested could be used in normal airline operations.

Integrated mobile robot control

NASA Technical Reports Server (NTRS)

Amidi, Omead; Thorpe, Charles

1991-01-01

This paper describes the structure, implementation, and operation of a real-time mobile robot controller which integrates capabilities such as: position estimation, path specification and tracking, human interfaces, fast communication, and multiple client support. The benefits of such high-level capabilities in a low-level controller was shown by its implementation for the Navlab autonomous vehicle. In addition, performance results from positioning and tracking systems are reported and analyzed.

Olfaction Contributes to Pelagic Navigation in a Coastal Shark.

PubMed

Nosal, Andrew P; Chao, Yi; Farrara, John D; Chai, Fei; Hastings, Philip A

2016-01-01

How animals navigate the constantly moving and visually uniform pelagic realm, often along straight paths between distant sites, is an enduring mystery. The mechanisms enabling pelagic navigation in cartilaginous fishes are particularly understudied. We used shoreward navigation by leopard sharks (Triakis semifasciata) as a model system to test whether olfaction contributes to pelagic navigation. Leopard sharks were captured alongshore, transported 9 km offshore, released, and acoustically tracked for approximately 4 h each until the transmitter released. Eleven sharks were rendered anosmic (nares occluded with cotton wool soaked in petroleum jelly); fifteen were sham controls. Mean swimming depth was 28.7 m. On average, tracks of control sharks ended 62.6% closer to shore, following relatively straight paths that were significantly directed over spatial scales exceeding 1600 m. In contrast, tracks of anosmic sharks ended 37.2% closer to shore, following significantly more tortuous paths that approximated correlated random walks. These results held after swimming paths were adjusted for current drift. This is the first study to demonstrate experimentally that olfaction contributes to pelagic navigation in sharks, likely mediated by chemical gradients as has been hypothesized for birds. Given the similarities between the fluid three-dimensional chemical atmosphere and ocean, further research comparing swimming and flying animals may lead to a unifying paradigm explaining their extraordinary navigational abilities.

A Lyapunov-Based Approach for Time-Coordinated 3D Path-Following of Multiple Quadrotors

DTIC Science & Technology

2012-12-01

presented in [10] as solutions for accommodating the nonlinear disturbances for outdoor altitude control . Finally, in [11] a trajectory- tracking ... control algorithm is formulated using the Special Orthogonal group SO(3) for attitude representation, leading to a simple and singularity-free solution for...the trajectory tracking problem. Cooperation between multiple unmanned vehicles has also received significant attention in the control community in

Flatness-Based Tracking Control and Nonlinear Observer for a Micro Aerial Quadcopter

NASA Astrophysics Data System (ADS)

Rivera, G.; Sawodny, O.

2010-09-01

This paper deals with the design of a nonlinear observer and a differential flat based path tracking controller for a mini aerial quadcopter. Taking into account that only the inertial coordinates and the yaw angle are available for measurements, it is shown, that the system is differentially flat, allowing a systematic design of a nonlinear tracking control in open and closed loop. A nonlinear observer is carried out to estimate the roll and pitch angle as well as all the linear and angular velocities. Finally the performance of the feedback controller and observer are illustrated in a computer simulation.

Vision-Based Leader Vehicle Trajectory Tracking for Multiple Agricultural Vehicles

PubMed Central

Zhang, Linhuan; Ahamed, Tofael; Zhang, Yan; Gao, Pengbo; Takigawa, Tomohiro

2016-01-01

The aim of this study was to design a navigation system composed of a human-controlled leader vehicle and a follower vehicle. The follower vehicle automatically tracks the leader vehicle. With such a system, a human driver can control two vehicles efficiently in agricultural operations. The tracking system was developed for the leader and the follower vehicle, and control of the follower was performed using a camera vision system. A stable and accurate monocular vision-based sensing system was designed, consisting of a camera and rectangular markers. Noise in the data acquisition was reduced by using the least-squares method. A feedback control algorithm was used to allow the follower vehicle to track the trajectory of the leader vehicle. A proportional–integral–derivative (PID) controller was introduced to maintain the required distance between the leader and the follower vehicle. Field experiments were conducted to evaluate the sensing and tracking performances of the leader-follower system while the leader vehicle was driven at an average speed of 0.3 m/s. In the case of linear trajectory tracking, the RMS errors were 6.5 cm, 8.9 cm and 16.4 cm for straight, turning and zigzag paths, respectively. Again, for parallel trajectory tracking, the root mean square (RMS) errors were found to be 7.1 cm, 14.6 cm and 14.0 cm for straight, turning and zigzag paths, respectively. The navigation performances indicated that the autonomous follower vehicle was able to follow the leader vehicle, and the tracking accuracy was found to be satisfactory. Therefore, the developed leader-follower system can be implemented for the harvesting of grains, using a combine as the leader and an unloader as the autonomous follower vehicle. PMID:27110793

Vision-Based Leader Vehicle Trajectory Tracking for Multiple Agricultural Vehicles.

PubMed

Zhang, Linhuan; Ahamed, Tofael; Zhang, Yan; Gao, Pengbo; Takigawa, Tomohiro

2016-04-22

The aim of this study was to design a navigation system composed of a human-controlled leader vehicle and a follower vehicle. The follower vehicle automatically tracks the leader vehicle. With such a system, a human driver can control two vehicles efficiently in agricultural operations. The tracking system was developed for the leader and the follower vehicle, and control of the follower was performed using a camera vision system. A stable and accurate monocular vision-based sensing system was designed, consisting of a camera and rectangular markers. Noise in the data acquisition was reduced by using the least-squares method. A feedback control algorithm was used to allow the follower vehicle to track the trajectory of the leader vehicle. A proportional-integral-derivative (PID) controller was introduced to maintain the required distance between the leader and the follower vehicle. Field experiments were conducted to evaluate the sensing and tracking performances of the leader-follower system while the leader vehicle was driven at an average speed of 0.3 m/s. In the case of linear trajectory tracking, the RMS errors were 6.5 cm, 8.9 cm and 16.4 cm for straight, turning and zigzag paths, respectively. Again, for parallel trajectory tracking, the root mean square (RMS) errors were found to be 7.1 cm, 14.6 cm and 14.0 cm for straight, turning and zigzag paths, respectively. The navigation performances indicated that the autonomous follower vehicle was able to follow the leader vehicle, and the tracking accuracy was found to be satisfactory. Therefore, the developed leader-follower system can be implemented for the harvesting of grains, using a combine as the leader and an unloader as the autonomous follower vehicle.

Control of mechanical systems with rolling constraints: Application to dynamic control of mobile robots

NASA Technical Reports Server (NTRS)

Sarkar, Nilanjan; Yun, Xiaoping; Kumar, Vijay

1994-01-01

There are many examples of mechanical systems that require rolling contacts between two or more rigid bodies. Rolling contacts engender nonholonomic constraints in an otherwise holonomic system. In this article, we develop a unified approach to the control of mechanical systems subject to both holonomic and nonholonomic constraints. We first present a state space realization of a constrained system. We then discuss the input-output linearization and zero dynamics of the system. This approach is applied to the dynamic control of mobile robots. Two types of control algorithms for mobile robots are investigated: trajectory tracking and path following. In each case, a smooth nonlinear feedback is obtained to achieve asymptotic input-output stability and Lagrange stability of the overall system. Simulation results are presented to demonstrate the effectiveness of the control algorithms and to compare the performane of trajectory-tracking and path-following algorithms.

Optimal control to modelling motorcycle rider steering: local versus global coordinate systems in rider preview

NASA Astrophysics Data System (ADS)

Rowell, S.; Popov, A. A.; Meijaard, J. P.

2010-04-01

The response of a motorcycle is heavily dependent on the rider's control actions, and consequently a means of replicating the rider's behaviour provides an important extension to motorcycle dynamics. The primary objective here is to develop effective path-following simulations and to understand how riders control motorcycles. Optimal control theory is applied to the tracking of roadway by a motorcycle, using a non-linear motorcycle model operating in free control by steering torque input. A path-following controller with road preview is designed by minimising tracking errors and control effort. Tight controls with high weightings on performance and loose controls with high weightings on control power are defined. Special attention is paid to the modelling of multipoint preview in local and global coordinate systems. The controller model is simulated over a standard single lane-change manoeuvre. It is argued that the local coordinates point of view is more representative of the way that a human rider operates and interprets information. The simulations suggest that for accurate path following, using optimal control, the problem must be solved by the local coordinates approach in order to achieve accurate results with short preview horizons. Furthermore, some weaknesses of the optimal control approach are highlighted here.

Quadcopter Path Following Control Design Using Output Feedback with Command Generator Tracker LOS Based At Square Path

NASA Astrophysics Data System (ADS)

Nugraha, A. T.; Agustinah, T.

2018-01-01

Quadcopter an unstable system, underactuated and nonlinear in quadcopter control research developments become an important focus of attention. In this study, following the path control method for position on the X and Y axis, used structure-Generator Tracker Command (CGT) is tested. Attitude control and position feedback quadcopter is compared using the optimal output. The addition of the H∞ performance optimal output feedback control is used to maintain the stability and robustness of quadcopter. Iterative numerical techniques Linear Matrix Inequality (LMI) is used to find the gain controller. The following path control problems is solved using the method of LQ regulators with output feedback. Simulations show that the control system can follow the paths that have been defined in the form of a reference signal square shape. The result of the simulation suggest that the method which used can bring the yaw angle at the expected value algorithm. Quadcopter can do automatically following path with cross track error mean X=0.5 m and Y=0.2 m.

Stability of simulated flight path control at +3 Gz in a human centrifuge.

PubMed

Guardiera, Simon; Dalecki, Marc; Bock, Otmar

2010-04-01

Earlier studies have shown that naïve subjects and experienced jet pilots produce exaggerated manual forces when exposed to increased acceleration (+Gz). This study was designed to evaluate whether this exaggeration affects the stability of simulated flight path control. We evaluated naïve subjects' performance in a flight simulator which either remained stationary (+1 Gz), or rotated to induce an acceleration in accordance to the simulated flight path with a mean acceleration of about +3 Gz. In either case, subjects were requested to produce a series of altitude changes in pursuit of a visual target airplane. Resulting flight paths were analyzed to determine the largest oscillation after an altitude change (Oscillation) and the mean deviation between subject and target flight path (Tracking Error). Flight stability after an altitude change was degraded in +3 Gz compared to +1 Gz, as evidenced by larger Oscillations (+11%) and increased Tracking Errors (+80%). These deficits correlated significantly with subjects' +3 Gz deficits in a manual-force production task. We conclude that force exaggeration in +3 Gz may impair flight stability during simulated jet maneuvers in naïve subjects, most likely as a consequence of vestibular stimulation.

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.

Quadrotor trajectory tracking using PID cascade control

NASA Astrophysics Data System (ADS)

Idres, M.; Mustapha, O.; Okasha, M.

2017-12-01

Quadrotors have been applied to collect information for traffic, weather monitoring, surveillance and aerial photography. In order to accomplish their mission, quadrotors have to follow specific trajectories. This paper presents proportional-integral-derivative (PID) cascade control of a quadrotor for path tracking problem when velocity and acceleration are small. It is based on near hover controller for small attitude angles. The integral of time-weighted absolute error (ITAE) criterion is used to determine the PID gains as a function of quadrotor modeling parameters. The controller is evaluated in three-dimensional environment in Simulink. Overall, the tracking performance is found to be excellent for small velocity condition.

Terminal Sliding Mode Tracking Controller Design for Automatic Guided Vehicle

NASA Astrophysics Data System (ADS)

Chen, Hongbin

2018-03-01

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

Rotational symmetric HMD with eye-tracking capability

NASA Astrophysics Data System (ADS)

Liu, Fangfang; Cheng, Dewen; Wang, Qiwei; Wang, Yongtian

2016-10-01

As an important auxiliary function of head-mounted displays (HMDs), eye tracking has an important role in the field of intelligent human-machine interaction. In this paper, an eye-tracking HMD system (ET-HMD) is designed based on the rotational symmetric system. The tracking principle in this paper is based on pupil-corneal reflection. The ET-HMD system comprises three optical paths for virtual display, infrared illumination, and eye tracking. The display optics is shared by three optical paths and consists of four spherical lenses. For the eye-tracking path, an extra imaging lens is added to match the image sensor and achieve eye tracking. The display optics provides users a 40° diagonal FOV with a ״ 0.61 OLED, the 19 mm eye clearance, and 10 mm exit pupil diameter. The eye-tracking path can capture 15 mm × 15 mm of the users' eyes. The average MTF is above 0.1 at 26 lp/mm for the display path, and exceeds 0.2 at 46 lp/mm for the eye-tracking path. Eye illumination is simulated using LightTools with an eye model and an 850 nm near-infrared LED (NIR-LED). The results of the simulation show that the illumination of the NIR-LED can cover the area of the eye model with the display optics that is sufficient for eye tracking. The integrated optical system HMDs with eye-tracking feature can help improve the HMD experience of users.

Path tracking control of an omni-directional walker considering pressures from a user.

PubMed

Tan, Renpeng; Wang, Shuoyu; Jiang, Yinlai; Ishida, Kenji; Fujie, Masakatsu G

2013-01-01

An omni-directional walker (ODW) is being developed to support the people with walking disabilities to do walking rehabilitation. The training paths, which the user follows in the rehabilitation, are defined by physical therapists and stored in the ODW. In order to obtain a good training effect, the defined training paths need to be performed accurately. However, the ODW deviates from the training path in real rehabilitation, which is caused by the variation of the whole system's parameters due to the force from the user. In this paper, the characteristics of pressures from a user are measured, based on which an adaptive controller is proposed to deal with this problem, and validated in an experiment in which a pseudo handicapped person follows the ODW. The experimental results show that the proposed method can control the ODW to accurately follow the defined path with or without a user.

Flying Boresight for Advanced Testing and Calibration of Tracking Antennas and Flight Path Simulations

NASA Astrophysics Data System (ADS)

Hafner, D.

2015-09-01

The application of ground-based boresight sources for calibration and testing of tracking antennas usually entails various difficulties, mostly due to unwanted ground effects. To avoid this problem, DLR MORABA developed a small, lightweight, frequency-adjustable S-band boresight source, mounted on a small remote-controlled multirotor aircraft. Highly accurate GPS-supported, position and altitude control functions allow both, very steady positioning of the aircraft in mid-air, and precise waypoint-based, semi-autonomous flights. In contrast to fixed near-ground boresight sources this flying setup enables to avoid obstructions in the Fresnel zone between source and antenna. Further, it minimizes ground reflections and other multipath effects which can affect antenna calibration. In addition, the large operating range of a flying boresight simplifies measurements in the far field of the antenna and permits undisturbed antenna pattern tests. A unique application is the realistic simulation of sophisticated flight paths, including overhead tracking and demanding trajectories of fast objects such as sounding rockets. Likewise, dynamic tracking tests are feasible which provide crucial information about the antenna pedestal performance — particularly at high elevations — and reveal weaknesses in the autotrack control loop of tracking antenna systems. During acceptance tests of MORABA's new tracking antennas, a manned aircraft was never used, since the Flying Boresight surpassed all expectations regarding usability, efficiency, and precision. Hence, it became an integral part of MORABA's standard antenna setup and calibration procedures.

UAV-based L-band SAR with precision flight path control

NASA Astrophysics Data System (ADS)

Madsen, Soren N.; Hensley, Scott; Wheeler, Kevin; Sadowy, Gregory A.; Miller, Tim; Muellerschoen, Ron; Lou, Yunling; Rosen, Paul A.

2005-01-01

NASA's Jet Propulsion Laboratory is currently implementing a reconfigurable polarimetric L-band synthetic aperture radar (SAR), specifically designed to acquire airborne repeat track interferometric (RTI) SAR data, also know as differential interferometric measurements. Differential interferometry can provide key displacement measurements, important for the scientific studies of Earthquakes and volcanoes1. Using precision real-time GPS and a sensor controlled flight management system, the system will be able to fly predefined paths with great precision. The radar will be designed to operate on a UAV (Unmanned Arial Vehicle) but will initially be demonstrated on a minimally piloted vehicle (MPV), such as the Proteus build by Scaled Composites. The application requires control of the flight path to within a 10 m tube to support repeat track and formation flying measurements. The design is fully polarimetric with an 80 MHz bandwidth (2 m range resolution) and 16 km range swath. The antenna is an electronically steered array to assure that the actual antenna pointing can be controlled independent of the wind direction and speed. The system will nominally operate at 45,000 ft. The program started out as a Instrument Incubator Project (IIP) funded by NASA Earth Science and Technology Office (ESTO).

UAV-Based L-Band SAR with Precision Flight Path Control

NASA Technical Reports Server (NTRS)

Madsen, Soren N.; Hensley, Scott; Wheeler, Kevin; Sadowy, Greg; Miller, Tim; Muellerschoen, Ron; Lou, Yunling; Rosen, Paul

2004-01-01

NASA's Jet Propulsion Laboratory is currently implementing a reconfigurable polarimetric L-band synthetic aperture radar (SAR), specifically designed to acquire airborne repeat track interferometric (RTI) SAR data, also know as differential interferometric measurements. Differential interferometry can provide key displacement measurements, important for the scientific studies of Earthquakes and volcanoes. Using precision real-time GPS and a sensor controlled flight management system, the system will be able to fly predefined paths with great precision. The radar will be designed to operate on a UAV (Unmanned Arial Vehicle) but will initially be demonstrated on a minimally piloted vehicle (MPV), such as the Proteus build by Scaled Composites. The application requires control of the flight path to within a 10 meter tube to support repeat track and formation flying measurements. The design is fully polarimetric with an 80 MHz bandwidth (2 meter range resolution) and 16 kilometer range swath. The antenna is an electronically steered array to assure that the actual antenna pointing can be controlled independent of the wind direction and speed. The system will nominally operate at 45,000 ft. The program started out as a Instrument Incubator Project (IIP) funded by NASA Earth Science and Technology Office (ESTO).

Optimal Predictive Control for Path Following of a Full Drive-by-Wire Vehicle at Varying Speeds

NASA Astrophysics Data System (ADS)

SONG, Pan; GAO, Bolin; XIE, Shugang; FANG, Rui

2017-05-01

The current research of the global chassis control problem for the full drive-by-wire vehicle focuses on the control allocation (CA) of the four-wheel-distributed traction/braking/steering systems. However, the path following performance and the handling stability of the vehicle can be enhanced a step further by automatically adjusting the vehicle speed to the optimal value. The optimal solution for the combined longitudinal and lateral motion control (MC) problem is given. First, a new variable step-size spatial transformation method is proposed and utilized in the prediction model to derive the dynamics of the vehicle with respect to the road, such that the tracking errors can be explicitly obtained over the prediction horizon at varying speeds. Second, a nonlinear model predictive control (NMPC) algorithm is introduced to handle the nonlinear coupling between any two directions of the vehicular planar motion and computes the sequence of the optimal motion states for following the desired path. Third, a hierarchical control structure is proposed to separate the motion controller into a NMPC based path planner and a terminal sliding mode control (TSMC) based path follower. As revealed through off-line simulations, the hierarchical methodology brings nearly 1700% improvement in computational efficiency without loss of control performance. Finally, the control algorithm is verified through a hardware in-the-loop simulation system. Double-lane-change (DLC) test results show that by using the optimal predictive controller, the root-mean-square (RMS) values of the lateral deviations and the orientation errors can be reduced by 41% and 30%, respectively, comparing to those by the optimal preview acceleration (OPA) driver model with the non-preview speed-tracking method. Additionally, the average vehicle speed is increased by 0.26 km/h with the peak sideslip angle suppressed to 1.9°. This research proposes a novel motion controller, which provides the full drive-by-wire vehicle with better lane-keeping and collision-avoidance capabilities during autonomous driving.

Trajectory control of robot manipulators with closed-kinematic chain mechanism

NASA Technical Reports Server (NTRS)

Nguyen, Charles C.; Pooran, Farhad J.; Premack, Timothy

1987-01-01

The problem of Cartesian trajectory control of a closed-kinematic chain mechanism robot manipulator, recently built at CAIR to study the assembly of NASA hardware for the future Space Station, is considered. The study is performed by both computer simulation and experimentation for tracking of three different paths: a straight line, a sinusoid, and a circle. Linearization and pole placement methods are employed to design controller gains. Results show that the controllers are robust and there are good agreements between simulation and experimentation. The results also show excellent tracking quality and small overshoots.

Adaptive Tracking Control for Robots With an Interneural Computing Scheme.

PubMed

Tsai, Feng-Sheng; Hsu, Sheng-Yi; Shih, Mau-Hsiang

2018-04-01

Adaptive tracking control of mobile robots requires the ability to follow a trajectory generated by a moving target. The conventional analysis of adaptive tracking uses energy minimization to study the convergence and robustness of the tracking error when the mobile robot follows a desired trajectory. However, in the case that the moving target generates trajectories with uncertainties, a common Lyapunov-like function for energy minimization may be extremely difficult to determine. Here, to solve the adaptive tracking problem with uncertainties, we wish to implement an interneural computing scheme in the design of a mobile robot for behavior-based navigation. The behavior-based navigation adopts an adaptive plan of behavior patterns learning from the uncertainties of the environment. The characteristic feature of the interneural computing scheme is the use of neural path pruning with rewards and punishment interacting with the environment. On this basis, the mobile robot can be exploited to change its coupling weights in paths of neural connections systematically, which can then inhibit or enhance the effect of flow elimination in the dynamics of the evolutionary neural network. Such dynamical flow translation ultimately leads to robust sensory-to-motor transformations adapting to the uncertainties of the environment. A simulation result shows that the mobile robot with the interneural computing scheme can perform fault-tolerant behavior of tracking by maintaining suitable behavior patterns at high frequency levels.

Automatic Welding Control Using a State Variable Model.

DTIC Science & Technology

1979-06-01

A-A10 610 NAVEAL POSTGRADUATE SCH4O.M CEAY CA0/ 13/ SAUTOMATIC WELDING CONTROL USING A STATE VARIABLE MODEL.W()JUN 79 W V "my UNCLASSIFIED...taverse Drive Unit // Jbint Path /Fixed Track 34 (servomotor positioning). Additional controls of heave (vertical), roll (angular rotation about the

MRI-based dynamic tracking of an untethered ferromagnetic microcapsule navigating in liquid

NASA Astrophysics Data System (ADS)

Dahmen, Christian; Belharet, Karim; Folio, David; Ferreira, Antoine; Fatikow, Sergej

2016-04-01

The propulsion of ferromagnetic objects by means of MRI gradients is a promising approach to enable new forms of therapy. In this work, necessary techniques are presented to make this approach work. This includes path planning algorithms working on MRI data, ferromagnetic artifact imaging and a tracking algorithm which delivers position feedback for the ferromagnetic objects, and a propulsion sequence to enable interleaved magnetic propulsion and imaging. Using a dedicated software environment, integrating path-planning methods and real-time tracking, a clinical MRI system is adapted to provide this new functionality for controlled interventional targeted therapeutic applications. Through MRI-based sensing analysis, this article aims to propose a framework to plan a robust pathway to enhance the navigation ability to reach deep locations in the human body. The proposed approaches are validated with different experiments.

UCAV path planning in the presence of radar-guided surface-to-air missile threats

NASA Astrophysics Data System (ADS)

Zeitz, Frederick H., III

This dissertation addresses the problem of path planning for unmanned combat aerial vehicles (UCAVs) in the presence of radar-guided surface-to-air missiles (SAMs). The radars, collocated with SAM launch sites, operate within the structure of an Integrated Air Defense System (IADS) that permits communication and cooperation between individual radars. The problem is formulated in the framework of the interaction between three sub-systems: the aircraft, the IADS, and the missile. The main features of this integrated model are: The aircraft radar cross section (RCS) depends explicitly on both the aspect and bank angles; hence, the RCS and aircraft dynamics are coupled. The probabilistic nature of IADS tracking is accounted for; namely, the probability that the aircraft has been continuously tracked by the IADS depends on the aircraft RCS and range from the perspective of each radar within the IADS. Finally, the requirement to maintain tracking prior to missile launch and during missile flyout are also modeled. Based on this model, the problem of UCAV path planning is formulated as a minimax optimal control problem, with the aircraft bank angle serving as control. Necessary conditions of optimality for this minimax problem are derived. Based on these necessary conditions, properties of the optimal paths are derived. These properties are used to discretize the dynamic optimization problem into a finite-dimensional, nonlinear programming problem that can be solved numerically. Properties of the optimal paths are also used to initialize the numerical procedure. A homotopy method is proposed to solve the finite-dimensional, nonlinear programming problem, and a heuristic method is proposed to improve the discretization during the homotopy process. Based upon the properties of numerical solutions, a method is proposed for parameterizing and storing information for later recall in flight to permit rapid replanning in response to changing threats. Illustrative examples are presented that confirm the standard flying tactics of "denying range, aspect, and aim," by yielding flight paths that "weave" to avoid long exposures of aspects with large RCS.

Robotics virtual rail system and method

DOEpatents

Bruemmer, David J [Idaho Falls, ID; Few, Douglas A [Idaho Falls, ID; Walton, Miles C [Idaho Falls, ID

2011-07-05

A virtual track or rail system and method is described for execution by a robot. A user, through a user interface, generates a desired path comprised of at least one segment representative of the virtual track for the robot. Start and end points are assigned to the desired path and velocities are also associated with each of the at least one segment of the desired path. A waypoint file is generated including positions along the virtual track representing the desired path with the positions beginning from the start point to the end point including the velocities of each of the at least one segment. The waypoint file is sent to the robot for traversing along the virtual track.

Real-time path planning and autonomous control for helicopter autorotation

NASA Astrophysics Data System (ADS)

Yomchinda, Thanan

Autorotation is a descending maneuver that can be used to recover helicopters in the event of total loss of engine power; however it is an extremely difficult and complex maneuver. The objective of this work is to develop a real-time system which provides full autonomous control for autorotation landing of helicopters. The work includes the development of an autorotation path planning method and integration of the path planner with a primary flight control system. The trajectory is divided into three parts: entry, descent and flare. Three different optimization algorithms are used to generate trajectories for each of these segments. The primary flight control is designed using a linear dynamic inversion control scheme, and a path following control law is developed to track the autorotation trajectories. Details of the path planning algorithm, trajectory following control law, and autonomous autorotation system implementation are presented. The integrated system is demonstrated in real-time high fidelity simulations. Results indicate feasibility of the capability of the algorithms to operate in real-time and of the integrated systems ability to provide safe autorotation landings. Preliminary simulations of autonomous autorotation on a small UAV are presented which will lead to a final hardware demonstration of the algorithms.

On-Line Path Generation and Tracking for High-Speed Wheeled Autonomous Vehicles

DTIC Science & Technology

2006-02-17

On-Line Path Generation and Tracking for High-Speed Wheeled Autonomous Vehicles Report Title ABSTRACT In this work we proposed two semi-analytic...298-102 Enclosure 1 On-Line Path Generation and Tracking for High-Speed Wheeled Autonomous Vehicles by...Specifically, the following problems will be addressed during this project: 2.1 Challenges The problem of trajectory planning for high-speed autonomous vehicles is

9-D polarized proton transport in the MEIC figure 8 collider ring - first steps

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

Meot, F.; Morozov, V. S.

2015-05-03

Spin tracking studies in the MEIC figure-8 collider ion ring are presented, based on a very preliminary design of the lattice. They provide numerical illustrations of some of the aspects of the figure-8 concept, including spin-rotator based spin control, and lay out the path towards a complete spin tracking simulation of a figure-8 ring.

9-D polarized proton transport in the MEIC figure-8 collider ring: first steps

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

Meot, F.; Thomas Jefferson National Accelerator Facility; Morozov, V. S.

2014-10-24

Spin tracking studies in the MEIC figure-8 collider ion ring are presented, based on a very preliminary design of the lattice. They provide numerical illustrations of some of the aspects of the figure-8 concept, including spin-rotator based spin control, and lay out the path towards a complete spin tracking simulation of a figure-8 ring.

Development of an algorithm to model an aircraft equipped with a generic CDTI display

NASA Technical Reports Server (NTRS)

Driscoll, W. C.; Houck, J. A.

1986-01-01

A model of human pilot performance of a tracking task using a generic Cockpit Display of Traffic Information (CDTI) display is developed from experimental data. The tracking task is to use CDTI in tracking a leading aircraft at a nominal separation of three nautical miles over a prescribed trajectory in space. The analysis of the data resulting from a factorial design of experiments reveals that the tracking task performance depends on the pilot and his experience at performing the task. Performance was not strongly affected by the type of control system used (velocity vector control wheel steering versus 3D automatic flight path guidance and control). The model that is developed and verified results in state trajectories whose difference from the experimental state trajectories is small compared to the variation due to the pilot and experience factors.

77 FR 64374 - Notification of Petition for Approval; Port Authority Trans-Hudson Product Safety Plan

Federal Register 2010, 2011, 2012, 2013, 2014

2012-10-19

... assigned the petition Docket Number FRA-2012-0075. PATH is upgrading some of its track circuits with Digicode microprocessor-based track circuits. The Digicode track circuit is part of Alstom's Smartway Digital Track Circuit product line and will be used by PATH for train detection and broken rail detection...

Novel CO2 laser robotic controller outperforms experienced laser operators in tasks of accuracy and performance repeatability.

PubMed

Wong, Yu-Tung; Finley, Charles C; Giallo, Joseph F; Buckmire, Robert A

2011-08-01

To introduce a novel method of combining robotics and the CO(2) laser micromanipulator to provide excellent precision and performance repeatability designed for surgical applications. Pilot feasibility study. We developed a portable robotic controller that appends to a standard CO(2) laser micromanipulator. The robotic accuracy and laser beam path repeatability were compared to six experienced users of the industry standard micromanipulator performing the same simulated surgical tasks. Helium-neon laser beam video tracking techniques were employed. The robotic controller demonstrated superiority over experienced human manual micromanipulator control in accuracy (laser path within 1 mm of idealized centerline), 97.42% (standard deviation [SD] 2.65%), versus 85.11% (SD 14.51%), P = .018; and laser beam path repeatability (area of laser path divergence on successive trials), 21.42 mm(2) (SD 4.35 mm(2) ) versus 65.84 mm(2) (SD 11.93 mm(2) ), P = .006. Robotic micromanipulator control enhances accuracy and repeatability for specific laser tasks. Computerized control opens opportunity for alternative user interfaces and additional safety features. Copyright © 2011 The American Laryngological, Rhinological, and Otological Society, Inc.

Pulse width modulation-based temperature tracking for feedback control of a shape memory alloy actuator.

PubMed

Ayvali, Elif; Desai, Jaydev P

2014-04-01

This work presents a temperature-feedback approach to control the radius of curvature of an arc-shaped shape memory alloy (SMA) wire. The nonlinear properties of the SMA such as phase transformation and its dependence on temperature and stress make SMA actuators difficult to control. Tracking a desired trajectory is more challenging than controlling just the position of the SMA actuator since the desired path is continuously changing. Consequently, tracking the desired strain directly or tracking the parameters such as temperature and electrical resistance that are related to strain with a model is a challenging task. Temperature-feedback is an attractive approach when direct measurement of strain is not practical. Pulse width modulation (PWM) is an effective method for SMA actuation and it can be used along with a compensator to control the temperature of the SMA. Using the constitutive model of the SMA, the desired temperature profile can be obtained for a given strain trajectory. A PWM-based nonlinear PID controller with a feed-forward heat transfer model is proposed to use temperature-feedback for tracking a desired temperature trajectory. The proposed controller is used during the heating phase of the SMA actuator. The controller proves to be effective in tracking step-wise and continuous trajectories.

Dealing with the time-varying parameter problem of robot manipulators performing path tracking tasks

NASA Technical Reports Server (NTRS)

Song, Y. D.; Middleton, R. H.

1992-01-01

Many robotic applications involve time-varying payloads during the operation of the robot. It is therefore of interest to consider control schemes that deal with time-varying parameters. Using the properties of the element by element (or Hadarmad) product of matrices, we obtain the robot dynamics in parameter-isolated form, from which a new control scheme is developed. The controller proposed yields zero asymptotic tracking errors when applied to robotic systems with time-varying parameters by using a switching type control law. The results obtained are global in the initial state of the robot, and can be applied to rapidly varying systems.

Development of a digital automatic control law for steep glideslope capture and flare

NASA Technical Reports Server (NTRS)

Halyo, N.

1977-01-01

A longitudinal digital guidance and control law for steep glideslopes using MLS (Microwave Landing System) data is developed for CTOL aircraft using modern estimation and control techniques. The control law covers the final approach phases of glideslope capture, glideslope tracking, and flare to touchdown for automatic landings under adverse weather conditions. The control law uses a constant gain Kalman filter to process MLS and body-mounted accelerometer data to form estimates of flight path errors and wind velocities including wind shear. The flight path error estimates and wind estimates are used for feedback in generating control surface commands. Results of a digital simulation of the aircraft dynamics and the guidance and control law are presented for various wind conditions.

Multiple object tracking using the shortest path faster association algorithm.

PubMed

Xi, Zhenghao; Liu, Heping; Liu, Huaping; Yang, Bin

2014-01-01

To solve the persistently multiple object tracking in cluttered environments, this paper presents a novel tracking association approach based on the shortest path faster algorithm. First, the multiple object tracking is formulated as an integer programming problem of the flow network. Then we relax the integer programming to a standard linear programming problem. Therefore, the global optimum can be quickly obtained using the shortest path faster algorithm. The proposed method avoids the difficulties of integer programming, and it has a lower worst-case complexity than competing methods but better robustness and tracking accuracy in complex environments. Simulation results show that the proposed algorithm takes less time than other state-of-the-art methods and can operate in real time.

Multiple Object Tracking Using the Shortest Path Faster Association Algorithm

PubMed Central

Liu, Heping; Liu, Huaping; Yang, Bin

2014-01-01

To solve the persistently multiple object tracking in cluttered environments, this paper presents a novel tracking association approach based on the shortest path faster algorithm. First, the multiple object tracking is formulated as an integer programming problem of the flow network. Then we relax the integer programming to a standard linear programming problem. Therefore, the global optimum can be quickly obtained using the shortest path faster algorithm. The proposed method avoids the difficulties of integer programming, and it has a lower worst-case complexity than competing methods but better robustness and tracking accuracy in complex environments. Simulation results show that the proposed algorithm takes less time than other state-of-the-art methods and can operate in real time. PMID:25215322

Eccentricity and argument of perigee control for orbits with repeat ground tracks

NASA Technical Reports Server (NTRS)

Vincent, Mark A.

1992-01-01

In order to gain an understanding into the problem of eccentricity (e) and argument of perigee (omega) control for TOPEX/Poseidon, the two cases where the highest latitude crossing time and one of the equator crossings are held constant are investigated. Variations in e and omega cause a significant effect on the satellite's ground-track repeatability. Maintaining e and omega near their frozen values will minimize this variation. Analytical expressions are found to express this relationship while keeping an arbitrary point of the ground track fixed. The initial offset of the ground track from its nominal path determines the subsequent evolution of e and omega about their frozen values. This long-term behavior is numerically determined using an earth gravitational field including the first 17 zonal harmonics. The numerical results are plotted together with the analytical constraints to see if the later values of e and omega cause unacceptable deviation in the ground track.

Human-tracking strategies for a six-legged rescue robot based on distance and view

NASA Astrophysics Data System (ADS)

Pan, Yang; Gao, Feng; Qi, Chenkun; Chai, Xun

2016-03-01

Human tracking is an important issue for intelligent robotic control and can be used in many scenarios, such as robotic services and human-robot cooperation. Most of current human-tracking methods are targeted for mobile/tracked robots, but few of them can be used for legged robots. Two novel human-tracking strategies, view priority strategy and distance priority strategy, are proposed specially for legged robots, which enable them to track humans in various complex terrains. View priority strategy focuses on keeping humans in its view angle arrange with priority, while its counterpart, distance priority strategy, focuses on keeping human at a reasonable distance with priority. To evaluate these strategies, two indexes(average and minimum tracking capability) are defined. With the help of these indexes, the view priority strategy shows advantages compared with distance priority strategy. The optimization is done in terms of these indexes, which let the robot has maximum tracking capability. The simulation results show that the robot can track humans with different curves like square, circular, sine and screw paths. Two novel control strategies are proposed which specially concerning legged robot characteristics to solve human tracking problems more efficiently in rescue circumstances.

Adaptive Environmental Source Localization and Tracking with Unknown Permittivity and Path Loss Coefficients †

PubMed Central

Fidan, Barış; Umay, Ilknur

2015-01-01

Accurate signal-source and signal-reflector target localization tasks via mobile sensory units and wireless sensor networks (WSNs), including those for environmental monitoring via sensory UAVs, require precise knowledge of specific signal propagation properties of the environment, which are permittivity and path loss coefficients for the electromagnetic signal case. Thus, accurate estimation of these coefficients has significant importance for the accuracy of location estimates. In this paper, we propose a geometric cooperative technique to instantaneously estimate such coefficients, with details provided for received signal strength (RSS) and time-of-flight (TOF)-based range sensors. The proposed technique is integrated to a recursive least squares (RLS)-based adaptive localization scheme and an adaptive motion control law, to construct adaptive target localization and adaptive target tracking algorithms, respectively, that are robust to uncertainties in aforementioned environmental signal propagation coefficients. The efficiency of the proposed adaptive localization and tracking techniques are both mathematically analysed and verified via simulation experiments. PMID:26690441

Microprocessor-controlled laser tracker for atmospheric sensing

NASA Technical Reports Server (NTRS)

Johnson, R. A.; Webster, C. R.; Menzies, R. T.

1985-01-01

An optical tracking system comprising a visible HeNe laser, an imaging detector, and a microprocessor-controlled mirror, has been designed to track a moving retroreflector located up to 500 m away from an atmospheric instrument and simultaneously direct spectrally tunable infrared laser radiation to the retroreflector for double-ended, long-path absorption measurements of atmospheric species. The tracker has been tested during the recent flight of a balloon-borne tunable diode laser absorption spectrometer which monitors the concentrations of stratospheric species within a volume defined by a 0.14-m-diameter retroreflector lowered 500 m below the instrument gondola.

Integrated mobile robot control

NASA Astrophysics Data System (ADS)

Amidi, Omead; Thorpe, Chuck E.

1991-03-01

This paper describes the strucwre implementation and operation of a real-time mobile robot controller which integrates capabilities such as: position estimation path specification and hacking human interfaces fast communication and multiple client support The benefits of such high-level capabilities in a low-level controller was shown by its implementation for the Naviab autonomous vehicle. In addition performance results from positioning and tracking systems are reported and analyzed.

A Low Cost Approach to the Design of Autopilot for Hypersonic Glider

NASA Astrophysics Data System (ADS)

Liang, Wang; Weihua, Zhang; Ke, Peng; Donghui, Wang

2017-12-01

This paper proposes a novel integrated guidance and control (IGC) approach to improve the autopilot design with low cost for hypersonic glider in dive and pull-up phase. The main objective is robust and adaptive tracking of flight path angle (FPA) under severe flight scenarios. Firstly, the nonlinear IGC model is developed with a second order actuator dynamics. Then the adaptive command filtered back-stepping control is implemented to deal with the large aerodynamics coefficient uncertainties, control surface uncertainties and unmatched time-varying disturbances. For the autopilot, a back-stepping sliding mode control is designed to track the control surface deflection, and a nonlinear differentiator is used to avoid direct differentiating the control input. Through a series of 6-DOF numerical simulations, it’s shown that the proposed scheme successfully cancels out the large uncertainties and disturbances in tracking different kinds of FPA trajectory. The contribution of this paper lies in the application and determination of nonlinear integrated design of guidance and control system for hypersonic glider.

An experimental evaluation of head-up display formats

NASA Technical Reports Server (NTRS)

Naish, J. M.; Miller, D. L.

1980-01-01

Three types of head-up display format are investigated. Type 1 is an unreferenced (conventional) flight director, type 2 is a ground referenced flight path display, and type 3 is a ground referenced director. Formats are generated by computer and presented by reflecting collimation against a simulated forward view in flight. Pilots, holding commercial licenses, fly approaches in the instrument flight mode and in a combined instrument and visual flight mode. The approaches are in wind shear with varied conditions of visibility, offset, and turbulence. The displays are equivalent in pure tracking but there is a slight advantage for the unreferenced director in poor conditions. Flight path displays are better for tracking in the combined flight mode, possibly because of poor director control laws and the division of attention between superimposed fields. Workloads is better for the type 2 displays. The flight path and referenced director displays are criticized for effects of symbol motion and field limiting. In the subjective judgment of pilots familiar with the director displays, they are rated clearly better than path displays, with a preference for the unreferenced director. There is a fair division of attention between superimposed fields.

Algorithms and Sensors for Small Robot Path Following

NASA Technical Reports Server (NTRS)

Hogg, Robert W.; Rankin, Arturo L.; Roumeliotis, Stergios I.; McHenry, Michael C.; Helmick, Daniel M.; Bergh, Charles F.; Matthies, Larry

2002-01-01

Tracked mobile robots in the 20 kg size class are under development for applications in urban reconnaissance. For efficient deployment, it is desirable for teams of robots to be able to automatically execute path following behaviors, with one or more followers tracking the path taken by a leader. The key challenges to enabling such a capability are (l) to develop sensor packages for such small robots that can accurately determine the path of the leader and (2) to develop path following algorithms for the subsequent robots. To date, we have integrated gyros, accelerometers, compass/inclinometers, odometry, and differential GPS into an effective sensing package. This paper describes the sensor package, sensor processing algorithm, and path tracking algorithm we have developed for the leader/follower problem in small robots and shows the result of performance characterization of the system. We also document pragmatic lessons learned about design, construction, and electromagnetic interference issues particular to the performance of state sensors on small robots.

Flight assessment of a data-link-based navigation-guidance concept

NASA Technical Reports Server (NTRS)

Abbott, T. S.

1983-01-01

With the proposed introduction of a data-link provision into the Air-Traffic-control (ATC) system, the capability will exist to supplement the ground-air, voice (radio) link with digital, data-link information. Additionally, ATC computers could provide, via the data link guidance and navigation information to the pilot which could then be presented in much the same manner as conventional navigation information. The primary objective of this study was to assess the feasibility and acceptability of using 4-sec and 12-sec information updating to drive conventional cockpit-navigation-instrument formats for path-tracking guidance. A flight test, consisting of 19 tracking tasks, was conducted and, through the use of pilot questionnaires and performance data, the following results were obtained. From a performance standpoint, the 4-sec and 12-sec updating led to a slight degradation in path-tracking performance, relative to continuous updating. From the pilot's viewpoint, the 12-sec data interval was suitable for long path segments (greater than 2 min of flight time), but it was difficult to use on shorter segments because of higher work load and insufficient stabilization time. Overall, it was determined that the utilization of noncontinuous data for navigation was both feasible and acceptable for the prescribed task.

A collaborative network middleware project by Lambda Station, TeraPaths, and Phoebus

NASA Astrophysics Data System (ADS)

Bobyshev, A.; Bradley, S.; Crawford, M.; DeMar, P.; Katramatos, D.; Shroff, K.; Swany, M.; Yu, D.

2010-04-01

The TeraPaths, Lambda Station, and Phoebus projects, funded by the US Department of Energy, have successfully developed network middleware services that establish on-demand and manage true end-to-end, Quality-of-Service (QoS) aware, virtual network paths across multiple administrative network domains, select network paths and gracefully reroute traffic over these dynamic paths, and streamline traffic between packet and circuit networks using transparent gateways. These services improve network QoS and performance for applications, playing a critical role in the effective use of emerging dynamic circuit network services. They provide interfaces to applications, such as dCache SRM, translate network service requests into network device configurations, and coordinate with each other to setup up end-to-end network paths. The End Site Control Plane Subsystem (ESCPS) builds upon the success of the three projects by combining their individual capabilities into the next generation of network middleware. ESCPS addresses challenges such as cross-domain control plane signalling and interoperability, authentication and authorization in a Grid environment, topology discovery, and dynamic status tracking. The new network middleware will take full advantage of the perfSONAR monitoring infrastructure and the Inter-Domain Control plane efforts and will be deployed and fully vetted in the Large Hadron Collider data movement environment.

Tracking Control of Mobile Robots Localized via Chained Fusion of Discrete and Continuous Epipolar Geometry, IMU and Odometry.

PubMed

Tick, David; Satici, Aykut C; Shen, Jinglin; Gans, Nicholas

2013-08-01

This paper presents a novel navigation and control system for autonomous mobile robots that includes path planning, localization, and control. A unique vision-based pose and velocity estimation scheme utilizing both the continuous and discrete forms of the Euclidean homography matrix is fused with inertial and optical encoder measurements to estimate the pose, orientation, and velocity of the robot and ensure accurate localization and control signals. A depth estimation system is integrated in order to overcome the loss of scale inherent in vision-based estimation. A path following control system is introduced that is capable of guiding the robot along a designated curve. Stability analysis is provided for the control system and experimental results are presented that prove the combined localization and control system performs with high accuracy.

Adaptive integral dynamic surface control of a hypersonic flight vehicle

NASA Astrophysics Data System (ADS)

Aslam Butt, Waseem; Yan, Lin; Amezquita S., Kendrick

2015-07-01

In this article, non-linear adaptive dynamic surface air speed and flight path angle control designs are presented for the longitudinal dynamics of a flexible hypersonic flight vehicle. The tracking performance of the control design is enhanced by introducing a novel integral term that caters to avoiding a large initial control signal. To ensure feasibility, the design scheme incorporates magnitude and rate constraints on the actuator commands. The uncertain non-linear functions are approximated by an efficient use of the neural networks to reduce the computational load. A detailed stability analysis shows that all closed-loop signals are uniformly ultimately bounded and the ? tracking performance is guaranteed. The robustness of the design scheme is verified through numerical simulations of the flexible flight vehicle model.

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

PubMed

Gu, Guoying; Zhu, Limin

2010-08-01

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

Improved electromagnetic tracking for catheter path reconstruction with application in high-dose-rate brachytherapy.

PubMed

Lugez, Elodie; Sadjadi, Hossein; Joshi, Chandra P; Akl, Selim G; Fichtinger, Gabor

2017-04-01

Electromagnetic (EM) catheter tracking has recently been introduced in order to enable prompt and uncomplicated reconstruction of catheter paths in various clinical interventions. However, EM tracking is prone to measurement errors which can compromise the outcome of the procedure. Minimizing catheter tracking errors is therefore paramount to improve the path reconstruction accuracy. An extended Kalman filter (EKF) was employed to combine the nonlinear kinematic model of an EM sensor inside the catheter, with both its position and orientation measurements. The formulation of the kinematic model was based on the nonholonomic motion constraints of the EM sensor inside the catheter. Experimental verification was carried out in a clinical HDR suite. Ten catheters were inserted with mean curvatures varying from 0 to [Formula: see text] in a phantom. A miniaturized Ascension (Burlington, Vermont, USA) trakSTAR EM sensor (model 55) was threaded within each catheter at various speeds ranging from 7.4 to [Formula: see text]. The nonholonomic EKF was applied on the tracking data in order to statistically improve the EM tracking accuracy. A sample reconstruction error was defined at each point as the Euclidean distance between the estimated EM measurement and its corresponding ground truth. A path reconstruction accuracy was defined as the root mean square of the sample reconstruction errors, while the path reconstruction precision was defined as the standard deviation of these sample reconstruction errors. The impacts of sensor velocity and path curvature on the nonholonomic EKF method were determined. Finally, the nonholonomic EKF catheter path reconstructions were compared with the reconstructions provided by the manufacturer's filters under default settings, namely the AC wide notch and the DC adaptive filter. With a path reconstruction accuracy of 1.9 mm, the nonholonomic EKF surpassed the performance of the manufacturer's filters (2.4 mm) by 21% and the raw EM measurements (3.5 mm) by 46%. Similarly, with a path reconstruction precision of 0.8 mm, the nonholonomic EKF surpassed the performance of the manufacturer's filters (1.0 mm) by 20% and the raw EM measurements (1.7 mm) by 53%. Path reconstruction accuracies did not follow an apparent trend when varying the path curvature and sensor velocity; instead, reconstruction accuracies were predominantly impacted by the position of the EM field transmitter ([Formula: see text]). The advanced nonholonomic EKF is effective in reducing EM measurement errors when reconstructing catheter paths, is robust to path curvature and sensor speed, and runs in real time. Our approach is promising for a plurality of clinical procedures requiring catheter reconstructions, such as cardiovascular interventions, pulmonary applications (Bender et al. in medical image computing and computer-assisted intervention-MICCAI 99. Springer, Berlin, pp 981-989, 1999), and brachytherapy.

Trajectory planning and control of a 6 DOF manipulator with Stewart platform-based mechanism

NASA Technical Reports Server (NTRS)

Nguyen, Charles C.; Antrazi, Sami

1990-01-01

The trajectory planning and control was studied of a robot manipulator that has 6 degrees of freedom and was designed based on the mechanism of the Stewart Platform. First the main components of the manipulator is described along with its operation. The solutions are briefly prescribed for the forward and inverse kinematics of the manipulator. After that, two trajectory planning schemes are developed using the manipulator inverse kinematics to track straight lines and circular paths. Finally experiments conducted to study the performance of the developed planning schemes in tracking a straight line and a circle are presented and discussed.

Vector Pursuit Path Tracking for Autonomous Ground Vehicles

DTIC Science & Technology

2000-08-01

vi INTRODUCTION ...........................................................................................................1...other geometric path-tracking techniques. 1 CHAPTER 1 INTRODUCTION An autonomous vehicle is one that is capable of automatic navigation. It is...Joint Architecture for Unmanned Ground Vehicles ( JAUGS ) working group meeting held at the University of Florida. 5 Figure 1.5: Autonomous

Which way and how far? Tracking of translation and rotation information for human path integration.

PubMed

Chrastil, Elizabeth R; Sherrill, Katherine R; Hasselmo, Michael E; Stern, Chantal E

2016-10-01

Path integration, the constant updating of the navigator's knowledge of position and orientation during movement, requires both visuospatial knowledge and memory. This study aimed to develop a systems-level understanding of human path integration by examining the basic building blocks of path integration in humans. To achieve this goal, we used functional imaging to examine the neural mechanisms that support the tracking and memory of translational and rotational components of human path integration. Critically, and in contrast to previous studies, we examined movement in translation and rotation tasks with no defined end-point or goal. Navigators accumulated translational and rotational information during virtual self-motion. Activity in hippocampus, retrosplenial cortex (RSC), and parahippocampal cortex (PHC) increased during both translation and rotation encoding, suggesting that these regions track self-motion information during path integration. These results address current questions regarding distance coding in the human brain. By implementing a modified delayed match to sample paradigm, we also examined the encoding and maintenance of path integration signals in working memory. Hippocampus, PHC, and RSC were recruited during successful encoding and maintenance of path integration information, with RSC selective for tasks that required processing heading rotation changes. These data indicate distinct working memory mechanisms for translation and rotation, which are essential for updating neural representations of current location. The results provide evidence that hippocampus, PHC, and RSC flexibly track task-relevant translation and rotation signals for path integration and could form the hub of a more distributed network supporting spatial navigation. Hum Brain Mapp 37:3636-3655, 2016. © 2016 Wiley Periodicals, Inc. © 2016 Wiley Periodicals, Inc.

Orbit determination error analysis and comparison of station-keeping costs for Lissajous and halo-type libration point orbits and sensitivity analysis using experimental design techniques

NASA Technical Reports Server (NTRS)

Gordon, Steven C.

1993-01-01

Spacecraft in orbit near libration point L1 in the Sun-Earth system are excellent platforms for research concerning solar effects on the terrestrial environment. One spacecraft mission launched in 1978 used an L1 orbit for nearly 4 years, and future L1 orbital missions are also being planned. Orbit determination and station-keeping are, however, required for these orbits. In particular, orbit determination error analysis may be used to compute the state uncertainty after a predetermined tracking period; the predicted state uncertainty levels then will impact the control costs computed in station-keeping simulations. Error sources, such as solar radiation pressure and planetary mass uncertainties, are also incorporated. For future missions, there may be some flexibility in the type and size of the spacecraft's nominal trajectory, but different orbits may produce varying error analysis and station-keeping results. The nominal path, for instance, can be (nearly) periodic or distinctly quasi-periodic. A periodic 'halo' orbit may be constructed to be significantly larger than a quasi-periodic 'Lissajous' path; both may meet mission requirements, but perhaps the required control costs for these orbits are probably different. Also for this spacecraft tracking and control simulation problem, experimental design methods can be used to determine the most significant uncertainties. That is, these methods can determine the error sources in the tracking and control problem that most impact the control cost (output); it also produces an equation that gives the approximate functional relationship between the error inputs and the output.

Method and apparatus for eliminating unsuccessful tries in a search tree

NASA Technical Reports Server (NTRS)

Peterson, John C. (Inventor); Chow, Edward (Inventor); Madan, Herb S. (Inventor)

1991-01-01

A circuit switching system in an M-ary, n-cube connected network completes a best-first path from an originating node to a destination node by latching valid legs of the path as the path is being sought out. Each network node is provided with a routing hyperswitch sub-network, (HSN) connected between that node and bidirectional high capacity communication channels of the n-cube network. The sub-networks are all controlled by routing algorithms which respond to message identification headings (headers) on messages to be routed along one or more routing legs. The header includes information embedded therein which is interpreted by each sub-network to route and historically update the header. A logic circuit, available at every node, implements the algorithm and automatically forwards or back-tracks the header in the network legs of various paths until a completed path is latched.

Coordinated path following of multiple underacutated marine surface vehicles along one curve.

PubMed

Liu, Lu; Wang, Dan; Peng, Zhouhua

2016-09-01

This paper investigates the coordinated path following problem for a fleet of underactuated marine surface vehicles (MSVs) along one curve. The dedicated control design is divided into two tasks. One is to steer individual underactuated MSV to track the given spatial path, and the other is to force the vehicles dispersed on a parameterized path subject to the constraints of a communication network. Specifically, a robust individual path following controller is developed based on a line-of-sight (LOS) guidance law and a reduced-order extended state observer (ESO). The vehicle sideslip angle due to environmental disturbances can be exactly identified. Then, the vehicle coordination is achieved by a path variable containment approach, under which the path variables are evenly dispersed between two virtual leaders. Another reduced-order ESO is developed to identify the composite disturbance related to the speed of virtual leaders and neighboring vehicles. The proposed coordination design is distributed since the reference speed does not need to be known by all vehicles as a priori. The input-to-state stability of the closed-loop network system is established via cascade theory. Simulation results demonstrate the effectiveness of the proposed design method. Copyright © 2016 ISA. Published by Elsevier Ltd. All rights reserved.

Tracking trade transactions in water resource systems: A node-arc optimization formulation

NASA Astrophysics Data System (ADS)

Erfani, Tohid; Huskova, Ivana; Harou, Julien J.

2013-05-01

We formulate and apply a multicommodity network flow node-arc optimization model capable of tracking trade transactions in complex water resource systems. The model uses a simple node to node network connectivity matrix and does not require preprocessing of all possible flow paths in the network. We compare the proposed node-arc formulation with an existing arc-path (flow path) formulation and explain the advantages and difficulties of both approaches. We verify the proposed formulation model on a hypothetical water distribution network. Results indicate the arc-path model solves the problem with fewer constraints, but the proposed formulation allows using a simple network connectivity matrix which simplifies modeling large or complex networks. The proposed algorithm allows converting existing node-arc hydroeconomic models that broadly represent water trading to ones that also track individual supplier-receiver relationships (trade transactions).

Coordinated path-following and direct yaw-moment control of autonomous electric vehicles with sideslip angle estimation

NASA Astrophysics Data System (ADS)

Guo, Jinghua; Luo, Yugong; Li, Keqiang; Dai, Yifan

2018-05-01

This paper presents a novel coordinated path following system (PFS) and direct yaw-moment control (DYC) of autonomous electric vehicles via hierarchical control technique. In the high-level control law design, a new fuzzy factor is introduced based on the magnitude of longitudinal velocity of vehicle, a linear time varying (LTV)-based model predictive controller (MPC) is proposed to acquire the wheel steering angle and external yaw moment. Then, a pseudo inverse (PI) low-level control allocation law is designed to realize the tracking of desired external moment torque and management of the redundant tire actuators. Furthermore, the vehicle sideslip angle is estimated by the data fusion of low-cost GPS and INS, which can be obtained by the integral of modified INS signals with GPS signals as initial value. Finally, the effectiveness of the proposed control system is validated by the simulation and experimental tests.

Development of a 3D parallel mechanism robot arm with three vertical-axial pneumatic actuators combined with a stereo vision system.

PubMed

Chiang, Mao-Hsiung; Lin, Hao-Ting

2011-01-01

This study aimed to develop a novel 3D parallel mechanism robot driven by three vertical-axial pneumatic actuators with a stereo vision system for path tracking control. The mechanical system and the control system are the primary novel parts for developing a 3D parallel mechanism robot. In the mechanical system, a 3D parallel mechanism robot contains three serial chains, a fixed base, a movable platform and a pneumatic servo system. The parallel mechanism are designed and analyzed first for realizing a 3D motion in the X-Y-Z coordinate system of the robot's end-effector. The inverse kinematics and the forward kinematics of the parallel mechanism robot are investigated by using the Denavit-Hartenberg notation (D-H notation) coordinate system. The pneumatic actuators in the three vertical motion axes are modeled. In the control system, the Fourier series-based adaptive sliding-mode controller with H(∞) tracking performance is used to design the path tracking controllers of the three vertical servo pneumatic actuators for realizing 3D path tracking control of the end-effector. Three optical linear scales are used to measure the position of the three pneumatic actuators. The 3D position of the end-effector is then calculated from the measuring position of the three pneumatic actuators by means of the kinematics. However, the calculated 3D position of the end-effector cannot consider the manufacturing and assembly tolerance of the joints and the parallel mechanism so that errors between the actual position and the calculated 3D position of the end-effector exist. In order to improve this situation, sensor collaboration is developed in this paper. A stereo vision system is used to collaborate with the three position sensors of the pneumatic actuators. The stereo vision system combining two CCD serves to measure the actual 3D position of the end-effector and calibrate the error between the actual and the calculated 3D position of the end-effector. Furthermore, to verify the feasibility of the proposed parallel mechanism robot driven by three vertical pneumatic servo actuators, a full-scale test rig of the proposed parallel mechanism pneumatic robot is set up. Thus, simulations and experiments for different complex 3D motion profiles of the robot end-effector can be successfully achieved. The desired, the actual and the calculated 3D position of the end-effector can be compared in the complex 3D motion control.

Development of a 3D Parallel Mechanism Robot Arm with Three Vertical-Axial Pneumatic Actuators Combined with a Stereo Vision System

PubMed Central

Chiang, Mao-Hsiung; Lin, Hao-Ting

2011-01-01

This study aimed to develop a novel 3D parallel mechanism robot driven by three vertical-axial pneumatic actuators with a stereo vision system for path tracking control. The mechanical system and the control system are the primary novel parts for developing a 3D parallel mechanism robot. In the mechanical system, a 3D parallel mechanism robot contains three serial chains, a fixed base, a movable platform and a pneumatic servo system. The parallel mechanism are designed and analyzed first for realizing a 3D motion in the X-Y-Z coordinate system of the robot’s end-effector. The inverse kinematics and the forward kinematics of the parallel mechanism robot are investigated by using the Denavit-Hartenberg notation (D-H notation) coordinate system. The pneumatic actuators in the three vertical motion axes are modeled. In the control system, the Fourier series-based adaptive sliding-mode controller with H∞ tracking performance is used to design the path tracking controllers of the three vertical servo pneumatic actuators for realizing 3D path tracking control of the end-effector. Three optical linear scales are used to measure the position of the three pneumatic actuators. The 3D position of the end-effector is then calculated from the measuring position of the three pneumatic actuators by means of the kinematics. However, the calculated 3D position of the end-effector cannot consider the manufacturing and assembly tolerance of the joints and the parallel mechanism so that errors between the actual position and the calculated 3D position of the end-effector exist. In order to improve this situation, sensor collaboration is developed in this paper. A stereo vision system is used to collaborate with the three position sensors of the pneumatic actuators. The stereo vision system combining two CCD serves to measure the actual 3D position of the end-effector and calibrate the error between the actual and the calculated 3D position of the end-effector. Furthermore, to verify the feasibility of the proposed parallel mechanism robot driven by three vertical pneumatic servo actuators, a full-scale test rig of the proposed parallel mechanism pneumatic robot is set up. Thus, simulations and experiments for different complex 3D motion profiles of the robot end-effector can be successfully achieved. The desired, the actual and the calculated 3D position of the end-effector can be compared in the complex 3D motion control. PMID:22247676

Portable cosmic particle detectors for subsurface density mapping

NASA Astrophysics Data System (ADS)

Oláh, László; Gábor Barnaföldi, Gergely; Hamar, Gergö; Surányi, Gergely; Varga, Dezsö

2016-04-01

Muography deduces the density length in the interior of the investigated geological object, such as a mountain or volcano by the measurement of the cosmic muon absorption along different paths through the object. If path lengths (average densities) are measured, the average density (path length) can be deduced along the muon paths. A portable, low power consumption cosmic particle tracking detector based on Close Cathode multi-wire proportional chambers [1,2] has been developed for muography based on our earlier developments and experiences at the Wigner RCP of the HAS in Budapest [3,4,5]. The newly developed tracking system consists of six layers with the sensitive area of 0.25 m2 [6]. The spatial resolution of 2 mm provides an angular resolution of 15 mrad. This instrument has been optimized for underground and outdoor measurements: it has a Raspberry pi controlled data acquisition system which includes a custom designed board with a coincidence unit and allows high level remote control, data management and analysis. The individual trigger signals, number of missed triggers, analogue signals from chambers and the temperature are recorded. The duration of data readout (dead time) is 100 microsec. The DAQ software runs on the Raspberry Pi. For standard operation, a graphical user interface has been developed, running on any remote computer with Internet connection (both of wired and wireless) to the Raspberry Pi. A temperature-controlled high-voltage power supply provides a stable and reasonable (> 95 %) tracking performance for the measurements. With total power consumption of 5W, a portable tracking detector can operate for 5 days with a standard 50 Ah battery and with gas (non flammable Ar-CO2 mixture) consumption of 0.5 liter per hour, a 10 l bottle at pressure of 150 bar is enough for four month. The portability (total weight of less than 30 kg) allowed that our tracking detectors have been applied in underground caverns for subsurface density mapping. The developed detectors were reliably operated in natural environmental conditions proving operational stability. For each measurement, the experiences and the muon flux will be presented. [1] D. Varga et al.: Nucl. Inst. and Meth. A648 (2011), p. 163 [2] D. Varga et al.: Nucl. Inst. and Meth. A698 (2013), p. 11 [3] G. G. Barnaföldi et al.: Nucl. Inst. and Meth. A689 (2012), p. 60 [4] L. Oláh et al.: 2012 Geosci. Instrum. Method. Data Syst. Vol 1, p. 229 [5] L. Oláh et al.: Advances in High Energy Physics, Vol. 2013, 2013, 560192 [6] L. Oláh et al.: Journal of Physics: Conference Series 632 (2015) 012020

A fault-tolerant control architecture for unmanned aerial vehicles

NASA Astrophysics Data System (ADS)

Drozeski, Graham R.

Research has presented several approaches to achieve varying degrees of fault-tolerance in unmanned aircraft. Approaches in reconfigurable flight control are generally divided into two categories: those which incorporate multiple non-adaptive controllers and switch between them based on the output of a fault detection and identification element, and those that employ a single adaptive controller capable of compensating for a variety of fault modes. Regardless of the approach for reconfigurable flight control, certain fault modes dictate system restructuring in order to prevent a catastrophic failure. System restructuring enables active control of actuation not employed by the nominal system to recover controllability of the aircraft. After system restructuring, continued operation requires the generation of flight paths that adhere to an altered flight envelope. The control architecture developed in this research employs a multi-tiered hierarchy to allow unmanned aircraft to generate and track safe flight paths despite the occurrence of potentially catastrophic faults. The hierarchical architecture increases the level of autonomy of the system by integrating five functionalities with the baseline system: fault detection and identification, active system restructuring, reconfigurable flight control; reconfigurable path planning, and mission adaptation. Fault detection and identification algorithms continually monitor aircraft performance and issue fault declarations. When the severity of a fault exceeds the capability of the baseline flight controller, active system restructuring expands the controllability of the aircraft using unconventional control strategies not exploited by the baseline controller. Each of the reconfigurable flight controllers and the baseline controller employ a proven adaptive neural network control strategy. A reconfigurable path planner employs an adaptive model of the vehicle to re-shape the desired flight path. Generation of the revised flight path is posed as a linear program constrained by the response of the degraded system. Finally, a mission adaptation component estimates limitations on the closed-loop performance of the aircraft and adjusts the aircraft mission accordingly. A combination of simulation and flight test results using two unmanned helicopters validates the utility of the hierarchical architecture.

Visual navigation of the UAVs on the basis of 3D natural landmarks

NASA Astrophysics Data System (ADS)

Karpenko, Simon; Konovalenko, Ivan; Miller, Alexander; Miller, Boris; Nikolaev, Dmitry

2015-12-01

This work considers the tracking of the UAV (unmanned aviation vehicle) on the basis of onboard observations of natural landmarks including azimuth and elevation angles. It is assumed that UAV's cameras are able to capture the angular position of reference points and to measure the angles of the sight line. Such measurements involve the real position of UAV in implicit form, and therefore some of nonlinear filters such as Extended Kalman filter (EKF) or others must be used in order to implement these measurements for UAV control. Recently it was shown that modified pseudomeasurement method may be used to control UAV on the basis of the observation of reference points assigned along the UAV path in advance. However, the use of such set of points needs the cumbersome recognition procedure with the huge volume of on-board memory. The natural landmarks serving as such reference points which may be determined on-line can significantly reduce the on-board memory and the computational difficulties. The principal difference of this work is the usage of the 3D reference points coordinates which permits to determine the position of the UAV more precisely and thereby to guide along the path with higher accuracy which is extremely important for successful performance of the autonomous missions. The article suggests the new RANSAC for ISOMETRY algorithm and the use of recently developed estimation and control algorithms for tracking of given reference path under external perturbation and noised angular measurements.

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

NASA Astrophysics Data System (ADS)

Liu, Xiaosong; Shan, Zebiao; Li, Yuanchun

2017-04-01

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

Sensory feedback in a bump attractor model of path integration.

PubMed

Poll, Daniel B; Nguyen, Khanh; Kilpatrick, Zachary P

2016-04-01

Mammalian spatial navigation systems utilize several different sensory information channels. This information is converted into a neural code that represents the animal's current position in space by engaging place cell, grid cell, and head direction cell networks. In particular, sensory landmark (allothetic) cues can be utilized in concert with an animal's knowledge of its own velocity (idiothetic) cues to generate a more accurate representation of position than path integration provides on its own (Battaglia et al. The Journal of Neuroscience 24(19):4541-4550 (2004)). We develop a computational model that merges path integration with feedback from external sensory cues that provide a reliable representation of spatial position along an annular track. Starting with a continuous bump attractor model, we explore the impact of synaptic spatial asymmetry and heterogeneity, which disrupt the position code of the path integration process. We use asymptotic analysis to reduce the bump attractor model to a single scalar equation whose potential represents the impact of asymmetry and heterogeneity. Such imperfections cause errors to build up when the network performs path integration, but these errors can be corrected by an external control signal representing the effects of sensory cues. We demonstrate that there is an optimal strength and decay rate of the control signal when cues appear either periodically or randomly. A similar analysis is performed when errors in path integration arise from dynamic noise fluctuations. Again, there is an optimal strength and decay of discrete control that minimizes the path integration error.

Theoretical Analysis of the Longitudinal Behavior of an Automatically Controlled Supersonic Interceptor During the Attack Phase

NASA Technical Reports Server (NTRS)

Gates, Ordway B., Jr.; Woodling, C. H.

1959-01-01

Theoretical analysis of the longitudinal behavior of an automatically controlled supersonic interceptor during the attack phase against a nonmaneuvering target is presented. Control of the interceptor's flight path is obtained by use of a pitch rate command system. Topics lift, and pitching moment, effects of initial tracking errors, discussion of normal acceleration limited, limitations of control surface rate and deflection, and effects of neglecting forward velocity changes of interceptor during attack phase.

Cockpit simulation study of use of flight path angle for instrument approaches

NASA Technical Reports Server (NTRS)

Hanisch, B.; Ernst, H.; Johnston, R.

1981-01-01

The results of a piloted simulation experiment to evaluate the effect of integrating flight path angle information into a typical transport electronic attitude director indicator display format for flight director instrument landing system approaches are presented. Three electronic display formats are evaluated during 3 deg straight-in approaches with wind shear and turbulence conditions. Flight path tracking data and pilot subjective comments are analyzed with regard to the pilot's tracking performance and workload for all three display formats.

Status of a UAVSAR designed for repeat pass interferometry for deformation measurements

NASA Technical Reports Server (NTRS)

Hensley, Scott; Wheeler, Kevin; Sadowy, Greg; Miller, Tim; Shaffer, Scott; Muellerschoen, Ron; Jones, Cathleen; Zebker, Howard; Madsen, Soren; Paul, Rose

2005-01-01

NASA's Jet Propulsion Laboratory is currently implementing a reconfigurable polarimetric L-band synthetic aperture radar (SAR), specifically designed to acquire airborne repeat track interferometric (RTI) SAR data, also known as differential interferometric measurements. Differential interferometry can provide key deformation measurements, important for the scientific studies of Earthquakes and volcanoes. Using precision real-time GPS and a sensor controlled flight management system, the system will be able to fly predefined paths with great precision. The expected performance of the flight control system will constrain the flight path to be within a 10 m diameter tube about the desired flight track. The radar wilI be designed to operate on a UAV (Unpiloted Aria1 Vehicle) but will initially be demonstrated on a minimally piloted vehicle (MPV), such as the Proteus buitt by Scaled Composites or on a NASA Gulfstream III. The radar design is a fully polarimetric with an 80 MHz bandwidth (2 m range resolution) and 16 km range swath. The antenna is an electronically steered along track to assure that the actual antenna pointing can be controlled independent of the wind direction and speed. Other features supported by the antenna include an elevation monopulse option and a pulse-to-pulse resteering capability that will enable some novel modes of operation. The system will nominally operate at 45,000 ft (13800 m). The program began out as an Instrument Incubator Project (IIP) funded by NASA Earth Science and Technology Office (ESTO).

Intelligent Control and Health Monitoring. Chapter 3

NASA Technical Reports Server (NTRS)

Garg, Sanjay; Kumar, Aditya; Mathews, H. Kirk; Rosenfeld, Taylor; Rybarik, Pavol; Viassolo, Daniel E.

2009-01-01

Advanced model-based control architecture overcomes the limitations state-of-the-art engine control and provides the potential of virtual sensors, for example for thrust and stall margin. "Tracking filters" are used to adapt the control parameters to actual conditions and to individual engines. For health monitoring standalone monitoring units will be used for on-board analysis to determine the general engine health and detect and isolate sudden faults. Adaptive models open up the possibility of adapting the control logic to maintain desired performance in the presence of engine degradation or to accommodate any faults. Improved and new sensors are required to allow sensing at stations within the engine gas path that are currently not instrumented due in part to the harsh conditions including high operating temperatures and to allow additional monitoring of vibration, mass flows and energy properties, exhaust gas composition, and gas path debris. The environmental and performance requirements for these sensors are summarized.

Control of articulated snake robot under dynamic active constraints.

PubMed

Kwok, Ka-Wai; Vitiello, Valentina; Yang, Guang-Zhong

2010-01-01

Flexible, ergonomically enhanced surgical robots have important applications to transluminal endoscopic surgery, for which path-following and dynamic shape conformance are essential. In this paper, kinematic control of a snake robot for motion stabilisation under dynamic active constraints is addressed. The main objective is to enable the robot to track the visual target accurately and steadily on deforming tissue whilst conforming to pre-defined anatomical constraints. The motion tracking can also be augmented with manual control. By taking into account the physical limits in terms of maximum frequency response of the system (manifested as a delay between the input of the manipulator and the movement of the end-effector), we show the importance of visual-motor synchronisation for performing accurate smooth pursuit movements. Detailed user experiments are performed to demonstrate the practical value of the proposed control mechanism.

Image-based tracking and sensor resource management for UAVs in an urban environment

NASA Astrophysics Data System (ADS)

Samant, Ashwin; Chang, K. C.

2010-04-01

Coordination and deployment of multiple unmanned air vehicles (UAVs) requires a lot of human resources in order to carry out a successful mission. The complexity of such a surveillance mission is significantly increased in the case of an urban environment where targets can easily escape from the UAV's field of view (FOV) due to intervening building and line-of-sight obstruction. In the proposed methodology, we focus on the control and coordination of multiple UAVs having gimbaled video sensor onboard for tracking multiple targets in an urban environment. We developed optimal path planning algorithms with emphasis on dynamic target prioritizations and persistent target updates. The command center is responsible for target prioritization and autonomous control of multiple UAVs, enabling a single operator to monitor and control a team of UAVs from a remote location. The results are obtained using extensive 3D simulations in Google Earth using Tangent plus Lyapunov vector field guidance for target tracking.

Spatial curvilinear path following control of underactuated AUV with multiple uncertainties.

PubMed

Miao, Jianming; Wang, Shaoping; Zhao, Zhiping; Li, Yuan; Tomovic, Mileta M

2017-03-01

This paper investigates the problem of spatial curvilinear path following control of underactuated autonomous underwater vehicles (AUVs) with multiple uncertainties. Firstly, in order to design the appropriate controller, path following error dynamics model is constructed in a moving Serret-Frenet frame, and the five degrees of freedom (DOFs) dynamic model with multiple uncertainties is established. Secondly, the proposed control law is separated into kinematic controller and dynamic controller via back-stepping technique. In the case of kinematic controller, to overcome the drawback of dependence on the accurate vehicle model that are present in a number of path following control strategies described in the literature, the unknown side-slip angular velocity and attack angular velocity are treated as uncertainties. Whereas in the case of dynamic controller, the model parameters perturbations, unknown external environmental disturbances and the nonlinear hydrodynamic damping terms are treated as lumped uncertainties. Both kinematic and dynamic uncertainties are estimated and compensated by designed reduced-order linear extended state observes (LESOs). Thirdly, feedback linearization (FL) based control law is implemented for the control model using the estimates generated by reduced-order LESOs. For handling the problem of computational complexity inherent in the conventional back-stepping method, nonlinear tracking differentiators (NTDs) are applied to construct derivatives of the virtual control commands. Finally, the closed loop stability for the overall system is established. Simulation and comparative analysis demonstrate that the proposed controller exhibits enhanced performance in the presence of internal parameter variations, external unknown disturbances, unmodeled nonlinear damping terms, and measurement noises. Copyright © 2017 ISA. Published by Elsevier Ltd. All rights reserved.

Neural basis of the cognitive map: path integration does not require hippocampus or entorhinal cortex.

PubMed

Shrager, Yael; Kirwan, C Brock; Squire, Larry R

2008-08-19

The hippocampus and entorhinal cortex have been linked to both memory functions and to spatial cognition, but it has been unclear how these ideas relate to each other. An important part of spatial cognition is the ability to keep track of a reference location using self-motion cues (sometimes referred to as path integration), and it has been suggested that the hippocampus or entorhinal cortex is essential for this ability. Patients with hippocampal lesions or larger lesions that also included entorhinal cortex were led on paths while blindfolded (up to 15 m in length) and were asked to actively maintain the path in mind. Patients pointed to and estimated their distance from the start location as accurately as controls. A rotation condition confirmed that performance was based on self-motion cues. When demands on long-term memory were increased, patients were impaired. Thus, in humans, the hippocampus and entorhinal cortex are not essential for path integration.

Tools and Methods for Visualization of Mesoscale Ocean Eddies

NASA Astrophysics Data System (ADS)

Bemis, K. G.; Liu, L.; Silver, D.; Kang, D.; Curchitser, E.

2017-12-01

Mesoscale ocean eddies form in the Gulf Stream and transport heat and nutrients across the ocean basin. The internal structure of these three-dimensional eddies and the kinematics with which they move are critical to a full understanding of their transport capacity. A series of visualization tools have been developed to extract, characterize, and track ocean eddies from 3D modeling results, to visually show the ocean eddy story by applying various illustrative visualization techniques, and to interactively view results stored on a server from a conventional browser. In this work, we apply a feature-based method to track instances of ocean eddies through the time steps of a high-resolution multidecadal regional ocean model and generate a series of eddy paths which reflect the life cycle of individual eddy instances. The basic method uses the Okubu-Weiss parameter to define eddy cores but could be adapted to alternative specifications of an eddy. Stored results include pixel-lists for each eddy instance, tracking metadata for eddy paths, and physical and geometric properties. In the simplest view, isosurfaces are used to display eddies along an eddy path. Individual eddies can then be selected and viewed independently or an eddy path can be viewed in the context of all eddy paths (longer than a specified duration) and the ocean basin. To tell the story of mesoscale ocean eddies, we combined illustrative visualization techniques, including visual effectiveness enhancement, focus+context, and smart visibility, with the extracted volume features to explore eddy characteristics at multiple scales from ocean basin to individual eddy. An evaluation by domain experts indicates that combining our feature-based techniques with illustrative visualization techniques provides an insight into the role eddies play in ocean circulation. A web-based GUI is under development to facilitate easy viewing of stored results. The GUI provides the user control to choose amongst available datasets, to specify the variables (such as temperature or salinity) to display on the isosurfaces, and to choose the scale and orientation of the view. These techniques allow an oceanographer to browse the data based on eddy paths and individual eddies rather than slices or volumes of data.

WE-G-17A-05: Real-Time Catheter Localization Using An Active MR Tracker for Interstitial Brachytherapy

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

Wang, W; Damato, A; Viswanathan, A

2014-06-15

Purpose: To develop a novel active MR-tracking system which can provide accurate and rapid localization of brachytherapy catheters, and assess its reliability and spatial accuracy in comparison to standard catheter digitization using MR images. Methods: An active MR tracker for brachytherapy was constructed by adding three printed-circuit micro-coils to the shaft of a commercial metallic stylet. A gel phantom with an embedded framework was built, into which fifteen 14-Gauge catheters were placed, following either with parallel or crossed paths. The tracker was inserted sequentially into each catheter, with MR-tracking running continuously. Tracking was also performed during the tracker's removal frommore » each catheter. Catheter trajectories measured from the insertion and the removal procedures using the same micro-coil were compared, as well as trajectories obtained using different micro-coils. A 3D high-resolution MR image dataset of the phantom was acquired and imported into a treatment planning system (TPS) for catheter digitization. A comparison between MR-tracked positions and positions digitized from MR images by TPS was performed. Results: The MR tracking shows good consistency for varying catheter paths and for all micro-coils (mean difference ∼1.1 mm). The average distance between the MR-tracking trajectory and catheter digitization from the MR images was 1.1 mm. Ambiguity in catheter assignment from images due to crossed paths was resolved by active tracking. When tracking was interleaved with imaging, real-time images were continuously acquired at the instantaneous tip positions and displayed on an external workstation. Conclusion: The active MR tracker may be used to provide an independent measurement of catheter location in the MR environment, potentially eliminating the need for subsequent CT. It may also be used to control realtime imaging of catheter placement. This will enable MR-based brachytherapy planning of interstitial implants without ionizing radiation, with the potential to enable dosimetric guidance of catheter placement. We gratefully acknowledge support from the American Heart Association SDG 10SDG2610139, NIH 1R21CA158987-01A1, U41-RR019703, and R21 CA 167800, as well as a BWH Department of Radiation Oncology post-doctoral fellowship support. Li Pan and Wesley Gilson are employees of Siemens Corporation, Corporate Technology. Ravi Seethamraju is an employee of Siemens Healthcare.« less

Rats track odour trails accurately using a multi-layered strategy with near-optimal sampling.

PubMed

Khan, Adil Ghani; Sarangi, Manaswini; Bhalla, Upinder Singh

2012-02-28

Tracking odour trails is a crucial behaviour for many animals, often leading to food, mates or away from danger. It is an excellent example of active sampling, where the animal itself controls how to sense the environment. Here we show that rats can track odour trails accurately with near-optimal sampling. We trained rats to follow odour trails drawn on paper spooled through a treadmill. By recording local field potentials (LFPs) from the olfactory bulb, and sniffing rates, we find that sniffing but not LFPs differ between tracking and non-tracking conditions. Rats can track odours within ~1 cm, and this accuracy is degraded when one nostril is closed. Moreover, they show path prediction on encountering a fork, wide 'casting' sweeps on encountering a gap and detection of reappearance of the trail in 1-2 sniffs. We suggest that rats use a multi-layered strategy, and achieve efficient sampling and high accuracy in this complex task.

Multi-agent autonomous system

NASA Technical Reports Server (NTRS)

Fink, Wolfgang (Inventor); Dohm, James (Inventor); Tarbell, Mark A. (Inventor)

2010-01-01

A multi-agent autonomous system for exploration of hazardous or inaccessible locations. The multi-agent autonomous system includes simple surface-based agents or craft controlled by an airborne tracking and command system. The airborne tracking and command system includes an instrument suite used to image an operational area and any craft deployed within the operational area. The image data is used to identify the craft, targets for exploration, and obstacles in the operational area. The tracking and command system determines paths for the surface-based craft using the identified targets and obstacles and commands the craft using simple movement commands to move through the operational area to the targets while avoiding the obstacles. Each craft includes its own instrument suite to collect information about the operational area that is transmitted back to the tracking and command system. The tracking and command system may be further coupled to a satellite system to provide additional image information about the operational area and provide operational and location commands to the tracking and command system.

Nonlinear Motion Tracking by Deep Learning Architecture

NASA Astrophysics Data System (ADS)

Verma, Arnav; Samaiya, Devesh; Gupta, Karunesh K.

2018-03-01

In the world of Artificial Intelligence, object motion tracking is one of the major problems. The extensive research is being carried out to track people in crowd. This paper presents a unique technique for nonlinear motion tracking in the absence of prior knowledge of nature of nonlinear path that the object being tracked may follow. We achieve this by first obtaining the centroid of the object and then using the centroid as the current example for a recurrent neural network trained using real-time recurrent learning. We have tweaked the standard algorithm slightly and have accumulated the gradient for few previous iterations instead of using just the current iteration as is the norm. We show that for a single object, such a recurrent neural network is highly capable of approximating the nonlinearity of its path.

Computer hardware and software for robotic control

NASA Technical Reports Server (NTRS)

Davis, Virgil Leon

1987-01-01

The KSC has implemented an integrated system that coordinates state-of-the-art robotic subsystems. It is a sensor based real-time robotic control system performing operations beyond the capability of an off-the-shelf robot. The integrated system provides real-time closed loop adaptive path control of position and orientation of all six axes of a large robot; enables the implementation of a highly configurable, expandable testbed for sensor system development; and makes several smart distributed control subsystems (robot arm controller, process controller, graphics display, and vision tracking) appear as intelligent peripherals to a supervisory computer coordinating the overall systems.

Control algorithms for aerobraking in the Martian atmosphere

NASA Technical Reports Server (NTRS)

Ward, Donald T.; Shipley, Buford W., Jr.

1991-01-01

The Analytic Predictor Corrector (APC) and Energy Controller (EC) atmospheric guidance concepts were adapted to control an interplanetary vehicle aerobraking in the Martian atmosphere. Changes are made to the APC to improve its robustness to density variations. These changes include adaptation of a new exit phase algorithm, an adaptive transition velocity to initiate the exit phase, refinement of the reference dynamic pressure calculation and two improved density estimation techniques. The modified controller with the hybrid density estimation technique is called the Mars Hybrid Predictor Corrector (MHPC), while the modified controller with a polynomial density estimator is called the Mars Predictor Corrector (MPC). A Lyapunov Steepest Descent Controller (LSDC) is adapted to control the vehicle. The LSDC lacked robustness, so a Lyapunov tracking exit phase algorithm is developed to guide the vehicle along a reference trajectory. This algorithm, when using the hybrid density estimation technique to define the reference path, is called the Lyapunov Hybrid Tracking Controller (LHTC). With the polynomial density estimator used to define the reference trajectory, the algorithm is called the Lyapunov Tracking Controller (LTC). These four new controllers are tested using a six degree of freedom computer simulation to evaluate their robustness. The MHPC, MPC, LHTC, and LTC show dramatic improvements in robustness over the APC and EC.

Generalized Predictive Control of Dynamic Systems with Rigid-Body Modes

NASA Technical Reports Server (NTRS)

Kvaternik, Raymond G.

2013-01-01

Numerical simulations to assess the effectiveness of Generalized Predictive Control (GPC) for active control of dynamic systems having rigid-body modes are presented. GPC is a linear, time-invariant, multi-input/multi-output predictive control method that uses an ARX model to characterize the system and to design the controller. Although the method can accommodate both embedded (implicit) and explicit feedforward paths for incorporation of disturbance effects, only the case of embedded feedforward in which the disturbances are assumed to be unknown is considered here. Results from numerical simulations using mathematical models of both a free-free three-degree-of-freedom mass-spring-dashpot system and the XV-15 tiltrotor research aircraft are presented. In regulation mode operation, which calls for zero system response in the presence of disturbances, the simulations showed reductions of nearly 100%. In tracking mode operations, where the system is commanded to follow a specified path, the GPC controllers produced the desired responses, even in the presence of disturbances.

VLTI-PRIMA fringe tracking testbed

NASA Astrophysics Data System (ADS)

Abuter, Roberto; Rabien, Sebastian; Eisenhauer, Frank; Sahlmann, Johannes; Di Lieto, Nicola; Haug, Marcus; Wallander, Anders; Lévêque, Samuel; Ménardi, Serge; Delplancke, Françoise; Schuhler, Nicolas; Kellner, Stefan; Frahm, Robert

2006-06-01

One of the key components of the planned VLTI dual feed facility PRIMA is the Fringe Sensor Unit (FSU). Its basic function is the instantaneous measurement of the Optical Path Difference (OPD) between two beams. The FSU acts as the sensor for a complex control system involving optical delay lines and laser metrology with the aim of removing any OPD introduced by the atmosphere and the beam relay. We have initiated a cooperation between ESO and MPE with the purpose of systematically testing this Fringe Tracking Control System in a laboratory environment. This testbed facility is being built at MPE laboratories with the aim to simulate the VLTI and includes FSUs, OPD controller, metrology and in-house built delay lines. In this article we describe this testbed in detail, including the environmental conditions in the laboratory, and present the results of the testbed subsystem characterisation.

Lateral position detection and control for friction stir systems

DOEpatents

Fleming, Paul; Lammlein, David; Cook, George E.; Wilkes, Don Mitchell; Strauss, Alvin M.; Delapp, David; Hartman, Daniel A.

2010-12-14

A friction stir system for processing at least a first workpiece includes a spindle actuator coupled to a rotary tool comprising a rotating member for contacting and processing the first workpiece. A detection system is provided for obtaining information related to a lateral alignment of the rotating member. The detection system comprises at least one sensor for measuring a force experienced by the rotary tool or a parameter related to the force experienced by the rotary tool during processing, wherein the sensor provides sensor signals. A signal processing system is coupled to receive and analyze the sensor signals and determine a lateral alignment of the rotating member relative to a selected lateral position, a selected path, or a direction to decrease a lateral distance relative to the selected lateral position or selected path. In one embodiment, the friction stir system can be embodied as a closed loop tracking system, such as a robot-based tracked friction stir welding (FSW) or friction stir processing (FSP) system.

The LEAP™ Gesture Interface Device and Take-Home Laparoscopic Simulators: A Study of Construct and Concurrent Validity.

PubMed

Partridge, Roland W; Brown, Fraser S; Brennan, Paul M; Hennessey, Iain A M; Hughes, Mark A

2016-02-01

To assess the potential of the LEAP™ infrared motion tracking device to map laparoscopic instrument movement in a simulated environment. Simulator training is optimized when augmented by objective performance feedback. We explore the potential LEAP has to provide this in a way compatible with affordable take-home simulators. LEAP and the previously validated InsTrac visual tracking tool mapped expert and novice performances of a standardized simulated laparoscopic task. Ability to distinguish between the 2 groups (construct validity) and correlation between techniques (concurrent validity) were the primary outcome measures. Forty-three expert and 38 novice performances demonstrated significant differences in LEAP-derived metrics for instrument path distance (P < .001), speed (P = .002), acceleration (P < .001), motion smoothness (P < .001), and distance between the instruments (P = .019). Only instrument path distance demonstrated a correlation between LEAP and InsTrac tracking methods (novices: r = .663, P < .001; experts: r = .536, P < .001). Consistency of LEAP tracking was poor (average % time hands not tracked: 31.9%). The LEAP motion device is able to track the movement of hands using instruments in a laparoscopic box simulator. Construct validity is demonstrated by its ability to distinguish novice from expert performances. Only time and instrument path distance demonstrated concurrent validity with an existing tracking method however. A number of limitations to the tracking method used by LEAP have been identified. These need to be addressed before it can be considered an alternative to visual tracking for the delivery of objective performance metrics in take-home laparoscopic simulators. © The Author(s) 2015.

Subsea Cable Tracking by Autonomous Underwater Vehicle with Magnetic Sensing Guidance.

PubMed

Xiang, Xianbo; Yu, Caoyang; Niu, Zemin; Zhang, Qin

2016-08-20

The changes of the seabed environment caused by a natural disaster or human activities dramatically affect the life span of the subsea buried cable. It is essential to track the cable route in order to inspect the condition of the buried cable and protect its surviving seabed environment. The magnetic sensor is instrumental in guiding the remotely-operated vehicle (ROV) to track and inspect the buried cable underseas. In this paper, a novel framework integrating the underwater cable localization method with the magnetic guidance and control algorithm is proposed, in order to enable the automatic cable tracking by a three-degrees-of-freedom (3-DOF) under-actuated autonomous underwater vehicle (AUV) without human beings in the loop. The work relies on the passive magnetic sensing method to localize the subsea cable by using two tri-axial magnetometers, and a new analytic formulation is presented to compute the heading deviation, horizontal offset and buried depth of the cable. With the magnetic localization, the cable tracking and inspection mission is elaborately constructed as a straight-line path following control problem in the horizontal plane. A dedicated magnetic line-of-sight (LOS) guidance is built based on the relative geometric relationship between the vehicle and the cable, and the feedback linearizing technique is adopted to design a simplified cable tracking controller considering the side-slip effects, such that the under-actuated vehicle is able to move towards the subsea cable and then inspect its buried environment, which further guides the environmental protection of the cable by setting prohibited fishing/anchoring zones and increasing the buried depth. Finally, numerical simulation results show the effectiveness of the proposed magnetic guidance and control algorithm on the envisioned subsea cable tracking and the potential protection of the seabed environment along the cable route.

Subsea Cable Tracking by Autonomous Underwater Vehicle with Magnetic Sensing Guidance

PubMed Central

Xiang, Xianbo; Yu, Caoyang; Niu, Zemin; Zhang, Qin

2016-01-01

The changes of the seabed environment caused by a natural disaster or human activities dramatically affect the life span of the subsea buried cable. It is essential to track the cable route in order to inspect the condition of the buried cable and protect its surviving seabed environment. The magnetic sensor is instrumental in guiding the remotely-operated vehicle (ROV) to track and inspect the buried cable underseas. In this paper, a novel framework integrating the underwater cable localization method with the magnetic guidance and control algorithm is proposed, in order to enable the automatic cable tracking by a three-degrees-of-freedom (3-DOF) under-actuated autonomous underwater vehicle (AUV) without human beings in the loop. The work relies on the passive magnetic sensing method to localize the subsea cable by using two tri-axial magnetometers, and a new analytic formulation is presented to compute the heading deviation, horizontal offset and buried depth of the cable. With the magnetic localization, the cable tracking and inspection mission is elaborately constructed as a straight-line path following control problem in the horizontal plane. A dedicated magnetic line-of-sight (LOS) guidance is built based on the relative geometric relationship between the vehicle and the cable, and the feedback linearizing technique is adopted to design a simplified cable tracking controller considering the side-slip effects, such that the under-actuated vehicle is able to move towards the subsea cable and then inspect its buried environment, which further guides the environmental protection of the cable by setting prohibited fishing/anchoring zones and increasing the buried depth. Finally, numerical simulation results show the effectiveness of the proposed magnetic guidance and control algorithm on the envisioned subsea cable tracking and the potential protection of the seabed environment along the cable route. PMID:27556465

Behavioral responses of cotton mice (Peromyscus gossypinus) to large amounts of coarse woody debris.

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

Hinkleman, Travis M.

Hinkleman, Travis M. 2004. MS Thesis. Clemson University, Clemson, South Carolina. 62 pp. Coarse woody debris (CWD) is any log, snag, or downed branch >10 cm in diameter. As a major structural feature of forest ecosystems, CWD serves as an important habitat component for a variety of organisms. Rodents frequently use CWD for travel routes and daytime refugia. Although rodents are known to use CWD extensively and selectively, the use and selection of CWD by rodents may vary according to the abundance of CWD. The purpose of this project was to determine the effect of CWD abundance on the habitatmore » use patterns of a common terrestrial rodent, the cotton mouse (Peromyscus gossypinus). I tracked cotton mice with fluorescent pigments and radiotelemetry in 6 plots, situated in loblolly pine (Pinus taeda) stands, with manipulated levels of woody debris. Treatment plots had 6x the amount of woody debris as control plots. I determined log use and movement patterns from the paths produced by powder-tracking, and I identified daytime refugia by radio-tracking. Travel along logs was almost exclusively associated with the surface of logs (91%). The proportion of a movement path associated with logs was not the best predictor of path complexity; rather, the sex of the individual was the only significant indicator of relative displacement (i.e., males moved farther from the point of release than females) and vegetation cover was the only significant predictor of mean turning angle (i.e., increasing vegetation cover yielded more convoluted paths). Mice used logs to a greater extent on treatment plots (23.7%) than mice on control plots (4.8%). Mice on treatment plots used logs with less decay, less ground contact, and more bark than logs used by mice on control plots. Differences in log use patterns were largely a result of the attributes of available logs, but mice used logs selectively on treatment plots. Refuges were highly associated with woody debris, including refuges in rotting stumps (65%), root boles (13%), brush piles (8%), and logs (7%). Mice used different frequencies of refuge types between treatments; root bole and brush pile refuges were used more on treatment plots whereas stump and log refuges were used more on control plots. Refuge type, log volume, and tree basal area were significant predictors of refuge selection on control plots whereas refuge type and size were significant predictors of refuge selection on treatment plots. Refuges were significantly more dispersed on treatment plots. Mice used refuges more intensely and switched refuges less in the winter than the summer, regardless of woody debris abundance. The extensive and selective use of logs by cotton mice suggests that logs may be an important resource. However, logs are not a critical habitat component. Over half of the paths on control plots were not associated with logs, and logs were used infrequently as refuges. Nonetheless, refuges were highly associated with woody debris (e.g., stumps, root boles), which suggests that woody debris may be a critical habitat component.« less

The study of optimization on process parameters of high-accuracy computerized numerical control polishing

NASA Astrophysics Data System (ADS)

Huang, Wei-Ren; Huang, Shih-Pu; Tsai, Tsung-Yueh; Lin, Yi-Jyun; Yu, Zong-Ru; Kuo, Ching-Hsiang; Hsu, Wei-Yao; Young, Hong-Tsu

2017-09-01

Spherical lenses lead to forming spherical aberration and reduced optical performance. Consequently, in practice optical system shall apply a combination of spherical lenses for aberration correction. Thus, the volume of the optical system increased. In modern optical systems, aspherical lenses have been widely used because of their high optical performance with less optical components. However, aspherical surfaces cannot be fabricated by traditional full aperture polishing process due to their varying curvature. Sub-aperture computer numerical control (CNC) polishing is adopted for aspherical surface fabrication in recent years. By using CNC polishing process, mid-spatial frequency (MSF) error is normally accompanied during this process. And the MSF surface texture of optics decreases the optical performance for high precision optical system, especially for short-wavelength applications. Based on a bonnet polishing CNC machine, this study focuses on the relationship between MSF surface texture and CNC polishing parameters, which include feed rate, head speed, track spacing and path direction. The power spectral density (PSD) analysis is used to judge the MSF level caused by those polishing parameters. The test results show that controlling the removal depth of single polishing path, through the feed rate, and without same direction polishing path for higher total removal depth can efficiently reduce the MSF error. To verify the optical polishing parameters, we divided a correction polishing process to several polishing runs with different direction polishing paths. Compare to one shot polishing run, multi-direction path polishing plan could produce better surface quality on the optics.

The Palomar Testbed Interferometer

NASA Technical Reports Server (NTRS)

Colavita, M. M.; Wallace, J. K.; Hines, B. E.; Gursel, Y.; Malbet, F.; Palmer, D. L.; Pan, X. P.; Shao, M.; Yu, J. W.; Boden, A. F.

1999-01-01

The Palomar Testbed Interferometer (PTI) is a long-baseline infrared interferometer located at Palomar Observatory, California. It was built as a testbed for interferometric techniques applicable to the Keck Interferometer. First fringes were obtained in 1995 July. PTI implements a dual-star architecture, tracking two stars simultaneously for phase referencing and narrow-angle astrometry. The three fixed 40 cm apertures can be combined pairwise to provide baselines to 110 m. The interferometer actively tracks the white-light fringe using an array detector at 2.2 microns and active delay lines with a range of +/-38 m. Laser metrology of the delay lines allows for servo control, and laser metrology of the complete optical path enables narrow-angle astrometric measurements. The instrument is highly automated, using a multiprocessing computer system for instrument control and sequencing.

In the Tracks of Tamerlane: Central Asia’s Path to the 21st Century

DTIC Science & Technology

2004-01-01

prospects of the five states—Kazakhstan, Kyrgyzstan, Tajikistan, Turkmenistan, and Uzbekistan—reflect little of the millennial history of the region...National Security, Governor of Chu oblast and Mayor of Bishkek. Another contender was entrepreneur and independent parliamentarian Danyar Usenov, who...and entrepreneurs , perhaps fearing the political consequences of a restructured economy they could not control. This restrictive environment

Synthetic vision systems: the effects of guidance symbology, display size, and field of view.

PubMed

Alexander, Amy L; Wickens, Christopher D; Hardy, Thomas J

2005-01-01

Two experiments conducted in a high-fidelity flight simulator examined the effects of guidance symbology, display size, and geometric field of view (GFOV) within a synthetic vision system (SVS). In Experiment 1, 18 pilots flew highlighted and low-lighted tunnel-in-the-sky displays, as well as a less cluttered follow-me aircraft (FMA), through a series of curved approaches over rugged terrain. The results revealed that both tunnels supported better flight path tracking and lower workload levels than did the FMA because of the availability of more preview information. Increasing tunnel intensity had no benefit on tracking and, in fact, degraded traffic awareness because of clutter and attentional tunneling. In Experiment 2, 24 pilots flew a lowlighted tunnel configured according to different display sizes (small or large) and GFOVs (30 degrees or 60 degrees). Measures of flight path tracking and terrain awareness generally favored the 60 degrees GFOV; however, there were no effects of display size. Actual or potential applications of this research include understanding the impact of SVS properties on flight path tracking, traffic and terrain awareness, workload, and the allocation of attention.

Feasibility of touch-less control of operating room lights.

PubMed

Hartmann, Florian; Schlaefer, Alexander

2013-03-01

Today's highly technical operating rooms lead to fairly complex surgical workflows where the surgeon has to interact with a number of devices, including the operating room light. Hence, ideally, the surgeon could direct the light without major disruption of his work. We studied whether a gesture tracking-based control of an automated operating room light is feasible. So far, there has been little research on control approaches for operating lights. We have implemented an exemplary setup to mimic an automated light controlled by a gesture tracking system. The setup includes a articulated arm to position the light source and an off-the-shelf RGBD camera to detect the user interaction. We assessed the tracking performance using a robot-mounted hand phantom and ran a number of tests with 18 volunteers to evaluate the potential of touch-less light control. All test persons were comfortable with using the gesture-based system and quickly learned how to move a light spot on flat surface. The hand tracking error is direction-dependent and in the range of several centimeters, with a standard deviation of less than 1 mm and up to 3.5 mm orthogonal and parallel to the finger orientation, respectively. However, the subjects had no problems following even more complex paths with a width of less than 10 cm. The average speed was 0.15 m/s, and even initially slow subjects improved over time. Gestures to initiate control can be performed in approximately 2 s. Two-thirds of the subjects considered gesture control to be simple, and a majority considered it to be rather efficient. Implementation of an automated operating room light and touch-less control using an RGBD camera for gesture tracking is feasible. The remaining tracking error does not affect smooth control, and the use of the system is intuitive even for inexperienced users.

Tracking radar studies of bird migration

NASA Technical Reports Server (NTRS)

Williams, T. C.; Williams, J. M.; Teal, J. M.; Kanwisher, J. W.

1972-01-01

The application of tracking radar for determining the flight paths of migratory birds is discussed. The effects produced by various meteorological parameters are described. Samples of radar scope presentations obtained during tracking studies are presented. The characteristics of the radars and their limitations are examined.

Robust and novel two degree of freedom fractional controller based on two-loop topology for inverted pendulum.

PubMed

Dwivedi, Prakash; Pandey, Sandeep; Junghare, A S

2018-04-01

A rotary single inverted pendulum (RSIP) typically represents a space booster rocket, Segway and similar systems with unstable equilibrium. This paper proposes a novel two degree of freedom (2-DOF) fractional control strategy based on 2-loop topology for RSIP system which can be extended to control the systems with unstable equilibrium. It comprises feedback and feed-forward paths. Primary controller relates the perturbation attenuation while the secondary controller is accountable for set point tracking. To tune the parameters of proposed fractional controller a simple graphical tuning method based on frequency response is used. The study will serve the outstanding experimental results for both, stabilization and trajectory tracking tasks. The study will also serve to present a comparison of the performance of the proposed controller with the 1-DOF FOPID controller and sliding mode controller (SMC) for the RSIP system. Further to confirm the usability of the proposed controller and to avoid the random perturbations sensitivity, robustness, and stability analysis through fractional root-locus and Bode-plot is investigated. Copyright © 2018 ISA. Published by Elsevier Ltd. All rights reserved.

Investigation, development and application of optimal output feedback theory. Volume 2: Development of an optimal, limited state feedback outer-loop digital flight control system for 3-D terminal area operation

NASA Technical Reports Server (NTRS)

Broussard, J. R.; Halyo, N.

1984-01-01

This report contains the development of a digital outer-loop three dimensional radio navigation (3-D RNAV) flight control system for a small commercial jet transport. The outer-loop control system is designed using optimal stochastic limited state feedback techniques. Options investigated using the optimal limited state feedback approach include integrated versus hierarchical control loop designs, 20 samples per second versus 5 samples per second outer-loop operation and alternative Type 1 integration command errors. Command generator tracking techniques used in the digital control design enable the jet transport to automatically track arbitrary curved flight paths generated by waypoints. The performance of the design is demonstrated using detailed nonlinear aircraft simulations in the terminal area, frequency domain multi-input sigma plots, frequency domain single-input Bode plots and closed-loop poles. The response of the system to a severe wind shear during a landing approach is also presented.

Putting Off-Track Youths Back on Track to College

ERIC Educational Resources Information Center

Steinberg, Adria; Allen, Lili

2011-01-01

Back on Track, developed by Jobs for the Future, is a design for schools to not only re-engage off-track and out-of-school youths to graduate from high school, but also to put them on a clear, supported path to a college education. Two schools that have combined Back on Track with the early college model, in which students can earn both a high…

Towards Automated Three-Dimensional Tracking of Nephrons through Stacked Histological Image Sets

PubMed Central

Bhikha, Charita; Andreasen, Arne; Christensen, Erik I.; Letts, Robyn F. R.; Pantanowitz, Adam; Rubin, David M.; Thomsen, Jesper S.; Zhai, Xiao-Yue

2015-01-01

An automated approach for tracking individual nephrons through three-dimensional histological image sets of mouse and rat kidneys is presented. In a previous study, the available images were tracked manually through the image sets in order to explore renal microarchitecture. The purpose of the current research is to reduce the time and effort required to manually trace nephrons by creating an automated, intelligent system as a standard tool for such datasets. The algorithm is robust enough to isolate closely packed nephrons and track their convoluted paths despite a number of nonideal, interfering conditions such as local image distortions, artefacts, and interstitial tissue interference. The system comprises image preprocessing, feature extraction, and a custom graph-based tracking algorithm, which is validated by a rule base and a machine learning algorithm. A study of a selection of automatically tracked nephrons, when compared with manual tracking, yields a 95% tracking accuracy for structures in the cortex, while those in the medulla have lower accuracy due to narrower diameter and higher density. Limited manual intervention is introduced to improve tracking, enabling full nephron paths to be obtained with an average of 17 manual corrections per mouse nephron and 58 manual corrections per rat nephron. PMID:26170896

Towards Automated Three-Dimensional Tracking of Nephrons through Stacked Histological Image Sets.

PubMed

Bhikha, Charita; Andreasen, Arne; Christensen, Erik I; Letts, Robyn F R; Pantanowitz, Adam; Rubin, David M; Thomsen, Jesper S; Zhai, Xiao-Yue

2015-01-01

An automated approach for tracking individual nephrons through three-dimensional histological image sets of mouse and rat kidneys is presented. In a previous study, the available images were tracked manually through the image sets in order to explore renal microarchitecture. The purpose of the current research is to reduce the time and effort required to manually trace nephrons by creating an automated, intelligent system as a standard tool for such datasets. The algorithm is robust enough to isolate closely packed nephrons and track their convoluted paths despite a number of nonideal, interfering conditions such as local image distortions, artefacts, and interstitial tissue interference. The system comprises image preprocessing, feature extraction, and a custom graph-based tracking algorithm, which is validated by a rule base and a machine learning algorithm. A study of a selection of automatically tracked nephrons, when compared with manual tracking, yields a 95% tracking accuracy for structures in the cortex, while those in the medulla have lower accuracy due to narrower diameter and higher density. Limited manual intervention is introduced to improve tracking, enabling full nephron paths to be obtained with an average of 17 manual corrections per mouse nephron and 58 manual corrections per rat nephron.

Research on simulation technology of full-path infrared tail flame tracking of photoelectric theodolite in complicated environment

NASA Astrophysics Data System (ADS)

Wu, Hai-ying; Zhang, San-xi; Liu, Biao; Yue, Peng; Weng, Ying-hui

2018-02-01

The photoelectric theodolite is an important scheme to realize the tracking, detection, quantitative measurement and performance evaluation of weapon systems in ordnance test range. With the improvement of stability requirements for target tracking in complex environment, infrared scene simulation with high sense of reality and complex interference has become an indispensable technical way to evaluate the track performance of photoelectric theodolite. And the tail flame is the most important infrared radiation source of the weapon system. The dynamic tail flame with high reality is a key element for the photoelectric theodolite infrared scene simulation and imaging tracking test. In this paper, an infrared simulation method for the full-path tracking of tail flame by photoelectric theodolite is proposed aiming at the faint boundary, irregular, multi-regulated points. In this work, real tail images are employed. Simultaneously, infrared texture conversion technology is used to generate DDS texture for a particle system map. Thus, dynamic real-time tail flame simulation results with high fidelity from the theodolite perspective can be gained in the tracking process.

Modeling and controlling a robotic convoy using guidance laws strategies.

PubMed

Belkhouche, Fethi; Belkhouche, Boumediene

2005-08-01

This paper deals with the problem of modeling and controlling a robotic convoy. Guidance laws techniques are used to provide a mathematical formulation of the problem. The guidance laws used for this purpose are the velocity pursuit, the deviated pursuit, and the proportional navigation. The velocity pursuit equations model the robot's path under various sensors based control laws. A systematic study of the tracking problem based on this technique is undertaken. These guidance laws are applied to derive decentralized control laws for the angular and linear velocities. For the angular velocity, the control law is directly derived from the guidance laws after considering the relative kinematics equations between successive robots. The second control law maintains the distance between successive robots constant by controlling the linear velocity. This control law is derived by considering the kinematics equations between successive robots under the considered guidance law. Properties of the method are discussed and proven. Simulation results confirm the validity of our approach, as well as the validity of the properties of the method. Index Terms-Guidance laws, relative kinematics equations, robotic convoy, tracking.

ETHOWATCHER: validation of a tool for behavioral and video-tracking analysis in laboratory animals.

PubMed

Crispim Junior, Carlos Fernando; Pederiva, Cesar Nonato; Bose, Ricardo Chessini; Garcia, Vitor Augusto; Lino-de-Oliveira, Cilene; Marino-Neto, José

2012-02-01

We present a software (ETHOWATCHER(®)) developed to support ethography, object tracking and extraction of kinematic variables from digital video files of laboratory animals. The tracking module allows controlled segmentation of the target from the background, extracting image attributes used to calculate the distance traveled, orientation, length, area and a path graph of the experimental animal. The ethography module allows recording of catalog-based behaviors from environment or from video files continuously or frame-by-frame. The output reports duration, frequency and latency of each behavior and the sequence of events in a time-segmented format, set by the user. Validation tests were conducted on kinematic measurements and on the detection of known behavioral effects of drugs. This software is freely available at www.ethowatcher.ufsc.br. Copyright © 2011 Elsevier Ltd. All rights reserved.

Optical Tracker For Longwall Coal Shearer

NASA Technical Reports Server (NTRS)

Poulsen, Peter D.; Stein, Richard J.; Pease, Robert E.

1989-01-01

Photographic record yields information for correction of vehicle path. Tracking system records lateral movements of longwall coal-shearing vehicle. System detects lateral and vertical deviations of path of vehicle moving along coal face, shearing coal as it goes. Rides on rails in mine tunnel, advancing on toothed track in one of rails. As vehicle moves, retroreflective mirror rides up and down on teeth, providing series of pulsed reflections to film recorder. Recorded positions of pulses, having horizontal and vertical orientations, indicate vertical and horizontal deviations, respectively, of vehicle.

The Laser Communications Relay and the Path to the Next Generation Near Earth Relay

NASA Technical Reports Server (NTRS)

Israel, David J.

2015-01-01

NASA Goddard Space Flight Center is currently developing the Laser Communications Relay Demonstration (LCRD) as a Path to the Next Generation Near Earth Space Communication Network. The current NASA Space Network or Tracking and Data Relay Satellite System is comprised of a constellation of Tracking and Data Relay Satellites (TDRS) in geosynchronous orbit and associated ground stations and operation centers. NASA is currently targeting a next generation of relay capability on orbit in the 2025 timeframe.

"Fast Track" and "Traditional Path" Coaches: Affordances, Agency and Social Capital

ERIC Educational Resources Information Center

Rynne, Steven

2014-01-01

A recent development in large-scale coach accreditation (certification) structures has been the "fast tracking" of former elite athletes. Former elite athletes are often exempted from entry-level qualifications and are generally granted access to fast track courses that are shortened versions of the accreditation courses undertaken by…

Assessment of the pseudo-tracking approach for the calculation of material acceleration and pressure fields from time-resolved PIV: part I. Error propagation

NASA Astrophysics Data System (ADS)

van Gent, P. L.; Schrijer, F. F. J.; van Oudheusden, B. W.

2018-04-01

Pseudo-tracking refers to the construction of imaginary particle paths from PIV velocity fields and the subsequent estimation of the particle (material) acceleration. In view of the variety of existing and possible alternative ways to perform the pseudo-tracking method, it is not straightforward to select a suitable combination of numerical procedures for its implementation. To address this situation, this paper extends the theoretical framework for the approach. The developed theory is verified by applying various implementations of pseudo-tracking to a simulated PIV experiment. The findings of the investigations allow us to formulate the following insights and practical recommendations: (1) the velocity errors along the imaginary particle track are primarily a function of velocity measurement errors and spatial velocity gradients; (2) the particle path may best be calculated with second-order accurate numerical procedures while ensuring that the CFL condition is met; (3) least-square fitting of a first-order polynomial is a suitable method to estimate the material acceleration from the track; and (4) a suitable track length may be selected on the basis of the variation in material acceleration with track length.

Terminal area automatic navigation, guidance, and control research using the Microwave Landing System (MLS). Part 2: RNAV/MLS transition problems for aircraft

NASA Technical Reports Server (NTRS)

Pines, S.

1982-01-01

The problems in navigation and guidance encountered by aircraft in the initial transition period in changing from distance measuring equipment, VORTAC, and barometric instruments to the more precise microwave landing system data type navaids in the terminal area are investigated. The effects of the resulting discontinuities on the estimates of position and velocity for both optimal (Kalman type navigation schemes) and fixed gain (complementary type) navigation filters, and the effects of the errors in cross track, track angle, and altitude on the guidance equation and control commands during the critical landing phase are discussed. A method is presented to remove the discontinuities from the navigation loop and to reconstruct an RNAV path designed to land the aircraft with minimal turns and altitude changes.

Route Recapitulation and Route Loyalty in Homing Pigeons: Pilotage From 25 km?

NASA Astrophysics Data System (ADS)

Biro, Dora; Meade, Jessica; Guilford, Tim

2006-01-01

We utilised precision Global Positioning System (GPS) tracking to examine the homing paths of pigeons (Columba livia) released 20 times consecutively 25 km from the loft. By the end of the training phase, birds had developed highly stereotyped yet individually distinct routes home, with detailed recapitulation evident at each stage of the journey. Following training, birds also participated in a series of releases from novel sites at perpendicular distances of up to 3 km from their established routes. Results showed that subjects were attracted back to their established routes and recapitulated them from the point of contact. Naïve conspecifics (yoked controls) released from the same off-route sites confirmed that the experienced birds' route choices were not influenced by constraints exerted by terrain features, but that increased experience with the general area conferred a homing advantage in the form of more efficient flight tracks, even from these novel sites. Patterns in the paths taken by experienced birds to rejoin their established routes are discussed with reference to navigational mechanisms employed by homing pigeons in their familiar area.

Configuration management and automatic control of an augmentor wing aircraft with vectored thrust

NASA Technical Reports Server (NTRS)

Cicolani, L. S.; Sridhar, B.; Meyer, G.

1979-01-01

An advanced structure for automatic flight control logic for powered-lift aircraft operating in terminal areas is under investigation at Ames Research Center. This structure is based on acceleration control; acceleration commands are constructed as the sum of acceleration on the reference trajectory and a corrective feedback acceleration to regulate path tracking errors. The central element of the structure, termed a Trimmap, uses a model of the aircraft aerodynamic and engine forces to calculate the control settings required to generate the acceleration commands. This report describes the design criteria for the Trimmap and derives a Trimmap for Ames experimental augmentor wing jet STOL research aircraft.

The Integration of Geographical Information System and Remotely Sensed Data to Track and Predict the Migration Path of the Africanized Honey Bee

NASA Technical Reports Server (NTRS)

Ward, Charles; Bravo, Jessica; De Luna, Rosalia; Lopez, Gerardo; Pichardo, Itza; Trejo, Danny; Vargas, Gabriel

1997-01-01

One of the research groups at the Pan American Center for Earth and Environmental Studies (PACES) is researching the northward migration path of Africanized Honey Bees or often referred to in the popular press as killer bees. The goal of the Killer Bee Research Group (KBRG) is to set up a database in the form of a geographical information system, which will be used to track and predict the bees future migration path. Included in this paper is background information on geographical information systems, the SPANS Explorer software package which was used to implement the database, and Advanced Very High Resolution Radiometer data and how each of these is being incorporated in the research. With an accurate means of predicting future migration paths, the negative effects of the Africanized honey bees maybe reduced.

Thermal stability control system of photo-elastic interferometer in the PEM-FTs

NASA Astrophysics Data System (ADS)

Zhang, M. J.; Jing, N.; Li, K. W.; Wang, Z. B.

2018-01-01

A drifting model for the resonant frequency and retardation amplitude of a photo-elastic modulator (PEM) in the photo-elastic modulated Fourier transform spectrometer (PEM-FTs) is presented. A multi-parameter broadband-matching driving control method is proposed to improve the thermal stability of the PEM interferometer. The automatically frequency-modulated technology of the driving signal based on digital phase-locked technology is used to track the PEM's changing resonant frequency. Simultaneously the maximum optical-path-difference of a laser's interferogram is measured to adjust the amplitude of the PEM's driving signal so that the spectral resolution is stable. In the experiment, the multi-parameter broadband-matching control method is applied to the driving control system of the PEM-FTs. Control of resonant frequency and retardation amplitude stabilizes the maximum optical-path-difference to approximately 236 μm and results in a spectral resolution of 42 cm-1. This corresponds to a relative error smaller than 2.16% (4.28 standard deviation). The experiment shows that the method can effectively stabilize the spectral resolution of the PEM-FTs.

Guidance law simulation studies for complex approaches using the Microwave Landing System (MLS)

NASA Technical Reports Server (NTRS)

Feather, J. B.

1986-01-01

This report documents results for MLS guidance algorithm development conducted by DAC for NASA under the Advance Transport Operating Systems (ATOPS) Technology Studies program (NAS1-18028). The study consisted of evaluating guidance laws for vertical and lateral path control, as well as speed control, by simulating an MLS approach for the Washington National Airport. This work is an extension and generalization of a previous ATOPS contract (NAS1-16202) completed by DAC in 1985. The Washington river approach was simulated by six waypoints and one glideslope change and consisted of an eleven nautical mile approach path. Tracking performance was generated for 10 cases representing several different conditions, which included MLS noise, steady wind, turbulence, and windshear. Results of this simulation phase are suitable for use in future fixed-base simulator evaluations employing actual hardware (autopilot and a performance management system), as well as crew procedures and information requirements for MLS.

Design and evaluation of a computed tomography (CT)-compatible needle insertion device using an electromagnetic tracking system and CT images.

PubMed

Shahriari, Navid; Hekman, Edsko; Oudkerk, Matthijs; Misra, Sarthak

2015-11-01

Percutaneous needle insertion procedures are commonly used for diagnostic and therapeutic purposes. Although current technology allows accurate localization of lesions, they cannot yet be precisely targeted. Lung cancer is the most common cause of cancer-related death, and early detection reduces the mortality rate. Therefore, suspicious lesions are tested for diagnosis by performing needle biopsy. In this paper, we have presented a novel computed tomography (CT)-compatible needle insertion device (NID). The NID is used to steer a flexible needle (φ0.55 mm) with a bevel at the tip in biological tissue. CT images and an electromagnetic (EM) tracking system are used in two separate scenarios to track the needle tip in three-dimensional space during the procedure. Our system uses a control algorithm to steer the needle through a combination of insertion and minimal number of rotations. Noise analysis of CT images has demonstrated the compatibility of the device. The results for three experimental cases (case 1: open-loop control, case 2: closed-loop control using EM tracking system and case 3: closed-loop control using CT images) are presented. Each experimental case is performed five times, and average targeting errors are 2.86 ± 1.14, 1.11 ± 0.14 and 1.94 ± 0.63 mm for case 1, case 2 and case 3, respectively. The achieved results show that our device is CT-compatible and it is able to steer a bevel-tipped needle toward a target. We are able to use intermittent CT images and EM tracking data to control the needle path in a closed-loop manner. These results are promising and suggest that it is possible to accurately target the lesions in real clinical procedures in the future.

Conversion and control of an all-terrain vehicle for use as an autonomous mobile robot

NASA Astrophysics Data System (ADS)

Jacob, John S.; Gunderson, Robert W.; Fullmer, R. R.

1998-08-01

A systematic approach to ground vehicle automation is presented, combining low-level controls, trajectory generation and closed-loop path correction in an integrated system. Development of cooperative robotics for precision agriculture at Utah State University required the automation of a full-scale motorized vehicle. The Triton Predator 8- wheeled skid-steering all-terrain vehicle was selected for the project based on its ability to maneuver precisely and the simplicity of controlling the hydrostatic drivetrain. Low-level control was achieved by fitting an actuator on the engine throttle, actuators for the left and right drive controls, encoders on the left and right drive shafts to measure wheel speeds, and a signal pick-off on the alternator for measuring engine speed. Closed loop control maintains a desired engine speed and tracks left and right wheel speeds commands. A trajectory generator produces the wheel speed commands needed to steer the vehicle through a predetermined set of map coordinates. A planar trajectory through the points is computed by fitting a 2D cubic spline over each path segment while enforcing initial and final orientation constraints at segment endpoints. Acceleration and velocity profiles are computed for each trajectory segment, with the velocity over each segment dependent on turning radius. Left and right wheel speed setpoints are obtained by combining velocity and path curvature for each low-level timestep. The path correction algorithm uses GPS position and compass orientation information to adjust the wheel speed setpoints according to the 'crosstrack' and 'downtrack' errors and heading error. Nonlinear models of the engine and the skid-steering vehicle/ground interaction were developed for testing the integrated system in simulation. These test lead to several key design improvements which assisted final implementation on the vehicle.

Tenure Track Career System as a Strategic Instrument for Academic Leaders

ERIC Educational Resources Information Center

Pietilä, Maria

2015-01-01

This study examines the purposes for which leaders in universities use academic career systems. It focuses on the tenure track system which is new to Finland. Tenure track represents a newly established internal career path in a situation in which Finnish universities' organizational autonomy increased via new legislation from 2010. Drawing…

Tenure Tensions: Out in the Enchanted Forest

ERIC Educational Resources Information Center

Tyler, Jo A.

2010-01-01

The tenure track in higher education represents a path shrouded in a fair degree of mystery. This essay provides the perspective of a middle-aged, second-career tenure track faculty member on the vagaries of progressing down the track as an out lesbian. Three dialectics that build tension into the process--covering-creating, evaluation-liberation,…

Heroes and Legends Exhibit

NASA Image and Video Library

2016-11-07

Inside the Heroes and Legends attraction at the Kennedy Space Center Visitor Complex, interactive features include the original consoles of the Mercury Mission Control room with the world map where capsules paths were followed between tracking stations. The new facility looks back to the pioneering efforts of Mercury, Gemini and Apollo. It sets the stage by providing the background and context for space exploration and the legendary men and women who pioneered the nation's journey into space.

Comparison of Path Length and Ranges of Movement of the Center of Pressure and Reaction Time and Between Paired-Play and Solo-Play of a Virtual Reality Game.

PubMed

Portnoy, Sigal; Hersch, Ayelet; Sofer, Tal; Tresser, Sarit

2017-06-01

To test whether paired-play will induce longer path length and ranges of movement of the center of pressure (COP), which reflects on balance performance and stability, compared to solo-play and to test the difference in the path length and ranges of movement of the COP while playing the virtual reality (VR) game with the dominant hand compared to playing it with the nondominant hand. In this cross-sectional study 20 children (age 6.1 ± 0.7 years old) played an arm movement controlled VR game alone and with a peer while each of them stood on a pressure measuring pad to track the path length and ranges of movement of the COP. The total COP path was significantly higher during the paired-play (median 295.8 cm) compared to the COP path during the solo-play (median 189.2 cm). No significant differences were found in the reaction time and the mediolateral and anterior-posterior COP ranges between solo-play and paired-play. No significant differences were found between the parameters extracted during paired-play with the dominant or nondominant hand. Our findings imply that the paired-play is advantageous compared to solo-play since it induces a greater movement for the child, during which, higher COP velocities are reached that may contribute to improving the balance control of the child. Apart from the positive social benefits of paired-play, this positive effect on the COP path length is a noteworthy added value in the clinical setting when treating children with balance disorder.

Insights into vehicle trajectories at the handling limits: analysing open data from race car drivers

NASA Astrophysics Data System (ADS)

Kegelman, John C.; Harbott, Lene K.; Gerdes, J. Christian

2017-02-01

Race car drivers can offer insights into vehicle control during extreme manoeuvres; however, little data from race teams is publicly available for analysis. The Revs Program at Stanford has built a collection of vehicle dynamics data acquired from vintage race cars during live racing events with the intent of making this database publicly available for future analysis. This paper discusses the data acquisition, post-processing, and storage methods used to generate the database. An analysis of available data quantifies the repeatability of professional race car driver performance by examining the statistical dispersion of their driven paths. Certain map features, such as sections with high path curvature, consistently corresponded to local minima in path dispersion, quantifying the qualitative concept that drivers anchor their racing lines at specific locations around the track. A case study explores how two professional drivers employ distinct driving styles to achieve similar lap times, supporting the idea that driving at the limits allows a family of solutions in terms of paths and speed that can be adapted based on specific spatial, temporal, or other constraints and objectives.

Volcano and ship tracks indicate excessive aerosol-induced cloud water increases in a climate model.

PubMed

Toll, Velle; Christensen, Matthew; Gassó, Santiago; Bellouin, Nicolas

2017-12-28

Aerosol-cloud interaction is the most uncertain mechanism of anthropogenic radiative forcing of Earth's climate, and aerosol-induced cloud water changes are particularly poorly constrained in climate models. By combining satellite retrievals of volcano and ship tracks in stratocumulus clouds, we compile a unique observational dataset and confirm that liquid water path (LWP) responses to aerosols are bidirectional, and on average the increases in LWP are closely compensated by the decreases. Moreover, the meteorological parameters controlling the LWP responses are strikingly similar between the volcano and ship tracks. In stark contrast to observations, there are substantial unidirectional increases in LWP in the Hadley Centre climate model, because the model accounts only for the decreased precipitation efficiency and not for the enhanced entrainment drying. If the LWP increases in the model were compensated by the decreases as the observations suggest, its indirect aerosol radiative forcing in stratocumulus regions would decrease by 45%.

Volcano and Ship Tracks Indicate Excessive Aerosol-Induced Cloud Water Increases in a Climate Model

NASA Astrophysics Data System (ADS)

Toll, Velle; Christensen, Matthew; Gassó, Santiago; Bellouin, Nicolas

2017-12-01

Aerosol-cloud interaction is the most uncertain mechanism of anthropogenic radiative forcing of Earth's climate, and aerosol-induced cloud water changes are particularly poorly constrained in climate models. By combining satellite retrievals of volcano and ship tracks in stratocumulus clouds, we compile a unique observational data set and confirm that liquid water path (LWP) responses to aerosols are bidirectional, and on average the increases in LWP are closely compensated by the decreases. Moreover, the meteorological parameters controlling the LWP responses are strikingly similar between the volcano and ship tracks. In stark contrast to observations, there are substantial unidirectional increases in LWP in the Hadley Centre climate model, because the model accounts only for the decreased precipitation efficiency and not for the enhanced entrainment drying. If the LWP increases in the model were compensated by the decreases as the observations suggest, its indirect aerosol radiative forcing in stratocumulus regions would decrease by 45%.

Waterjet and laser etching: the nonlinear inverse problem

NASA Astrophysics Data System (ADS)

Bilbao-Guillerna, A.; Axinte, D. A.; Billingham, J.; Cadot, G. B. J.

2017-07-01

In waterjet and laser milling, material is removed from a solid surface in a succession of layers to create a new shape, in a depth-controlled manner. The inverse problem consists of defining the control parameters, in particular, the two-dimensional beam path, to arrive at a prescribed freeform surface. Waterjet milling (WJM) and pulsed laser ablation (PLA) are studied in this paper, since a generic nonlinear material removal model is appropriate for both of these processes. The inverse problem is usually solved for this kind of process by simply controlling dwell time in proportion to the required depth of milling at a sequence of pixels on the surface. However, this approach is only valid when shallow surfaces are etched, since it does not take into account either the footprint of the beam or its overlapping on successive passes. A discrete adjoint algorithm is proposed in this paper to improve the solution. Nonlinear effects and non-straight passes are included in the optimization, while the calculation of the Jacobian matrix does not require large computation times. Several tests are performed to validate the proposed method and the results show that tracking error is reduced typically by a factor of two in comparison to the pixel-by-pixel approach and the classical raster path strategy with straight passes. The tracking error can be as low as 2-5% and 1-2% for WJM and PLA, respectively, depending on the complexity of the target surface.

On the dynamics of jellyfish locomotion via 3D particle tracking velocimetry

NASA Astrophysics Data System (ADS)

Piper, Matthew; Kim, Jin-Tae; Chamorro, Leonardo P.

2016-11-01

The dynamics of jellyfish (Aurelia aurita) locomotion is experimentally studied via 3D particle tracking velocimetry. 3D locations of the bell tip are tracked over 1.5 cycles to describe the jellyfish path. Multiple positions of the jellyfish bell margin are initially tracked in 2D from four independent planes and individually projected in 3D based on the jellyfish path and geometrical properties of the setup. A cubic spline interpolation and the exponentially weighted moving average are used to estimate derived quantities, including velocity and acceleration of the jellyfish locomotion. We will discuss distinctive features of the jellyfish 3D motion at various swimming phases, and will provide insight on the 3D contraction and relaxation in terms of the locomotion, the steadiness of the bell margin eccentricity, and local Reynolds number based on the instantaneous mean diameter of the bell.

The Relationship Between Extratropical Cyclone Steering and Blocking Along the North American East Coast

NASA Astrophysics Data System (ADS)

Booth, James F.; Dunn-Sigouin, Etienne; Pfahl, Stephan

2017-12-01

The path and speed of extratropical cyclones along the east coast of North America influence their societal impact. This work characterizes the climatological relationship between cyclone track path and speed, and blocking and the North Atlantic Oscillation (NAO). An analysis of Lagrangian cyclone track propagation speed and angle shows that the percentage of cyclones with blocks is larger for cyclones that propagate northward or southeastward, as is the size of the blocked region near the cyclone. Cyclone-centered composites show that propagation of cyclones relative to blocks is consistent with steering by the block: northward tracks more often have a block east/northeast of the cyclone; slow tracks tend to have blocks due north of the cyclone. Comparison with the NAO shows that to first-order blocking and the NAO steer cyclones in a similar manner. However, blocked cyclones are more likely to propagate northward, increasing the likelihood of cyclone related impacts.

Multi-Modal Intersections: Resolving Conflicts between Trains, Motor Vehicles, Bicyclists and Pedestrians

DOT National Transportation Integrated Search

2017-09-01

This research report investigates the relationship between pedestrians and bicyclists on paths parallel to railroad tracks and with a road perpendicular to the path. The possible conflicts at intersections within these design parameters are of concer...

Career Tracks

ERIC Educational Resources Information Center

Williamson, Amy; Dillon, Robert; Immings, Natalie; Jensen, Crystal

2014-01-01

Additional career paths are an element of improvement on the traditional career ladder concept in education. A culture of growth offers teachers opportunities that can greatly expand their careers while substantially enhancing student learning. The career paths summarised in this article, describe some additional opportunities for education…

Consensus seeking, formation keeping, and trajectory tracking in multiple vehicle cooperative control

NASA Astrophysics Data System (ADS)

Ren, Wei

Cooperative control problems for multiple vehicle systems can be categorized as either formation control problems with applications to mobile robots, unmanned air vehicles, autonomous underwater vehicles, satellites, aircraft, spacecraft, and automated highway systems, or non-formation control problems such as task assignment, cooperative transport, cooperative role assignment, air traffic control, cooperative timing, and cooperative search. The cooperative control of multiple vehicle systems poses significant theoretical and practical challenges. For cooperative control strategies to be successful, numerous issues must be addressed. We consider three important and correlated issues: consensus seeking, formation keeping, and trajectory tracking. For consensus seeking, we investigate algorithms and protocols so that a team of vehicles can reach consensus on the values of the coordination data in the presence of imperfect sensors, communication dropout, sparse communication topologies, and noisy and unreliable communication links. The main contribution of this dissertation in this area is that we show necessary and/or sufficient conditions for consensus seeking with limited, unidirectional, and unreliable information exchange under fixed and switching interaction topologies (through either communication or sensing). For formation keeping, we apply a so-called "virtual structure" approach to spacecraft formation flying and multi-vehicle formation maneuvers. As a result, single vehicle path planning and trajectory generation techniques can be employed for the virtual structure while trajectory tracking strategies can be employed for each vehicle. The main contribution of this dissertation in this area is that we propose a decentralized architecture for multiple spacecraft formation flying in deep space with formation feedback introduced. This architecture ensures the necessary precision in the presence of actuator saturation, internal and external disturbances, and stringent inter-vehicle communication limitations. A constructive approach based on the satisficing control paradigm is also applied to multi-robot coordination in hardware. For trajectory tracking, we investigate nonlinear tracking controllers for fixed wing unmanned air vehicles and nonholonomic mobile robots with velocity and heading rate constraints. The main contribution of this dissertation in this area is that our proposed tracking controllers are shown to be robust to input uncertainties and measurement noise, and are computationally simple and can be implemented with low-cost, low-power microcontrollers. In addition, our approach allows piecewise continuous reference velocity and heading rate and can be extended to derive a variety of other trajectory tracking strategies.

Robust estimation-free prescribed performance back-stepping control of air-breathing hypersonic vehicles without affine models

NASA Astrophysics Data System (ADS)

Bu, Xiangwei; Wu, Xiaoyan; Huang, Jiaqi; Wei, Daozhi

2016-11-01

This paper investigates the design of a novel estimation-free prescribed performance non-affine control strategy for the longitudinal dynamics of an air-breathing hypersonic vehicle (AHV) via back-stepping. The proposed control scheme is capable of guaranteeing tracking errors of velocity, altitude, flight-path angle, pitch angle and pitch rate with prescribed performance. By prescribed performance, we mean that the tracking error is limited to a predefined arbitrarily small residual set, with convergence rate no less than a certain constant, exhibiting maximum overshoot less than a given value. Unlike traditional back-stepping designs, there is no need of an affine model in this paper. Moreover, both the tedious analytic and numerical computations of time derivatives of virtual control laws are completely avoided. In contrast to estimation-based strategies, the presented estimation-free controller possesses much lower computational costs, while successfully eliminating the potential problem of parameter drifting. Owing to its independence on an accurate AHV model, the studied methodology exhibits excellent robustness against system uncertainties. Finally, simulation results from a fully nonlinear model clarify and verify the design.

A switching formation strategy for obstacle avoidance of a multi-robot system based on robot priority model.

PubMed

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

2015-05-01

This paper describes a switching formation strategy for multi-robots with velocity constraints to avoid and cross obstacles. In the strategy, a leader robot plans a safe path using the geometric obstacle avoidance control method (GOACM). By calculating new desired distances and bearing angles with the leader robot, the follower robots switch into a safe formation. With considering collision avoidance, a novel robot priority model, based on the desired distance and bearing angle between the leader and follower robots, is designed during the obstacle avoidance process. The adaptive tracking control algorithm guarantees that the trajectory and velocity tracking errors converge to zero. To demonstrate the validity of the proposed methods, simulation and experiment results present that multi-robots effectively form and switch formation avoiding obstacles without collisions. Copyright © 2014 ISA. Published by Elsevier Ltd. All rights reserved.

Marine Vehicle Sensor Network Architecture and Protocol Designs for Ocean Observation

PubMed Central

Zhang, Shaowei; Yu, Jiancheng; Zhang, Aiqun; Yang, Lei; Shu, Yeqiang

2012-01-01

The micro-scale and meso-scale ocean dynamic processes which are nonlinear and have large variability, have a significant impact on the fisheries, natural resources, and marine climatology. A rapid, refined and sophisticated observation system is therefore needed in marine scientific research. The maneuverability and controllability of mobile sensor platforms make them a preferred choice to establish ocean observing networks, compared to the static sensor observing platform. In this study, marine vehicles are utilized as the nodes of mobile sensor networks for coverage sampling of a regional ocean area and ocean feature tracking. A synoptic analysis about marine vehicle dynamic control, multi vehicles mission assignment and path planning methods, and ocean feature tracking and observing techniques is given. Combined with the observation plan in the South China Sea, we provide an overview of the mobile sensor networks established with marine vehicles, and the corresponding simulation results. PMID:22368475

NASA B737 flight test results of the Total Energy Control System

NASA Technical Reports Server (NTRS)

Bruce, K. R.; Kelly, J. R.; Person, L. H., Jr.

1986-01-01

The Total Energy Control System was developed and tested in September 1985 during five flights on the NASA Langley Transport System Research Vehicle, a modified Boeing B737. In the system, the total kinetic and potential energy of the aircraft is controlled by the throttles, and the energy distribution is controlled by the elevator. A common inner loop is used for each mode of the autopilot, and all the control functions of a conventional pitch autopilot and autothrottle are integrated into a single generalized control concept, providing decoupled flightpath and maneuver control, and a coordinated throttle response for all maneuvers. No instabilities or design problems requiring gain adjustment in flight were found, and comparison with simulation results showed excellent path tracking.

Joint-space adaptive control of a 6 DOF end-effector with closed-kinematic chain mechanism

NASA Technical Reports Server (NTRS)

Nguyen, Charles C.; Zhou, Zhen-Lei

1989-01-01

The development is presented for a joint-space adaptive scheme that controls the joint position of a six-degree-of-freedom (DOF) robot end-effector performing fine and precise motion within a very limited workspace. The end-effector was built to study autonomous assembly of NASA hardware in space. The design of the adaptive controller is based on the concept of model reference adaptive control (MRAC) and Lyapunov direct method. In the development, it is assumed that the end-effector performs slowly varying motion. Computer simulation is performed to investigate the performance of the developed control scheme on position control of the end-effector. Simulation results manifest that the adaptive control scheme provides excellent tracking of several test paths.

Nonlinear robust controller design for multi-robot systems with unknown payloads

NASA Technical Reports Server (NTRS)

Song, Y. D.; Anderson, J. N.; Homaifar, A.; Lai, H. Y.

1992-01-01

This work is concerned with the control problem of a multi-robot system handling a payload with unknown mass properties. Force constraints at the grasp points are considered. Robust control schemes are proposed that cope with the model uncertainty and achieve asymptotic path tracking. To deal with the force constraints, a strategy for optimally sharing the task is suggested. This strategy basically consists of two steps. The first detects the robots that need help and the second arranges that help. It is shown that the overall system is not only robust to uncertain payload parameters, but also satisfies the force constraints.

DISTANT GOAL ORIENTATION IN BIRDS.

DTIC Science & Technology

homing to a Bowling Green , Ohio loft. Pigeons with one eye surgically removed were able to home. Helicopter tracking is suitable and efficient for...the observation of pigeon navigation behavior. The homeward path varies considerably from the straight line path, sudden attitude changes occur, very

User guide for MODPATH version 6 - A particle-tracking model for MODFLOW

USGS Publications Warehouse

Pollock, David W.

2012-01-01

MODPATH is a particle-tracking post-processing model that computes three-dimensional flow paths using output from groundwater flow simulations based on MODFLOW, the U.S. Geological Survey (USGS) finite-difference groundwater flow model. This report documents MODPATH version 6. Previous versions were documented in USGS Open-File Reports 89-381 and 94-464. The program uses a semianalytical particle-tracking scheme that allows an analytical expression of a particle's flow path to be obtained within each finite-difference grid cell. A particle's path is computed by tracking the particle from one cell to the next until it reaches a boundary, an internal sink/source, or satisfies another termination criterion. Data input to MODPATH consists of a combination of MODFLOW input data files, MODFLOW head and flow output files, and other input files specific to MODPATH. Output from MODPATH consists of several output files, including a number of particle coordinate output files intended to serve as input data for other programs that process, analyze, and display the results in various ways. MODPATH is written in FORTRAN and can be compiled by any FORTRAN compiler that fully supports FORTRAN-2003 or by most commercially available FORTRAN-95 compilers that support the major FORTRAN-2003 language extensions.

The role of vision in odor-plume tracking by walking and flying insects.

PubMed

Willis, Mark A; Avondet, Jennifer L; Zheng, Elizabeth

2011-12-15

The walking paths of male cockroaches, Periplaneta americana, tracking point-source plumes of female pheromone often appear similar in structure to those observed from flying male moths. Flying moths use visual-flow-field feedback of their movements to control steering and speed over the ground and to detect the wind speed and direction while tracking plumes of odors. Walking insects are also known to use flow field cues to steer their trajectories. Can the upwind steering we observe in plume-tracking walking male cockroaches be explained by visual-flow-field feedback, as in flying moths? To answer this question, we experimentally occluded the compound eyes and ocelli of virgin P. americana males, separately and in combination, and challenged them with different wind and odor environments in our laboratory wind tunnel. They were observed responding to: (1) still air and no odor, (2) wind and no odor, (3) a wind-borne point-source pheromone plume and (4) a wide pheromone plume in wind. If walking cockroaches require visual cues to control their steering with respect to their environment, we would expect their tracks to be less directed and more variable if they cannot see. Instead, we found few statistically significant differences among behaviors exhibited by intact control cockroaches or those with their eyes occluded, under any of our environmental conditions. Working towards our goal of a comprehensive understanding of chemo-orientation in insects, we then challenged flying and walking male moths to track pheromone plumes with and without visual feedback. Neither walking nor flying moths performed as well as walking cockroaches when there was no visual information available.

The role of vision in odor-plume tracking by walking and flying insects

PubMed Central

Willis, Mark A.; Avondet, Jennifer L.; Zheng, Elizabeth

2011-01-01

SUMMARY The walking paths of male cockroaches, Periplaneta americana, tracking point-source plumes of female pheromone often appear similar in structure to those observed from flying male moths. Flying moths use visual-flow-field feedback of their movements to control steering and speed over the ground and to detect the wind speed and direction while tracking plumes of odors. Walking insects are also known to use flow field cues to steer their trajectories. Can the upwind steering we observe in plume-tracking walking male cockroaches be explained by visual-flow-field feedback, as in flying moths? To answer this question, we experimentally occluded the compound eyes and ocelli of virgin P. americana males, separately and in combination, and challenged them with different wind and odor environments in our laboratory wind tunnel. They were observed responding to: (1) still air and no odor, (2) wind and no odor, (3) a wind-borne point-source pheromone plume and (4) a wide pheromone plume in wind. If walking cockroaches require visual cues to control their steering with respect to their environment, we would expect their tracks to be less directed and more variable if they cannot see. Instead, we found few statistically significant differences among behaviors exhibited by intact control cockroaches or those with their eyes occluded, under any of our environmental conditions. Working towards our goal of a comprehensive understanding of chemo-orientation in insects, we then challenged flying and walking male moths to track pheromone plumes with and without visual feedback. Neither walking nor flying moths performed as well as walking cockroaches when there was no visual information available. PMID:22116754

The Primary Flight Display and Its Pathway Guidance: Workload, Performance, and Situation Awareness

NASA Technical Reports Server (NTRS)

Wickens, Christopher D.; Alexander, Amy L.; Hardy, Thomas J.

2003-01-01

In two experiments carried out in a high fidelity general aviation flight simulator, 42 instrument rated pilots flew a pathway-in-the-sky (tunnel) display through a series of multi-leg curved stepdown approaches through mountainous terrain. Both experiments examined how properties of the tunnel influenced flight path tracking performance, traffic awareness, terrain awareness and workload (assessed both by subjective and secondary task performance measures). Experiment 1, flown in simulated VMC, compared high and low intensity tunnels, with a less cluttered follow-me-airplane (FMA). The results revealed that both tunnels supported better flight path tracking than the FMA, because of the availability of more preview information. Increasing tunnel intensity, while reducing subjective workload, had no benefit on tracking, and degraded traffic detection performance. In Experiment 2, flown mostly in IMC, the low intensity tunnel was flown with a large (10 inch x 8 inch) and small (8 inch x 6.5 inch) display, representing a geometric field of view (GFOV) of either 30 degrees or 60 degrees. Most measures of flight path tracking performance favored the smaller display, and particularly the 60 degree GFOV, which presented a smaller appearing tunnel, and a wider range of terrain depiction. The larger GFOV also supported better terrain awareness, and yielded a lower secondary task assessment of workload. In both experiments, the final landing approach was terminated by a runway obstruction, and the tunnel guided pilots on a missed approach. In nearly all cases, pilots failed to notice an air hazard that lay in the missed approach path, but was only depicted in the outside view.

Precision pointing and tracking through random media by exploitation of the enhanced backscatter phenomenon.

PubMed

Harvey, J E; Reddy, S P; Phillips, R L

1996-07-20

The active illumination of a target through a turbulent medium with a monostatic transmitter-receiver results in a naturally occurring conjugate wave caused by reciprocal scattering paths that experience identical phase variations. This reciprocal path-scattering phenomenon produces an enhanced backscatter in the retroverse direction (precisely along the boresight of the pointing telescope). A dual aperture causes this intensity enhancement to take the form of Young's interference fringes. Interference fringes produced by the reciprocal path-scattering phenomenon are temporally stable even in the presence of time-varying turbulence. Choosing the width-to-separation ratio of the dual apertures appropriately and utilizing orthogonal polarizations to suppress the time-varying common-path scattered radiation allow one to achieve interferometric sensitivity in pointing accuracy through a random medium or turbulent atmosphere. Computer simulations are compared with laboratory experimental data. This new precision pointing and tracking technique has potential applications in ground-to-space laser communications, laser power beaming to satellites, and theater missile defense scenarios.

Effect of the track potential on the motion and energy flow of secondary electrons created from heavy-ion irradiation

NASA Astrophysics Data System (ADS)

Moribayashi, Kengo

2018-05-01

Using simulations, we have evaluated the effect of the track potential on the motion and energy flow of secondary electrons, with the goal of determining the spatial distribution of energy deposition due to irradiation with heavy ions. We have simulated this effect as a function of the mean path τ between the incident ion-impact-ionization events at ion energies Eion. Here, the track potential is the potential formed from electric field near this incident ion path. The simulations indicate that this effect is mainly determined by τ and hardly depends on Eion. To understand heavy ion beam science more deeply and to reduce the time required by simulations, we have proposed simple approximation methods that almost reproduce the simulation results here.

Supercavitating Projectile Tracking System and Method

DTIC Science & Technology

2009-12-30

Distribution is unlimited 20100104106 Attorney Docket No. 96681 SUPERCAVITATING PROJECTILE TRACKING SYSTEM AND METHOD STATEMENT OF GOVERNMENT...underwater track or path 14 of a supercavitating vehicle under surface 16 of a body of water. In this embodiment, passive acoustic or pressure...transducers 12 are utilized to measure a pressure field produced by a moving supercavitating vehicle. The present invention provides a low-cost, reusable

Displacement measurement with over-determined interferometer

NASA Astrophysics Data System (ADS)

Lazar, Josef; Holá, Miroslava; Hrabina, Jan; Buchta, Zdeněk.; Číp, Ondřej; Oulehla, Jindřich

2012-01-01

We present a concept combining traditional displacement incremental interferometry with a tracking refractometer following the fluctuations of the refractive index of air. This concept is represented by an interferometric system of three Michelson-type interferometers where two are arranged in a counter-measuring configuration and the third one is set to measure the changes of the fixed length, here the measuring range of the overall displacement. In this configuration the two counter-measuring interferometers have identical beam paths with proportional parts of the overall one. The fixed interferometer with its geometrical length of the measuring beam linked to a mechanical reference made of a high thermal-stability material (Zerodur) operates as a tracking refractometer monitoring the atmospheric refractive index directly in the beam path of the displacement measuring interferometers. This principle has been demonstrated experimentally through a set of measurements in a temperature controlled environment under slowly changing refractive index of air in comparison with its indirect measurement through Edlen formula. With locking of the laser optical frequency to fixed value of the overall optical length the concept can operate as an interferometric system with compensation of the fluctuations of the refractive index of air.

Conformal needle-based ultrasound ablation using EM-tracked conebeam CT image guidance

NASA Astrophysics Data System (ADS)

Burdette, E. Clif; Banovac, Filip; Diederich, Chris J.; Cheng, Patrick; Wilson, Emmanuel; Cleary, Kevin R.

2011-03-01

Numerous studies have demonstrated the efficacy of interstitial ablative approaches for the treatment of renal and hepatic tumors. Despite these promising results, current systems remain highly dependent on operator skill, and cannot treat many tumors because there is little control of the size and shape of the zone of necrosis, and no control over ablator trajectory within tissue once insertion has taken place. Additionally, tissue deformation and target motion make it extremely difficult to accurately place the ablator device into the target. Irregularly shaped target volumes typically require multiple insertions and several sequential thermal ablation procedures. This study demonstrated feasibility of spatially tracked image-guided conformal ultrasound (US) ablation for percutaneous directional ablation of diseased tissue. Tissue was prepared by suturing the liver within a pig belly and 1mm BBs placed to serve as needle targets. The image guided system used integrated electromagnetic tracking and cone-beam CT (CBCT) with conformable needlebased high-intensity US ablation in the interventional suite. Tomographic images from cone beam CT were transferred electronically to the image-guided tracking system (IGSTK). Paired-point registration was used to register the target specimen to CT images and enable navigation. Path planning is done by selecting the target BB on the GUI of the realtime tracking system and determining skin entry location until an optimal path is selected. Power was applied to create the desired ablation extent within 7-10 minutes at a thermal dose (>300eqm43). The system was successfully used to place the US ablator in planned target locations within ex-vivo kidney and liver through percutaneous access. Targeting accuracy was 3-4 mm. Sectioned specimens demonstrated uniform ablation within the planned target zone. Subsequent experiments were conducted for multiple ablator positions based upon treatment planning simulations. Ablation zones in liver were 73cc, 84cc, and 140cc for 3, 4, and 5 placements, respectively. These experiments demonstrate the feasibility of combining real-time spatially tracked image guidance with directional interstitial ultrasound ablation. Interstitial ultrasound ablation delivered on multiple needles permit the size and shape of the ablation zone to be "sculpted" by modifying the angle and intensity of the active US elements in the array. This paper summarizes the design and development of the first system incorporating thermal treatment planning and integration of a novel interstitial acoustic ablation device with integrated 3D electromagnetic tracking and guidance strategy.

Effect of gyro verticality error on lateral autoland tracking performance for an inertially smoothed control law

NASA Technical Reports Server (NTRS)

Thibodeaux, J. J.

1977-01-01

The results of a simulation study performed to determine the effects of gyro verticality error on lateral autoland tracking and landing performance are presented. A first order vertical gyro error model was used to generate the measurement of the roll attitude feedback signal normally supplied by an inertial navigation system. The lateral autoland law used was an inertially smoothed control design. The effect of initial angular gyro tilt errors (2 deg, 3 deg, 4 deg, and 5 deg), introduced prior to localizer capture, were investigated by use of a small perturbation aircraft simulation. These errors represent the deviations which could occur in the conventional attitude sensor as a result of the maneuver-induced spin-axis misalinement and drift. Results showed that for a 1.05 deg per minute erection rate and a 5 deg initial tilt error, ON COURSE autoland control logic was not satisfied. Failure to attain the ON COURSE mode precluded high control loop gains and localizer beam path integration and resulted in unacceptable beam standoff at touchdown.

Design of a fuel-efficient guidance system for a STOL aircraft

NASA Technical Reports Server (NTRS)

Mclean, J. D.; Erzberger, H.

1981-01-01

In the predictive mode, the system synthesizes a horizontal path from an initial aircraft position and heading to a desired final position and heading and then synthesizes a fuel-efficient speed-altitude profile along the path. In the track mode, the synthesized trajectory is reconstructed and tracked automatically. An analytical basis for the design of the system is presented and a description of the airborne computer implementation is given. A detailed discussion of the software, which should be helpful to those who use the actual software developed for these tests, is also provided.

Identification of the feedforward component in manual control with predictable target signals.

PubMed

Drop, Frank M; Pool, Daan M; Damveld, Herman J; van Paassen, Marinus M; Mulder, Max

2013-12-01

In the manual control of a dynamic system, the human controller (HC) often follows a visible and predictable reference path. Compared with a purely feedback control strategy, performance can be improved by making use of this knowledge of the reference. The operator could effectively introduce feedforward control in conjunction with a feedback path to compensate for errors, as hypothesized in literature. However, feedforward behavior has never been identified from experimental data, nor have the hypothesized models been validated. This paper investigates human control behavior in pursuit tracking of a predictable reference signal while being perturbed by a quasi-random multisine disturbance signal. An experiment was done in which the relative strength of the target and disturbance signals were systematically varied. The anticipated changes in control behavior were studied by means of an ARX model analysis and by fitting three parametric HC models: two different feedback models and a combined feedforward and feedback model. The ARX analysis shows that the experiment participants employed control action on both the error and the target signal. The control action on the target was similar to the inverse of the system dynamics. Model fits show that this behavior can be modeled best by the combined feedforward and feedback model.

Tracks of a non-main path traveler: 2011 Thomas Willis Lecture.

PubMed

Hallenbeck, John M

2012-02-01

After an unconventional beginning in stroke research, I veered off the main path repeatedly to view problems from a different perspective. In this lecture summary, I would like to return to several points along the byways that led to research with some continuity.

The processing of spatial information in short-term memory: insights from eye tracking the path length effect.

PubMed

Guérard, Katherine; Tremblay, Sébastien; Saint-Aubin, Jean

2009-10-01

Serial memory for spatial locations increases as the distance between successive stimuli locations decreases. This effect, known as the path length effect [Parmentier, F. B. R., Elford, G., & Maybery, M. T. (2005). Transitional information in spatial serial memory: Path characteristics affect recall performance. Journal of Experimental Psychology: Learning, Memory & Cognition, 31, 412-427], was investigated in a systematic manner using eye tracking and interference procedures to explore the mechanisms responsible for the processing of spatial information. In Experiment 1, eye movements were monitored during a spatial serial recall task--in which the participants have to remember the location of spatially and temporally separated dots on the screen. In the experimental conditions, eye movements were suppressed by requiring participants to incessantly move their eyes between irrelevant locations. Ocular suppression abolished the path length effect whether eye movements were prevented during item presentation or during a 7s retention interval. In Experiment 2, articulatory suppression was combined with a spatial serial recall task. Although articulatory suppression impaired performance, it did not alter the path length effect. Our results suggest that rehearsal plays a key role in serial memory for spatial information, though the effect of path length seems to involve other processes located at encoding, such as the time spent fixating each location and perceptual organization.

Spatially Correlated Sparse MIMO Channel Path Delay Estimation in Scattering Environments Based on Signal Subspace Tracking

PubMed Central

Chargé, Pascal; Bazzi, Oussama; Ding, Yuehua

2018-01-01

A parametric scheme for spatially correlated sparse multiple-input multiple-output (MIMO) channel path delay estimation in scattering environments is presented in this paper. In MIMO outdoor communication scenarios, channel impulse responses (CIRs) of different transmit–receive antenna pairs are often supposed to be sparse due to a few significant scatterers, and share a common sparse pattern, such that path delays are assumed to be equal for every transmit–receive antenna pair. In some existing works, an exact common support condition is exploited, where the path delays are considered equal for every transmit–receive antenna pair, meanwhile ignoring the influence of scattering. A more realistic channel model is proposed in this paper, where due to scatterers in the environment, the received signals are modeled as clusters of multi-rays around a nominal or mean time delay at different antenna elements, resulting in a non-strictly exact common support phenomenon. A method for estimating the channel mean path delays is then derived based on the subspace approach, and the tracking of the effective dimension of the signal subspace that changes due to the wireless environment. The proposed method shows an improved channel mean path delays estimation performance in comparison with the conventional estimation methods. PMID:29734797

Spatially Correlated Sparse MIMO Channel Path Delay Estimation in Scattering Environments Based on Signal Subspace Tracking.

PubMed

Mohydeen, Ali; Chargé, Pascal; Wang, Yide; Bazzi, Oussama; Ding, Yuehua

2018-05-06

A parametric scheme for spatially correlated sparse multiple-input multiple-output (MIMO) channel path delay estimation in scattering environments is presented in this paper. In MIMO outdoor communication scenarios, channel impulse responses (CIRs) of different transmit⁻receive antenna pairs are often supposed to be sparse due to a few significant scatterers, and share a common sparse pattern, such that path delays are assumed to be equal for every transmit⁻receive antenna pair. In some existing works, an exact common support condition is exploited, where the path delays are considered equal for every transmit⁻receive antenna pair, meanwhile ignoring the influence of scattering. A more realistic channel model is proposed in this paper, where due to scatterers in the environment, the received signals are modeled as clusters of multi-rays around a nominal or mean time delay at different antenna elements, resulting in a non-strictly exact common support phenomenon. A method for estimating the channel mean path delays is then derived based on the subspace approach, and the tracking of the effective dimension of the signal subspace that changes due to the wireless environment. The proposed method shows an improved channel mean path delays estimation performance in comparison with the conventional estimation methods.

A homotopy method based on WENO schemes for solving steady state problems of hyperbolic conservation laws

DTIC Science & Technology

2012-09-03

prac- tice to solve these initial value problems. Additionally, the predictor / corrector methods are combined with adaptive stepsize and adaptive ...for implementing a numerical path tracking algorithm is to decide which predictor / corrector method to employ, how large to take the step ∆t, and what...the endgame algorithm . Output: A steady state solution Set ǫ = 1 while ǫ >= ǫend do set the stepsize ∆ǫ by using adaptive stepsize control algorithm

Robot Tracer with Visual Camera

NASA Astrophysics Data System (ADS)

Jabbar Lubis, Abdul; Dwi Lestari, Yuyun; Dafitri, Haida; Azanuddin

2017-12-01

Robot is a versatile tool that can function replace human work function. The robot is a device that can be reprogrammed according to user needs. The use of wireless networks for remote monitoring needs can be utilized to build a robot that can be monitored movement and can be monitored using blueprints and he can track the path chosen robot. This process is sent using a wireless network. For visual robot using high resolution cameras to facilitate the operator to control the robot and see the surrounding circumstances.

A path planning method used in fluid jet polishing eliminating lightweight mirror imprinting effect

NASA Astrophysics Data System (ADS)

Li, Wenzong; Fan, Bin; Shi, Chunyan; Wang, Jia; Zhuo, Bin

2014-08-01

With the development of space technology, the design of optical system tends to large aperture lightweight mirror with high dimension-thickness ratio. However, when the lightweight mirror PV value is less than λ/10 , the surface will show wavy imprinting effect obviously. Imprinting effect introduced by head-tool pressure has become a technological barrier in high-precision lightweight mirror manufacturing. Fluid jet polishing can exclude outside pressure. Presently, machining tracks often used are grating type path, screw type path and pseudo-random path. On the edge of imprinting error, the speed of adjacent path points changes too fast, which causes the machine hard to reflect quickly, brings about new path error, and increases the polishing time due to superfluous path. This paper presents a new planning path method to eliminate imprinting effect. Simulation results show that the path of the improved grating path can better eliminate imprinting effect compared to the general path.

MODAS Validation in Littoral Areas Using GRASP

DTIC Science & Technology

2002-09-30

result (4 hr) is guiding new work on calculation efficiency. Figure 4. Near-optimal coordinated passive search plan against a complex transitor ... Transitor tracks form a river of roughly parallel potential paths. The two searcher tracks criss- cross this river like shoe lacings over much of

Display Provides Pilots with Real-Time Sonic-Boom Information

NASA Technical Reports Server (NTRS)

Haering, Ed; Plotkin, Ken

2013-01-01

Supersonic aircraft generate shock waves that move outward and extend to the ground. As a cone of pressurized air spreads across the landscape along the flight path, it creates a continuous sonic boom along the flight track. Several factors can influence sonic booms: weight, size, and shape of the aircraft; its altitude and flight path; and weather and atmospheric conditions. This technology allows pilots to control the impact of sonic booms. A software system displays the location and intensity of shock waves caused by supersonic aircraft. This technology can be integrated into cockpits or flight control rooms to help pilots minimize sonic boom impact in populated areas. The system processes vehicle and flight parameters as well as data regarding current atmospheric conditions. The display provides real-time information regarding sonic boom location and intensity, enabling pilots to make the necessary flight adjustments to control the timing and location of sonic booms. This technology can be used on current-generation supersonic aircraft, which generate loud sonic booms, as well as future- generation, low-boom aircraft, anticipated to be quiet enough for populated areas.

An Artificial Intelligence Approach to Automatic Left Ventricular Border Detection in 2-D Echocardiography

PubMed Central

Buchan, Iris; Covvey, H. Dominic; Rakowski, Harry

1985-01-01

A program has been developed for left ventricular (LV) border tracking on ultrasound images. For each frame, forty border points at equally-spaced angles around the LV center are found gradually during three passes. Pass 1 uses adaptive thresholding to find the most obvious border points. Pass 2 then uses an artificial intelligence technique of finding possible border path segments, associating a score with each, and, from paths with superior scores, obtaining more of the border points. Pass 3 closes any remaining gaps by interpolation. The program tracks the LV border quite well in spite of dropout and interference from intracardiac structures, except during end-systole. Multi-level passes provide a very useful structure for border tracking, with increasingly slow but more sophisticated algorithms possible at higher levels for use when earlier passes recognise failure.

An integrated bioinformatics infrastructure essential for advancing pharmacogenomics and personalized medicine in the context of the FDA's Critical Path Initiative.

PubMed

Tong, Weida; Harris, Stephen C; Fang, Hong; Shi, Leming; Perkins, Roger; Goodsaid, Federico; Frueh, Felix W

2007-01-01

Pharmacogenomics (PGx) is identified in the FDA Critical Path document as a major opportunity for advancing medical product development and personalized medicine. An integrated bioinformatics infrastructure for use in FDA data review is crucial to realize the benefits of PGx for public health. We have developed an integrated bioinformatics tool, called ArrayTrack, for managing, analyzing and interpreting genomic and other biomarker data (e.g. proteomic and metabolomic data). ArrayTrack is a highly flexible and robust software platform, which allows evolving with technological advances and changing user needs. ArrayTrack is used in the routine review of genomic data submitted to the FDA; here, three hypothetical examples of its use in the Voluntary eXploratory Data Submission (VXDS) program are illustrated.: © Published by Elsevier Ltd.

Overcoming Information Overload in the Cockpit

DTIC Science & Technology

2009-07-15

has much dierent information needs than a Chinook pi- lot does ying an air assault mission. The former is concerned primarily with angle of attack...pi- lots with an altitude tracking cue. The device conveys path angle error, the error angle between the current ight path and the interception path... angle of attack, NASA’s Dryden Flight Research Center developed a Pressure Cu that utilized a number of inatable, pneumatic bladders, held to the

Assessing the Performance of Human-Automation Collaborative Planning Systems

DTIC Science & Technology

2011-06-01

process- ing and incorporating vast amounts of incoming information into their solutions. How- ever, these algorithms are brittle and unable to account for...planning system, a descriptive Mission Performance measure may address the total travel time on the path or the cost of the path (e.g. total work...minimizing costs or collisions [4, 32, 33]. Error measures for such a path planning system may track how many collisions occur or how much threat

Autonomous Rover Traverse and Precise Arm Placement on Remotely Designated Targets

NASA Technical Reports Server (NTRS)

Nesnas, Issa A.; Pivtoraiko, Mihail N.; Kelly, Alonzo; Fleder, Michael

2012-01-01

This software controls a rover platform to traverse rocky terrain autonomously, plan paths, and avoid obstacles using its stereo hazard and navigation cameras. It does so while continuously tracking a target of interest selected from 10 20 m away. The rover drives and tracks the target until it reaches the vicinity of the target. The rover then positions itself to approach the target, deploys its robotic arm, and places the end effector instrument on the designated target to within 2-3-cm accuracy of the originally selected target. This software features continuous navigation in a fairly rocky field in an outdoor environment and the ability to enable the rover to avoid large rocks and traverse over smaller ones. Using point-and-click mouse commands, a scientist designates targets in the initial imagery acquired from the rover s mast cameras. The navigation software uses stereo imaging, traversability analysis, path planning, trajectory generation, and trajectory execution. It also includes visual target tracking of a designated target selected from 10 m away while continuously navigating the rocky terrain. Improvements in this design include steering while driving, which uses continuous curvature paths. There are also several improvements to the traversability analyzer, including improved data fusion of traversability maps that result from pose estimation uncertainties, dealing with boundary effects to enable tighter maneuvers, and handling a wider range of obstacles. This work advances what has been previously developed and integrated on the Mars Exploration Rovers by using algorithms that are capable of traversing more rock-dense terrains, enabling tight, thread-the-needle maneuvers. These algorithms were integrated on the newly refurbished Athena Mars research rover, and were fielded in the JPL Mars Yard. Forty-three runs were conducted with targets at distances ranging from 5 to 15 m, and a success rate of 93% was achieved for placement of the instrument within 2-3 cm of the target.

96. PLANE 8 EAST. TRACK IS ON RIGHT, TAILRACE IS ...

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

96. PLANE 8 EAST. TRACK IS ON RIGHT, TAILRACE IS ON LEFT. ABOVE TAILRACE CAN BE SEEN THE RETURN PATH OF THE CABLE. IN BACKGROUND CAN BE SEEN THE PARTIALLY SUBMERSED CRADLE AT THE HEAD OF PLANE 9 EAST. - Morris Canal, Phillipsburg, Warren County, NJ

Classification of Birds and Bats Using Flight Tracks

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

Cullinan, Valerie I.; Matzner, Shari; Duberstein, Corey A.

Classification of birds and bats that use areas targeted for offshore wind farm development and the inference of their behavior is essential to evaluating the potential effects of development. The current approach to assessing the number and distribution of birds at sea involves transect surveys using trained individuals in boats or airplanes or using high-resolution imagery. These approaches are costly and have safety concerns. Based on a limited annotated library extracted from a single-camera thermal video, we provide a framework for building models that classify birds and bats and their associated behaviors. As an example, we developed a discriminant modelmore » for theoretical flight paths and applied it to data (N = 64 tracks) extracted from 5-min video clips. The agreement between model- and observer-classified path types was initially only 41%, but it increased to 73% when small-scale jitter was censored and path types were combined. Classification of 46 tracks of bats, swallows, gulls, and terns on average was 82% accurate, based on a jackknife cross-validation. Model classification of bats and terns (N = 4 and 2, respectively) was 94% and 91% correct, respectively; however, the variance associated with the tracks from these targets is poorly estimated. Model classification of gulls and swallows (N ≥ 18) was on average 73% and 85% correct, respectively. The models developed here should be considered preliminary because they are based on a small data set both in terms of the numbers of species and the identified flight tracks. Future classification models would be greatly improved by including a measure of distance between the camera and the target.« less

Initial Impact of the Fast Track Prevention Trial for Conduct Problems: II. Classroom Effects

PubMed Central

2009-01-01

This study examined the effectiveness of the universal component of the Fast Track prevention model: the PATHS (Promoting Alternative THinking Strategies) curriculum and teacher consultation. This randomized clinical trial involved 198 intervention and 180 comparison classrooms from neighborhoods with greater than average crime in 4 U.S. locations. In the intervention schools, Grade 1 teachers delivered a 57-lesson social competence intervention focused on self-control, emotional awareness, peer relations, and problem solving. Findings indicated significant effects on peer ratings of aggression and hyperactive–disruptive behavior and observer ratings of classroom atmosphere. Quality of implementation predicted variation in assessments of classroom functioning. The results are discussed in terms of both the efficacy of universal, school-based prevention models and the need to examine comprehensive, multiyear programs. PMID:10535231

Model-based observer and feedback control design for a rigid Joukowski foil in a Kármán vortex street.

PubMed

Free, Brian A; Paley, Derek A

2018-03-14

Obstacles and swimming fish in flow create a wake with an alternating left/right vortex pattern known as a Kármán vortex street and reverse Kármán vortex street, respectively. An energy-efficient fish behavior resembling slaloming through the vortex street is called Kármán gaiting. This paper describes the use of a bioinspired array of pressure sensors on a Joukowski foil to estimate and control flow-relative position in a Kármán vortex street using potential flow theory, recursive Bayesian filtering, and trajectory-tracking feedback control. The Joukowski foil is fixed in downstream position in a flowing water channel and free to move on air bearings in the cross-stream direction by controlling its angle of attack to generate lift. Inspired by the lateral-line neuromasts found in fish, the sensing and control scheme is validated using off-the-shelf pressure sensors in an experimental testbed that includes a flapping device to create vortices. We derive a potential flow model that describes the flow over a Joukowski foil in a Kármán vortex street and identify an optimal path through a Kármán vortex street using empirical observability. The optimally observable trajectory is one that passes through each vortex in the street. The estimated vorticity and location of the Kármán vortex street are used in a closed-loop control to track either the optimally observable path or the energetically efficient gait exhibited by fish. Results from the closed-loop control experiments in the flow tank show that the artificial lateral line in conjunction with a potential flow model and Bayesian estimator allow the robot to perform fish-like slaloming behavior in a Kármán vortex street. This work is a precursor to an autonomous robotic fish sensing the wake of another fish and/or performing pursuit and schooling behavior.

Clinical care paths: a role for finance in clinical decision-making.

PubMed

Abrams, Michael N; Cummings, Simone; Hage, Dana

2012-12-01

Care paths map the critical actions and decision points across a patient's course of medical treatment; their purpose is to guide physicians in the delivery of high-quality care while reducing care costs by avoiding services that do not contribute meaningfully to positive outcomes. Each care path development initiative should be led by a respected physician champion, whose specialty is in the area of the care episode being mapped, with the support of a clinician project manager. Once the care path has been developed and implemented, the finance leader's role begins in earnest with the tracking of financial and clinical data against care paths.

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

NASA Technical Reports Server (NTRS)

Wells, Scott R.

2002-01-01

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

Store-and-feedforward adaptive gaming system for hand-finger motion tracking in telerehabilitation.

PubMed

Lockery, Daniel; Peters, James F; Ramanna, Sheela; Shay, Barbara L; Szturm, Tony

2011-05-01

This paper presents a telerehabilitation system that encompasses a webcam and store-and-feedforward adaptive gaming system for tracking finger-hand movement of patients during local and remote therapy sessions. Gaming-event signals and webcam images are recorded as part of a gaming session and then forwarded to an online healthcare content management system (CMS) that separates incoming information into individual patient records. The CMS makes it possible for clinicians to log in remotely and review gathered data using online reports that are provided to help with signal and image analysis using various numerical measures and plotting functions. Signals from a 6 degree-of-freedom magnetic motion tracking system provide a basis for video-game sprite control. The MMT provides a path for motion signals between common objects manipulated by a patient and a computer game. During a therapy session, a webcam that captures images of the hand together with a number of performance metrics provides insight into the quality, efficiency, and skill of a patient.

Effect of motion cues during complex curved approach and landing tasks: A piloted simulation study

NASA Technical Reports Server (NTRS)

Scanlon, Charles H.

1987-01-01

A piloted simulation study was conducted to examine the effect of motion cues using a high fidelity simulation of commercial aircraft during the performance of complex approach and landing tasks in the Microwave Landing System (MLS) signal environment. The data from these tests indicate that in a high complexity MLS approach task with moderate turbulence and wind, the pilot uses motion cues to improve path tracking performance. No significant differences in tracking accuracy were noted for the low and medium complexity tasks, regardless of the presence of motion cues. Higher control input rates were measured for all tasks when motion was used. Pilot eye scan, as measured by instrument dwell time, was faster when motion cues were used regardless of the complexity of the approach tasks. Pilot comments indicated a preference for motion. With motion cues, pilots appeared to work harder in all levels of task complexity and to improve tracking performance in the most complex approach task.

Optical neural network system for pose determination of spinning satellites

NASA Technical Reports Server (NTRS)

Lee, Andrew; Casasent, David

1990-01-01

An optical neural network architecture and algorithm based on a Hopfield optimization network are presented for multitarget tracking. This tracker utilizes a neuron for every possible target track, and a quadratic energy function of neural activities which is minimized using gradient descent neural evolution. The neural net tracker is demonstrated as part of a system for determining position and orientation (pose) of spinning satellites with respect to a robotic spacecraft. The input to the system is time sequence video from a single camera. Novelty detection and filtering are utilized to locate and segment novel regions from the input images. The neural net multitarget tracker determines the correspondences (or tracks) of the novel regions as a function of time, and hence the paths of object (satellite) parts. The path traced out by a given part or region is approximately elliptical in image space, and the position, shape and orientation of the ellipse are functions of the satellite geometry and its pose. Having a geometric model of the satellite, and the elliptical path of a part in image space, the three-dimensional pose of the satellite is determined. Digital simulation results using this algorithm are presented for various satellite poses and lighting conditions.

An evaluation of flight path formats head-up and head-down

NASA Technical Reports Server (NTRS)

Sexton, George A.; Moody, Laura E.; Evans, Joanne; Williams, Kenneth E.

1988-01-01

Flight path primary flight display formats were incorporated on head-up and head-down electronic displays and integrated into an Advanced Concepts Flight Simulator. Objective and subjective data were collected while ten airline pilots evaluated the formats by flying an approach and landing task under various ceiling, visibility and wind conditions. Deviations from referenced/commanded airspeed, horizontal track, vertical track and touchdown point were smaller using the head-up display (HUD) format than the head-down display (HDD) format, but not significantly smaller. Subjectively, the pilots overwhelmingly preferred (1) flight path formats over attitude formats used in current aircraft, and (2) the head-up presentation over the head-down, primarily because it eliminated the head-down to head-up transition during low visibility landing approaches. This report describes the simulator, the flight displays, the format evaluation, and the results of the objective and subjective data.

A review of some head-up display formats. [tests on sensing equipment for flights following partly visible terrain close to the ground

NASA Technical Reports Server (NTRS)

Naish, J. M.

1979-01-01

Two alternate head-up display devices (HUD) were compared for properties relevant to the accurate performance of concurrent tasks in real flight conditions and in various flight modes. The comparisons were made to find the disorientation resistance of the HUDs along with the tracking accuracy, interference resistance, fixation resistance, and error resistance. The use of displacement and flight path information for vertical control is discussed in terms of flight stability. Several combinations of symbols and driving signals are described, including a compensated control law, which were used in simulated flight to deal with wind shear.

Motion on Cycloid Paths: A Project

ERIC Educational Resources Information Center

Gluck, P.

2010-01-01

This article reports a high school laboratory project whose theme is the motion of a small ball on cycloidal tracks. Models were built both of a brachistochrone and of a Huygens pendulum clock whose bob is constrained to move on a cycloidal path. Photogates and a data acquisition system were employed in order to investigate experimentally the…

Time-Critical Cooperative Path Following of Multiple Unmanned Aerial Vehicles over Time-Varying Networks

DTIC Science & Technology

2013-03-01

Ciência e a Tecnologia . References [1] Kaminer, I., Pascoal, A.M., Hallberg, E., and Silvestreo, C., “Trajectory Tracking for Autonomous Vehicles: An...for publication). [53] Cichella, V., Xargay, E., Dobrokhodov, V., Kaminer, I., Pascoal, A. M., and Hovakimyan, N., “Geometric 3D Path-Following

Tracking the Career Paths of Marketing and Business Education Graduates

ERIC Educational Resources Information Center

Mooney, Carol; Haltinner, Urs; Stanislawski, Debbie

2006-01-01

Marketing and business education faculty at the University of Wisconsin-Stout (UW-Stout) recently conducted a longitudinal study, spanning the entire 35 years of the program's existence, describing and analyzing its graduates' career paths. Data was collected through a questionnaire that utilized a combination of Likert-type responses, open-ended…

Comparison of ground-water flow model particle-tracking results and isotopic data in the Mojave River ground-water basin, southern California, USA

USGS Publications Warehouse

Izbicki, John A.; Stamos, Christina L.; Nishikawa, Tracy; Martin, Peter

2004-01-01

Flow-path and time-of-travel results for the Mojave River ground-water basin, southern California, calculated using the ground-water flow model MODFLOW and particle-tracking model MODPATH were similar to flow path and time-of-travel interpretations derived from delta-deuterium and carbon-14 data. Model and isotopic data both show short flow paths and young ground-water ages throughout the floodplain aquifer along most the Mojave River. Longer flow paths and older ground-water ages as great as 10,000 years before present were measured and simulated in the floodplain aquifer near the Mojave Valley. Model and isotopic data also show movement of water between the floodplain and regional aquifer and subsequent discharge of water from the river to dry lakes in some areas. It was not possible to simulate the isotopic composition of ground-water in the regional aquifer away from the front of the San Gabriel and San Bernardino Mountains - because recharge in these areas does not occur under the present-day climatic conditions used for calibration of the model.

Mobile robots IV; Proceedings of the Meeting, Philadelphia, PA, Nov. 6, 7, 1989

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

Wolfe, W.J.; Chun, W.H.

1990-01-01

The present conference on mobile robot systems discusses high-speed machine perception based on passive sensing, wide-angle optical ranging, three-dimensional path planning for flying/crawling robots, navigation of autonomous mobile intelligence in an unstructured natural environment, mechanical models for the locomotion of a four-articulated-track robot, a rule-based command language for a semiautonomous Mars rover, and a computer model of the structured light vision system for a Mars rover. Also discussed are optical flow and three-dimensional information for navigation, feature-based reasoning trail detection, a symbolic neural-net production system for obstacle avoidance and navigation, intelligent path planning for robot navigation in an unknown environment,more » behaviors from a hierarchical control system, stereoscopic TV systems, the REACT language for autonomous robots, and a man-amplifying exoskeleton.« less

Layered data association using graph-theoretic formulation with applications to tennis ball tracking in monocular sequences.

PubMed

Yan, Fei; Christmas, William; Kittler, Josef

2008-10-01

In this paper, we propose a multilayered data association scheme with graph-theoretic formulation for tracking multiple objects that undergo switching dynamics in clutter. The proposed scheme takes as input object candidates detected in each frame. At the object candidate level, "tracklets'' are "grown'' from sets of candidates that have high probabilities of containing only true positives. At the tracklet level, a directed and weighted graph is constructed, where each node is a tracklet, and the edge weight between two nodes is defined according to the "compatibility'' of the two tracklets. The association problem is then formulated as an all-pairs shortest path (APSP) problem in this graph. Finally, at the path level, by analyzing the APSPs, all object trajectories are identified, and track initiation and track termination are automatically dealt with. By exploiting a special topological property of the graph, we have also developed a more efficient APSP algorithm than the general-purpose ones. The proposed data association scheme is applied to tennis sequences to track tennis balls. Experiments show that it works well on sequences where other data association methods perform poorly or fail completely.

Path planning and Ground Control Station simulator for UAV

NASA Astrophysics Data System (ADS)

Ajami, A.; Balmat, J.; Gauthier, J.-P.; Maillot, T.

In this paper we present a Universal and Interoperable Ground Control Station (UIGCS) simulator for fixed and rotary wing Unmanned Aerial Vehicles (UAVs), and all types of payloads. One of the major constraints is to operate and manage multiple legacy and future UAVs, taking into account the compliance with NATO Combined/Joint Services Operational Environment (STANAG 4586). Another purpose of the station is to assign the UAV a certain degree of autonomy, via autonomous planification/replanification strategies. The paper is organized as follows. In Section 2, we describe the non-linear models of the fixed and rotary wing UAVs that we use in the simulator. In Section 3, we describe the simulator architecture, which is based upon interacting modules programmed independently. This simulator is linked with an open source flight simulator, to simulate the video flow and the moving target in 3D. To conclude this part, we tackle briefly the problem of the Matlab/Simulink software connection (used to model the UAV's dynamic) with the simulation of the virtual environment. Section 5 deals with the control module of a flight path of the UAV. The control system is divided into four distinct hierarchical layers: flight path, navigation controller, autopilot and flight control surfaces controller. In the Section 6, we focus on the trajectory planification/replanification question for fixed wing UAV. Indeed, one of the goals of this work is to increase the autonomy of the UAV. We propose two types of algorithms, based upon 1) the methods of the tangent and 2) an original Lyapunov-type method. These algorithms allow either to join a fixed pattern or to track a moving target. Finally, Section 7 presents simulation results obtained on our simulator, concerning a rather complicated scenario of mission.

Effects of wrist tendon vibration on arm tracking in people poststroke.

PubMed

Conrad, Megan O; Scheidt, Robert A; Schmit, Brian D

2011-09-01

The goal of this study was to evaluate the influence of wrist tendon vibration on a multijoint elbow/shoulder tracking task. We hypothesized that tendon vibration applied at the wrist musculature would improve upper arm tracking performance in chronic stroke survivors through increased, Ia-afferent feedback to the central nervous system (CNS). To test this hypothesis, 10 chronic stroke and 5 neurologically intact subjects grasped the handle of a planar robot as they tracked a target through a horizontal figure-8 pattern. A total of 36 trials were completed by each subject. During the middle trials, 70-Hz tendon vibration was applied at the wrist flexor tendons. Position, velocity, and electromyography data were evaluated to compare the quality of arm movements before, during, and after trials with concurrent vibration. Despite tracking a target that moved at a constant velocity, hand trajectories appeared to be segmented, displaying alternating intervals of acceleration and deceleration. Segments were identifiable in tangential velocity data as single-peaked, bell-shaped speed pulses. When tendon vibration was applied at the wrist musculature, stroke subjects experienced improved tracking performance in that hand path lengths and peak speed variability decreased, whereas movement smoothness increased. These performance improvements were accompanied by decreases in the muscle activity during movement. Possible mechanisms behind improved movement control in response to tendon vibration may include improved sensorimotor integration or improved cortical modulation of spinal reflex activity.

Effects of wrist tendon vibration on arm tracking in people poststroke

PubMed Central

Conrad, Megan O.; Scheidt, Robert A.

2011-01-01

The goal of this study was to evaluate the influence of wrist tendon vibration on a multijoint elbow/shoulder tracking task. We hypothesized that tendon vibration applied at the wrist musculature would improve upper arm tracking performance in chronic stroke survivors through increased, Ia-afferent feedback to the central nervous system (CNS). To test this hypothesis, 10 chronic stroke and 5 neurologically intact subjects grasped the handle of a planar robot as they tracked a target through a horizontal figure-8 pattern. A total of 36 trials were completed by each subject. During the middle trials, 70-Hz tendon vibration was applied at the wrist flexor tendons. Position, velocity, and electromyography data were evaluated to compare the quality of arm movements before, during, and after trials with concurrent vibration. Despite tracking a target that moved at a constant velocity, hand trajectories appeared to be segmented, displaying alternating intervals of acceleration and deceleration. Segments were identifiable in tangential velocity data as single-peaked, bell-shaped speed pulses. When tendon vibration was applied at the wrist musculature, stroke subjects experienced improved tracking performance in that hand path lengths and peak speed variability decreased, whereas movement smoothness increased. These performance improvements were accompanied by decreases in the muscle activity during movement. Possible mechanisms behind improved movement control in response to tendon vibration may include improved sensorimotor integration or improved cortical modulation of spinal reflex activity. PMID:21697444

The Effects of a Multiyear Universal Social-Emotional Learning Program: The Role of Student and School Characteristics

ERIC Educational Resources Information Center

Bierman, Karen L.; Coie, John D.; Dodge, Kenneth A.; Greenberg, Mark T.; Lochman, John E.; McMahon, Robert J.; Pinderhughes, Ellen

2010-01-01

Objective: This article examines the impact of a universal social-emotional learning program, the Fast Track PATHS (Promoting Alternative Thinking Strategies) curriculum and teacher consultation, embedded within the Fast Track selective prevention model. Method: The longitudinal analysis involved 2,937 children of multiple ethnicities who remained…

Mathematical analysis study for radar data processing and enchancement. Part 2: Modeling of propagation path errors

NASA Technical Reports Server (NTRS)

James, R.; Brownlow, J. D.

1985-01-01

A study is performed under NASA contract to evaluate data from an AN/FPS-16 radar installed for support of flight programs at Dryden Flight Research Facility of NASA Ames Research Center. The purpose of this study is to provide information necessary for improving post-flight data reduction and knowledge of accuracy of derived radar quantities. Tracking data from six flights are analyzed. Noise and bias errors in raw tracking data are determined for each of the flights. A discussion of an altitude bias error during all of the tracking missions is included. This bias error is defined by utilizing pressure altitude measurements made during survey flights. Four separate filtering methods, representative of the most widely used optimal estimation techniques for enhancement of radar tracking data, are analyzed for suitability in processing both real-time and post-mission data. Additional information regarding the radar and its measurements, including typical noise and bias errors in the range and angle measurements, is also presented. This report is in two parts. This is part 2, a discussion of the modeling of propagation path errors.

Social inequality and smoking in young Swiss men: intergenerational transmission of cultural capital and health orientation.

PubMed

Schori, Dominik; Hofmann, Karen; Abel, Thomas

2014-04-01

Smoking is related to income and education and contributes to social inequality in morbidity and mortality. Socialisation theories focus on one's family of origin as regards acquisition of norms, attitudes and behaviours. Aim of this study is to assess associations of daily smoking with health orientation and academic track in young Swiss men. Further, to assess associations of health orientation and academic track with family healthy lifestyle, parents' cultural capital, and parents' economic capital. Cross-sectional data were collected during recruitment for compulsory military service in Switzerland during 2010 and 2011. A structural equation model was fitted to a sample of 18- to 25-year-old Swiss men (N = 10,546). Smoking in young adults was negatively associated with academic track and health orientation. Smoking was negatively associated with parents' cultural capital through academic track. Smoking was negatively associated with health orientation which in turn was positively associated with a healthy lifestyle in the family of origin. Results suggest two different mechanisms of intergenerational transmissions: first, the family transmission path of health-related dispositions, and secondly, the structural transmission path of educational inequality.

Preferential paths in yield stress fluid flow through a porous medium

NASA Astrophysics Data System (ADS)

Guasto, Jeffrey; Waisbord, Nicolas; Stoop, Norbert; Dunkel, Jörn

2016-11-01

A broad range of biological, geological, and industrial materials with complex rheological properties are subjected to flow through porous media in applications ranging from oil recovery to food manufacturing. In this experimental study, we examine the flow of a model yield stress fluid (Carbopol micro-gel) through a quasi-2D porous medium, fabricated in a microfluidic channel. The flow is driven by applying a precisely-controlled pressure gradient and measured by particle tracking velocimetry, and our observations are complemented by a pore-network model of the yield stress fluid flow. While remaining unyielded at small applied pressure, the micro-gel begins to yield at a critical pressure gradient, exhibiting a single preferential flow path that percolates through the porous medium. As the applied pressure gradient increases, we observe a subsequent coarsening and invasion of the yielded, fluidized network. An examination of both the yielded network topology and pore-scale flow reveal that two cooperative phenomena are involved in sculpting the preferential flow paths: (1) the geometry of the porous microstructure, and (2) the adhesive surface interactions between the micro-gel and substrate. NSF CBET-1511340.

Event Processing in the Visual World: Projected Motion Paths during Spoken Sentence Comprehension

ERIC Educational Resources Information Center

Kamide, Yuki; Lindsay, Shane; Scheepers, Christoph; Kukona, Anuenue

2016-01-01

Motion events in language describe the movement of an entity to another location along a path. In 2 eye-tracking experiments, we found that comprehension of motion events involves the online construction of a spatial mental model that integrates language with the visual world. In Experiment 1, participants listened to sentences describing the…

They Might be Giants: Small-Scale RPAs as a Threat to Air Base Defense and Air Power Projection

DTIC Science & Technology

2014-06-01

experience on C-5, KC-10, and C-17 aircraft as well as multiple General Electric jet and turbofan engines. He takes command of the 730th Air Mobility...pneumatic and electric controls for stabilization and launched from a portable track. Once it arrived near the target, it would kill its engine, shed...airfield lie beyond or under the path of any interceptor’s bullets. To pose a metaphor, it is akin to using a sports car to chase a honeybee, but

Optical superheterodyne receiver.

PubMed

Lucy, R F; Lang, K; Peters, C J; Duval, K

1967-08-01

Optical communications experiments at 6328 A, comparing the fading characteristics of coherent and noncoherent optical detection, have been performed over a 1-km real atmospheric path in different weather conditions. The results show that fading is less severe for noncoherent detection and that the fading characteristic for both types vary significantly with weather conditions. In addition, the similarity of optical FM to rf FM is demonstrated. The measurements were performed using a remote laser transmitter and an optical superheterodyne receiver operating simultaneously in both a coherent and noncoherent detection mode. The receiver, tunable over a frequency range of 1 GHz at the IF difference frequency of 30 MHz, has automatic frequency control and also uses a precision angle tracking servo to maintain receiver spatial alignment with a remote transmitter. The angle and frequency tracking capability permit operation between moving transmitter and receiver terminals.

4D tracking with ultra-fast silicon detectors

NASA Astrophysics Data System (ADS)

F-W Sadrozinski, Hartmut; Seiden, Abraham; Cartiglia, Nicolò

2018-02-01

The evolution of particle detectors has always pushed the technological limit in order to provide enabling technologies to researchers in all fields of science. One archetypal example is the evolution of silicon detectors, from a system with a few channels 30 years ago, to the tens of millions of independent pixels currently used to track charged particles in all major particle physics experiments. Nowadays, silicon detectors are ubiquitous not only in research laboratories but in almost every high-tech apparatus, from portable phones to hospitals. In this contribution, we present a new direction in the evolution of silicon detectors for charge particle tracking, namely the inclusion of very accurate timing information. This enhancement of the present silicon detector paradigm is enabled by the inclusion of controlled low gain in the detector response, therefore increasing the detector output signal sufficiently to make timing measurement possible. After providing a short overview of the advantage of this new technology, we present the necessary conditions that need to be met for both sensor and readout electronics in order to achieve 4D tracking. In the last section, we present the experimental results, demonstrating the validity of our research path.

Trajectory Specification for High-Capacity Air Traffic Control

NASA Technical Reports Server (NTRS)

Paielli, Russell A.

2004-01-01

In the current air traffic management system, the fundamental limitation on airspace capacity is the cognitive ability of human air traffic controllers to maintain safe separation with high reliability. The doubling or tripling of airspace capacity that will be needed over the next couple of decades will require that tactical separation be at least partially automated. Standardized conflict-free four-dimensional trajectory assignment will be needed to accomplish that objective. A trajectory specification format based on the Extensible Markup Language is proposed for that purpose. This format can be used to downlink a trajectory request, which can then be checked on the ground for conflicts and approved or modified, if necessary, then uplinked as the assigned trajectory. The horizontal path is specified as a series of geodetic waypoints connected by great circles, and the great-circle segments are connected by turns of specified radius. Vertical profiles for climb and descent are specified as low-order polynomial functions of along-track position, which is itself specified as a function of time. Flight technical error tolerances in the along-track, cross-track, and vertical axes define a bounding space around the reference trajectory, and conformance will guarantee the required separation for a period of time known as the conflict time horizon. An important safety benefit of this regimen is that the traffic will be able to fly free of conflicts for at least several minutes even if all ground systems and the entire communication infrastructure fail. Periodic updates in the along-track axis will adjust for errors in the predicted along-track winds.

Using Functional Electrical Stimulation Mediated by Iterative Learning Control and Robotics to Improve Arm Movement for People With Multiple Sclerosis.

PubMed

Sampson, Patrica; Freeman, Chris; Coote, Susan; Demain, Sara; Feys, Peter; Meadmore, Katie; Hughes, Ann-Marie

2016-02-01

Few interventions address multiple sclerosis (MS) arm dysfunction but robotics and functional electrical stimulation (FES) appear promising. This paper investigates the feasibility of combining FES with passive robotic support during virtual reality (VR) training tasks to improve upper limb function in people with multiple sclerosis (pwMS). The system assists patients in following a specified trajectory path, employing an advanced model-based paradigm termed iterative learning control (ILC) to adjust the FES to improve accuracy and maximise voluntary effort. Reaching tasks were repeated six times with ILC learning the optimum control action from previous attempts. A convenience sample of five pwMS was recruited from local MS societies, and the intervention comprised 18 one-hour training sessions over 10 weeks. The accuracy of tracking performance without FES and the amount of FES delivered during training were analyzed using regression analysis. Clinical functioning of the arm was documented before and after treatment with standard tests. Statistically significant results following training included: improved accuracy of tracking performance both when assisted and unassisted by FES; reduction in maximum amount of FES needed to assist tracking; and less impairment in the proximal arm that was trained. The system was well tolerated by all participants with no increase in muscle fatigue reported. This study confirms the feasibility of FES combined with passive robot assistance as a potentially effective intervention to improve arm movement and control in pwMS and provides the basis for a follow-up study.

Are ship tracks useful analogs for studying the aerosol indirect effect?

NASA Astrophysics Data System (ADS)

Christensen, M.; Toll, V.; Stephens, G. L.

2017-12-01

Vessels transiting the ocean sometimes leave their mark on the clouds - leaving behind reflective cloud lines, known as ship tracks. Ship tracks have been looked upon by some as a possible Rosetta Stone connecting the effects of changing aerosol over the ocean and cloud albedo effects on climate (Porch et al. 1990, Atmos. Enviorn., 1051-1059). In this research, we establish whether ship tracks, and volcano tracks - a natural analog, can be used to relate these cloud-scale perturbations to the aerosol effects occurring at larger regional-scales. Two databases containing over 1,500 ship and 900 volcano tracks, all carefully hand-selected from satellite imagery, are utilized; showing that ship tracks exhibit very similar cloud albedo effect responses to that of volcano tracks. For comparison, our global dataset utilises over 7 million CloudSat profiles consisting of single-layer marine warm cloud in which the retrievals are co-located with the MODerate Imaging Spectroradiometer (MODIS) product so that statistical relationships between aerosol and cloud can be computed over 4x4 degree regions. All datasets show the same key physical processes that govern the cloud-aerosol indirect effect, namely, the strong negative responses in cloud droplet size and the bidirectional responses in liquid water path and cloud albedo depending on the meteorological conditions. Finally, this analysis is extended to a comparison against several general circulation models where it is suggested that key processes such as cloud-top entrainment and evaporation that regulates against strong liquid water path responses are likely underrepresented in most models.

UAV Inspection of Electrical Transmission Infrastructure with Path Conformance Autonomy and Lidar-Based Geofences NASA Report on UTM Reference Mission Flights at Southern Company Flights November 2016

NASA Technical Reports Server (NTRS)

Moore, Andrew J.; Schubert, Matthew; Rymer, Nicholas; Balachandran, Swee; Consiglio, Maria; Munoz, Cesar; Smith, Joshua; Lewis, Dexter; Schneider, Paul

2017-01-01

Flights at low altitudes in close proximity to electrical transmission infrastructure present serious navigational challenges: GPS and radio communication quality is variable and yet tight position control is needed to measure defects while avoiding collisions with ground structures. To advance unmanned aerial vehicle (UAV) navigation technology while accomplishing a task with economic and societal benefit, a high voltage electrical infrastructure inspection reference mission was designed. An integrated air-ground platform was developed for this mission and tested in two days of experimental flights to determine whether navigational augmentation was needed to successfully conduct a controlled inspection experiment. The airborne component of the platform was a multirotor UAV built from commercial off-the-shelf hardware and software, and the ground component was a commercial laptop running open source software. A compact ultraviolet sensor mounted on the UAV can locate 'hot spots' (potential failure points in the electric grid), so long as the UAV flight path adequately samples the airspace near the power grid structures. To improve navigation, the platform was supplemented with two navigation technologies: lidar-to-polyhedron preflight processing for obstacle demarcation and inspection distance planning, and trajectory management software to enforce inspection standoff distance. Both navigation technologies were essential to obtaining useful results from the hot spot sensor in this obstacle-rich, low-altitude airspace. Because the electrical grid extends into crowded airspaces, the UAV position was tracked with NASA unmanned aerial system traffic management (UTM) technology. The following results were obtained: (1) Inspection of high-voltage electrical transmission infrastructure to locate 'hot spots' of ultraviolet emission requires navigation methods that are not broadly available and are not needed at higher altitude flights above ground structures. (2) The sensing capability of a novel airborne UV detector was verified with a standard ground-based instrument. Flights with this sensor showed that UAV measurement operations and recording methods are viable. With improved sensor range, UAVs equipped with compact UV sensors could serve as the detection elements in a self-diagnosing power grid. (3) Simplification of rich lidar maps to polyhedral obstacle maps reduces data volume by orders of magnitude, so that computation with the resultant maps in real time is possible. This enables real-time obstacle avoidance autonomy. Stable navigation may be feasible in the GPS-deprived environment near transmission lines by a UAV that senses ground structures and compares them to these simplified maps. (4) A new, formally verified path conformance software system that runs onboard a UAV was demonstrated in flight for the first time. It successfully maneuvered the aircraft after a sudden lateral perturbation that models a gust of wind, and processed lidar-derived polyhedral obstacle maps in real time. (5) Tracking of the UAV in the national airspace using the NASA UTM technology was a key safety component of this reference mission, since the flights were conducted beneath the landing approach to a heavily used runway. Comparison to autopilot tracking showed that UTM tracking accurately records the UAV position throughout the flight path.

Motion Path of the Instant Center of Rotation in the Cervical Spine During In Vivo Dynamic Flexion-Extension: Implications for Artificial Disc Design and Evaluation of Motion Quality Following Arthrodesis

PubMed Central

Anderst, William; Baillargeon, Emma; Donaldson, William; Lee, Joon; Kang, James

2013-01-01

Study Design Case-control. Objective To characterize the motion path of the instant center of rotation (ICR) at each cervical motion segment from C2 to C7 during dynamic flexion-extension in asymptomatic subjects. To compare asymptomatic and single-level arthrodesis patient ICR paths. Summary of Background Data The ICR has been proposed as an alternative to range of motion (ROM) for evaluating the quality of spine movement and for identifying abnormal midrange kinematics. The motion path of the ICR during dynamic motion has not been reported. Methods 20 asymptomatic controls, 12 C5/C6 and 5 C6/C7 arthrodesis patients performed full ROM flexion-extension while biplane radiographs were collected at 30 Hz. A previously validated tracking process determined three-dimensional vertebral position with sub-millimeter accuracy. The finite helical axis method was used to calculate the ICR between adjacent vertebrae. A linear mixed-model analysis identified differences in the ICR path among motion segments and between controls and arthrodesis patients. Results From C2/C3 to C6/C7, the mean ICR location moved superior for each successive motion segment (p < .001). The AP change in ICR location per degree of flexion-extension decreased from the C2/C3 motion segment to the C6/C7 motion segment (p < .001). Asymptomatic subject variability (95% CI) in the ICR location averaged ±1.2 mm in the SI direction and ±1.9 mm in the AP direction over all motion segments and flexion-extension angles. Asymptomatic and arthrodesis groups were not significantly different in terms of average ICR position (all p ≥ .091) or in terms of the change in ICR location per degree of flexion-extension (all p ≥ .249). Conclusions To replicate asymptomatic in vivo cervical motion, disc replacements should account for level-specific differences in the location and motion path of ICR. Single-level anterior arthrodesis does not appear to affect cervical motion quality during flexion-extension. PMID:23429677

Four-dimensional analysis by high-speed holographic imaging reveals a chiral memory of sperm flagella.

PubMed

Muschol, Michael; Wenders, Caroline; Wennemuth, Gunther

2018-01-01

Here high-speed Digital Holographic Microscopy (DHM) records sperm flagellar waveforms and swimming paths in 4 dimensions (X, Z, and t). We find flagellar excursions into the Z-plane nearly as large as the envelope of the flagellar waveform projected onto the XY-plane. These Z-plane excursions travel as waves down the flagellum each beat cycle. DHM also tracks the heads of free-swimming sperm and the dynamics and chirality of rolling of sperm around their long axis. We find that mouse sperm roll CW at the maximum positive Z-plane excursion of the head, then roll CCW at the subsequent maximum negative Z-plane excursion. This alternating chirality of rolling indicates sperm have a chiral memory. Procrustes alignments of path trajectories for sequences of roll-counterroll cycles show that path chirality is always CW for the cells analyzed in this study. Human and bull sperm lack distinguishable left and right surfaces, but DHM still indicates coordination of Z-plane excursions and rolling events. We propose that sperm have a chiral memory that resides in a hypothetical elastic linkage within the flagellar machinery, which stores some of the torque required for a CW or CCW roll to reuse in the following counter-roll. Separate mechanisms control path chirality.

Lightning Jump Algorithm and Relation to Thunderstorm Cell Tracking, GLM Proxy and other Meteorological Measurements

NASA Technical Reports Server (NTRS)

Schultz, Christopher J.; Carey, Larry; Cecil, Dan; Bateman, Monte; Stano, Geoffrey; Goodman, Steve

2012-01-01

Objective of project is to refine, adapt and demonstrate the Lightning Jump Algorithm (LJA) for transition to GOES -R GLM (Geostationary Lightning Mapper) readiness and to establish a path to operations Ongoing work . reducing risk in GLM lightning proxy, cell tracking, LJA algorithm automation, and data fusion (e.g., radar + lightning).

Music Education at Hospital Schools in Spain and Sweden: Paths between Governing and Knowledge

ERIC Educational Resources Information Center

Ruiz, Guillermo; García Álvarez, Antonio

2016-01-01

This paper focuses on some debates regarding music education within hospital schooling, an educational track that has developed in the course of the 20th century within Western education systems. Analysis and proposals are made with respect to the music education curriculum content in primary education, within hospital education tracks, in Spain…

Eye-Tracking Study on Facial Emotion Recognition Tasks in Individuals with High-Functioning Autism Spectrum Disorders

ERIC Educational Resources Information Center

Tsang, Vicky

2018-01-01

The eye-tracking experiment was carried out to assess fixation duration and scan paths that individuals with and without high-functioning autism spectrum disorders employed when identifying simple and complex emotions. Participants viewed human photos of facial expressions and decided on the identification of emotion, the negative-positive emotion…

On use of characteristic wavelengths of track irregularities to predict track portions with deteriorated wheel/rail forces

NASA Astrophysics Data System (ADS)

Xu, Lei; Zhai, Wanming; Chen, Zhaowei

2018-05-01

The dynamic performance of the railway vehicles and the guiding tracks is mainly governed by the wheel-rail interactions, particularly in cases of track irregularities. In this work, a united model was developed to investigate the track portions subject to violent wheel/rail forces triggered by track irregularities at middle-low frequencies. In the modeling procedures, a time-frequency unification method combining wavelet transform and Wigner-Ville distribution for characterizing time-frequency characteristics of track irregularities and a three-dimensional nonlinear model for describing vehicle-track interaction signatures were developed and coupled, based on which the method for predicting track portions subject to deteriorated wheel/rail forces was proposed. The theoretical models developed in this paper were comprehensively validated by numerical investigations. The significance of this present study mainly lies on offering a new path to establish correlation and realize mutual prediction between track irregularity and railway system dynamics.

Context-Aided Tracking with Adaptive Hyperspectral Imagery

DTIC Science & Technology

2011-06-01

narrow spectral bands (e). . . . . . . . . . . . . . . . . . . . . 14 ix Figure Page 2.2. An illustration of a small portion of a digital micromirror ...incorporates two light paths: imaging and spectroscopy. Each pixel is steered towards a light path indepen- dently via the digital micromirror device (DMD...With the advent of digital micromirror device (DMD) arrays (DMA), the Rochester Institute of Technology Multi-Object Spectrometer (RITMOS) [36

Motion detection, novelty filtering, and target tracking using an interferometric technique with GaAs phase conjugate mirror

NASA Technical Reports Server (NTRS)

Cheng, Li-Jen (Inventor); Liu, Tsuen-Hsi (Inventor)

1991-01-01

A method and apparatus for detecting and tracking moving objects in a noise environment cluttered with fast- and slow-moving objects and other time-varying background. A pair of phase conjugate light beams carrying the same spatial information commonly cancel each other out through an image subtraction process in a phase conjugate interferometer, wherein gratings are formed in a fast photorefractive phase conjugate mirror material. In the steady state, there is no output. When the optical path of one of the two phase conjugate beams is suddenly changed, the return beam loses its phase conjugate nature and the interferometer is out of balance, resulting in an observable output. The observable output lasts until the phase conjugate nature of the beam has recovered. The observable time of the output signal is roughly equal to the formation time of the grating. If the optical path changing time is slower than the formation time, the change of optical path becomes unobservable, because the index grating can follow the change. Thus, objects traveling at speeds which result in a path changing time which is slower than the formation time are not observable and do not clutter the output image view.

From Pressure to Path: Barometer-based Vehicle Tracking

PubMed Central

Ho, Bo-Jhang; Martin, Paul; Swaminathan, Prashanth; Srivastava, Mani

2017-01-01

Pervasive mobile devices have enabled countless context-and location-based applications that facilitate navigation, life-logging, and more. As we build the next generation of smart cities, it is important to leverage the rich sensing modalities that these numerous devices have to offer. This work demonstrates how mobile devices can be used to accurately track driving patterns based solely on pressure data collected from the device’s barometer. Specifically, by correlating pressure time-series data against topographic elevation data and road maps for a given region, a centralized computer can estimate the likely paths through which individual users have driven, providing an exceptionally low-power method for measuring driving patterns of a given individual or for analyzing group behavior across multiple users. This work also brings to bear a more nefarious side effect of pressure-based path estimation: a mobile application can, without consent and without notifying the user, use pressure data to accurately detect an individual’s driving behavior, compromising both user privacy and security. We further analyze the ability to predict driving trajectories in terms of the variance in barometer pressure and geographical elevation, demonstrating cases in which more than 80% of paths can be accurately predicted. PMID:29503981

From Pressure to Path: Barometer-based Vehicle Tracking.

PubMed

Ho, Bo-Jhang; Martin, Paul; Swaminathan, Prashanth; Srivastava, Mani

2015-11-01

Pervasive mobile devices have enabled countless context-and location-based applications that facilitate navigation, life-logging, and more. As we build the next generation of smart cities, it is important to leverage the rich sensing modalities that these numerous devices have to offer. This work demonstrates how mobile devices can be used to accurately track driving patterns based solely on pressure data collected from the device's barometer. Specifically, by correlating pressure time-series data against topographic elevation data and road maps for a given region, a centralized computer can estimate the likely paths through which individual users have driven, providing an exceptionally low-power method for measuring driving patterns of a given individual or for analyzing group behavior across multiple users. This work also brings to bear a more nefarious side effect of pressure-based path estimation: a mobile application can, without consent and without notifying the user, use pressure data to accurately detect an individual's driving behavior, compromising both user privacy and security. We further analyze the ability to predict driving trajectories in terms of the variance in barometer pressure and geographical elevation, demonstrating cases in which more than 80% of paths can be accurately predicted.

Development of a low risk augmentation system for an energy efficient transport having relaxed static stability

NASA Technical Reports Server (NTRS)

Sizlo, T. R.; Berg, R. A.; Gilles, D. L.

1979-01-01

An augmentation system for a 230 passenger, twin engine aircraft designed with a relaxation of conventional longitudinal static stability was developed. The design criteria are established and candidate augmentation system control laws and hardware architectures are formulated and evaluated with respect to reliability, flying qualities, and flight path tracking performance. The selected systems are shown to satisfy the interpreted regulatory safety and reliability requirements while maintaining the present DC 10 (study baseline) level of maintainability and reliability for the total flight control system. The impact of certification of the relaxed static stability augmentation concept is also estimated with regard to affected federal regulations, system validation plan, and typical development/installation costs.

Local flow management/profile descent algorithm. Fuel-efficient, time-controlled profiles for the NASA TSRV airplane

NASA Technical Reports Server (NTRS)

Groce, J. L.; Izumi, K. H.; Markham, C. H.; Schwab, R. W.; Thompson, J. L.

1986-01-01

The Local Flow Management/Profile Descent (LFM/PD) algorithm designed for the NASA Transport System Research Vehicle program is described. The algorithm provides fuel-efficient altitude and airspeed profiles consistent with ATC restrictions in a time-based metering environment over a fixed ground track. The model design constraints include accommodation of both published profile descent procedures and unpublished profile descents, incorporation of fuel efficiency as a flight profile criterion, operation within the performance capabilities of the Boeing 737-100 airplane with JT8D-7 engines, and conformity to standard air traffic navigation and control procedures. Holding and path stretching capabilities are included for long delay situations.

Resonance fluorescence trajectories in superconducting qubit

NASA Astrophysics Data System (ADS)

Naghiloo, Mahdi; Tan, Dian; Harrington, Patrick; Lewalle, Philippe; Jordan, Andrew; Murch, Kater

We employ phase-sensitive amplification to perform homodyne detection of the resonance fluorescence from a driven superconducting artificial atom. Entanglement between the emitter and its fluorescence allows us to track the individual quantum state trajectories of the emitter. We analyze the ensemble properties of these trajectories by considering paths that connect specific initial and final states. By applying a stochastic path integral formalism, we calculate equations of motion for the most likely path between two quantum states and compare these predicted paths to experimental data. Drawing on the mathematical similarity between the action formalism of the most likely quantum paths and ray optics, we study the emergence of caustics in quantum trajectories-situations where multiple extrema in the stochastic action occur. We observe such multiple most likely paths in experimental data and find these paths to be in reasonable quantitative agreement with theoretical calculations. Supported by the John Templeton Foundation.

Different tracks for pathology informatics fellowship training: Experiences of and input from trainees in a large multisite fellowship program

PubMed Central

Levy, Bruce P.; McClintock, David S.; Lee, Roy E.; Lane, William J.; Klepeis, Veronica E.; Baron, Jason M.; Onozato, Maristela L.; Kim, JiYeon; Brodsky, Victor; Beckwith, Bruce; Kuo, Frank; Gilbertson, John R.

2012-01-01

Background: Pathology Informatics is a new field; a field that is still defining itself even as it begins the formalization, accreditation, and board certification process. At the same time, Pathology itself is changing in a variety of ways that impact informatics, including subspecialization and an increased use of data analysis. In this paper, we examine how these changes impact both the structure of Pathology Informatics fellowship programs and the fellows’ goals within those programs. Materials and Methods: As part of our regular program review process, the fellows evaluated the value and effectiveness of our existing fellowship tracks (Research Informatics, Clinical Two-year Focused Informatics, Clinical One-year Focused Informatics, and Clinical 1 + 1 Subspecialty Pathology and Informatics). They compared their education, informatics background, and anticipated career paths and analyzed them for correlations between those parameters and the fellowship track chosen. All current and past fellows of the program were actively involved with the project. Results: Fellows’ anticipated career paths correlated very well with the specific tracks in the program. A small set of fellows (Clinical – one or two year – Focused Informatics tracks) anticipated clinical careers primarily focused in informatics (Director of Informatics). The majority of the fellows, however, anticipated a career practicing in a Pathology subspecialty, using their informatics training to enhance that practice (Clinical 1 + 1 Subspecialty Pathology and Informatics Track). Significantly, all fellows on this track reported they would not have considered a Clinical Two-year Focused Informatics track if it was the only track offered. The Research and the Clinical One-year Focused Informatics tracks each displayed unique value for different situations. Conclusions: It seems a “one size fits all” fellowship structure does not fit the needs of the majority of potential Pathology Informatics candidates. Increasingly, these fellowships must be able to accommodate the needs of candidates anticipating a wide range of Pathology Informatics career paths, be able to accommodate Pathology's increasingly subspecialized structure, and do this in a way that respects the multiple fellowships needed to become a subspecialty pathologist and informatician. This is further complicated as Pathology Informatics begins to look outward and takes its place in the growing, and still ill-defined, field of Clinical Informatics, a field that is not confined to just one medical specialty, to one way of practicing medicine, or to one way of providing patient care. PMID:23024889

The effects of a multiyear universal social-emotional learning program: The role of student and school characteristics.

PubMed

2010-04-01

This article examines the impact of a universal social-emotional learning program, the Fast Track PATHS (Promoting Alternative Thinking Strategies) curriculum and teacher consultation, embedded within the Fast Track selective prevention model. The longitudinal analysis involved 2,937 children of multiple ethnicities who remained in the same intervention or control schools for Grades 1, 2, and 3. The study involved a clustered randomized controlled trial involving sets of schools randomized within 3 U.S. locations. Measures assessed teacher and peer reports of aggression, hyperactive-disruptive behaviors, and social competence. Beginning in first grade and through 3 successive years, teachers received training and support and implemented the PATHS curriculum in their classrooms. The study examined the main effects of intervention as well as how outcomes were affected by characteristics of the child (baseline level of problem behavior, gender) and by the school environment (student poverty). Modest positive effects of sustained program exposure included reduced aggression and increased prosocial behavior (according to both teacher and peer report) and improved academic engagement (according to teacher report). Peer report effects were moderated by gender, with significant effects only for boys. Most intervention effects were moderated by school environment, with effects stronger in less disadvantaged schools, and effects on aggression were larger in students who showed higher baseline levels of aggression. A major implication of the findings is that well-implemented multiyear social-emotional learning programs can have significant and meaningful preventive effects on the population-level rates of aggression, social competence, and academic engagement in the elementary school years. (c) 2010 APA, all rights reserved.

Paper-cutting operations using scissors in Drury's law tasks.

PubMed

Yamanaka, Shota; Miyashita, Homei

2018-05-01

Human performance modeling is a core topic in ergonomics. In addition to deriving models, it is important to verify the kinds of tasks that can be modeled. Drury's law is promising for path tracking tasks such as navigating a path with pens or driving a car. We conducted an experiment based on the observation that paper-cutting tasks using scissors resemble such tasks. The results showed that cutting arc-like paths (1/4 of a circle) showed an excellent fit with Drury's law (R 2  > 0.98), whereas cutting linear paths showed a worse fit (R 2  > 0.87). Since linear paths yielded better fits when path amplitudes were divided (R 2  > 0.99 for all amplitudes), we discuss the characteristics of paper-cutting operations using scissors. Copyright © 2018 Elsevier Ltd. All rights reserved.

Scan path entropy and arrow plots: capturing scanning behavior of multiple observers

PubMed Central

Hooge, Ignace; Camps, Guido

2013-01-01

Designers of visual communication material want their material to attract and retain attention. In marketing research, heat maps, dwell time, and time to AOI first hit are often used as evaluation parameters. Here we present two additional measures (1) “scan path entropy” to quantify gaze guidance and (2) the “arrow plot” to visualize the average scan path. Both are based on string representations of scan paths. The latter also incorporates transition matrices and time required for 50% of the observers to first hit AOIs (T50). The new measures were tested in an eye tracking study (48 observers, 39 advertisements). Scan path entropy is a sensible measure for gaze guidance and the new visualization method reveals aspects of the average scan path and gives a better indication in what order global scanning takes place. PMID:24399993

Active vibration control on a quarter-car for cancellation of road noise disturbance

NASA Astrophysics Data System (ADS)

Belgacem, Walid; Berry, Alain; Masson, Patrice

2012-07-01

In this paper, a methodology is presented for the cancellation of road noise, from the analysis of vibration transmission paths for an automotive suspension to the design of an active control system using inertial actuators on a suspension to reduce the vibrations transmitted to the chassis. First, experiments were conducted on a Chevrolet Epica LS automobile on a concrete test track to measure accelerations induced on the suspension by the road. These measurements were combined with experimental Frequency Response Functions (FRFs) measured on a quarter-car test bench to reconstruct an equivalent three dimensional force applied on the wheel hub. Second, FRFs measured on the test bench between the three-dimensional driving force and forces at each suspension/chassis linkage were used to characterize the different transmission paths of vibration energy to the chassis. Third, an experimental model of the suspension was constructed to simulate the configuration of the active control system, using the primary (disturbance) FRFs and secondary (control) FRFs also measured on the test bench. This model was used to optimize the configuration of the control actuators and to evaluate the required forces. Finally, a prototype of an active suspension was implemented and measurements were performed in order to assess the performance of the control approach. A 4.6 dB attenuation on transmitted forces was obtained in the 50-250 Hz range.

Graph theoretic framework based cooperative control and estimation of multiple UAVs for target tracking

NASA Astrophysics Data System (ADS)

Ahmed, Mousumi

Designing the control technique for nonlinear dynamic systems is a significant challenge. Approaches to designing a nonlinear controller are studied and an extensive study on backstepping based technique is performed in this research with the purpose of tracking a moving target autonomously. Our main motivation is to explore the controller for cooperative and coordinating unmanned vehicles in a target tracking application. To start with, a general theoretical framework for target tracking is studied and a controller in three dimensional environment for a single UAV is designed. This research is primarily focused on finding a generalized method which can be applied to track almost any reference trajectory. The backstepping technique is employed to derive the controller for a simplified UAV kinematic model. This controller can compute three autopilot modes i.e. velocity, ground heading (or course angle), and flight path angle for tracking the unmanned vehicle. Numerical implementation is performed in MATLAB with the assumption of having perfect and full state information of the target to investigate the accuracy of the proposed controller. This controller is then frozen for the multi-vehicle problem. Distributed or decentralized cooperative control is discussed in the context of multi-agent systems. A consensus based cooperative control is studied; such consensus based control problem can be viewed from the algebraic graph theory concepts. The communication structure between the UAVs is represented by the dynamic graph where UAVs are represented by the nodes and the communication links are represented by the edges. The previously designed controller is augmented to account for the group to obtain consensus based on their communication. A theoretical development of the controller for the cooperative group of UAVs is presented and the simulation results for different communication topologies are shown. This research also investigates the cases where the communication topology switches to a different topology over particular time instants. Lyapunov analysis is performed to show stability in all cases. Another important aspect of this dissertation research is to implement the controller for the case, where perfect or full state information is not available. This necessitates the design of an estimator to estimate the system state. A nonlinear estimator, Extended Kalman Filter (EKF) is first developed for target tracking with a single UAV. The uncertainties involved with the measurement model and dynamics model are considered as zero mean Gaussian noises with some known covariances. The measurements of the full state of the target are not available and only the range, elevation, and azimuth angle are available from an onboard seeker sensor. A separate EKF is designed to estimate the UAV's own state where the state measurement is available through on-board sensors. The controller computes the three control commands based on the estimated states of target and its own states. Estimation based control laws is also implemented for colored noise measurement uncertainties, and the controller performance is shown with the simulation results. The estimation based control approach is then extended for the cooperative target tracking case. The target information is available to the network and a separate estimator is used to estimate target states. All of the UAVs in the network apply the same control law and the only difference is that each UAV updates the commands according to their connection. The simulation is performed for both cases of fixed and time varying communication topology. Monte Carlo simulation is also performed with different sample noises to investigate the performance of the estimator. The proposed technique is shown to be simple and robust to noisy environments.

Two paths to blame: Intentionality directs moral information processing along two distinct tracks.

PubMed

Monroe, Andrew E; Malle, Bertram F

2017-01-01

There is broad consensus that features such as causality, mental states, and preventability are key inputs to moral judgments of blame. What is not clear is exactly how people process these inputs to arrive at such judgments. Three studies provide evidence that early judgments of whether or not a norm violation is intentional direct information processing along 1 of 2 tracks: if the violation is deemed intentional, blame processing relies on information about the agent's reasons for committing the violation; if the violation is deemed unintentional, blame processing relies on information about how preventable the violation was. Owing to these processing commitments, when new information requires perceivers to switch tracks, they must reconfigure their judgments, which results in measurable processing costs indicated by reaction time (RT) delays. These findings offer support for a new theory of moral judgment (the Path Model of Blame) and advance the study of moral cognition as hierarchical information processing. (PsycINFO Database Record (c) 2017 APA, all rights reserved).

Rosin-Rammler Distributions in ANSYS Fluent

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

Dunham, Ryan Q.

In Health Physics monitoring, particles need to be collected and tracked. One method is to predict the motion of potential health hazards with computer models. Particles released from various sources within a glove box can become a respirable health hazard if released into the area surrounding a glove box. The goal of modeling the aerosols in a glove box is to reduce the hazards associated with a leak in the glove box system. ANSYS Fluent provides a number of tools for modeling this type of environment. Particles can be released using injections into the flow path with turbulent properties. Themore » models of particle tracks can then be used to predict paths and concentrations of particles within the flow. An attempt to understand and predict the handling of data by Fluent was made, and results iteratively tracked. Trends in data were studied to comprehend the final results. The purpose of the study was to allow a better understanding of the operation of Fluent for aerosol modeling for future application in many fields.« less

GRIN planar waveguide concentrator used with a single axis tracker.

PubMed

Bouchard, Sébastien; Thibault, Simon

2014-03-10

It is generally accepted that small to medium level concentrators could be used as cost-competitive replacements for tracked solar panels. The objective is to design a system that can reach a good level of sun concentration with only one sun-tracking axis and is cheap to fabricate. As the most critical parameter for all concentrator designs, optical efficiency needed improvement to reduce the cost of power produced by our system. By using a graded-index planar waveguide with an index profile similar to SELFOC fiber, the ray's path can be controlled. Also, the concentrator can be fabricated in a single block, which reduces Fresnel reflections. Overall, the optical efficiency can be improved by as much as 33% compared to the same system made with a homogeneous waveguide. Furthermore, the ability to cost-effectively fabricate the concentrator by molding can be preserved, making it possible to reduce the cost of the solar power produced.

GRIN planar waveguide concentrator used with a single axis tracker.

PubMed

Bouchard, Sébastien; Thibault, Simon

2014-03-10

It is generally accepted that small to medium level concentrators could be used as cost-competitive replacements for tracked solar panels. The objective is to design a system that can reach a good level of sun concentration with only one sun-tracking axis and is cheap to fabricate. As the most critical parameter for all concentrator designs, optical efficiency needed improvement to reduce the cost of power produced by our system. By using a graded-index planar waveguide with an index profile similar to SELFOC fiber, the ray’s path can be controlled. Also, the concentrator can be fabricated in a single block, which reduces Fresnel reflections. Overall, the optical efficiency can be improved by as much as 33% compared to the same system made with a homogeneous waveguide. Furthermore, the ability to cost-effectively fabricate the concentrator by molding can be preserved, making it possible to reduce the cost of the solar power produced.

Influence of canopy closure and shrub coverage on travel along coarse woody debris by Eastern chipmunks (Tamias striatus)

Treesearch

Patrick A. Zollner; Kevin J. Crane

2003-01-01

We investigated relationships between canopy closure, shrub cover and the use of coarse woody debris as a travel path by eastern chipmunks (Tamias striatus) in the north central United States. Fine scale movements of chipmunks were followed with tracking spools and the percentage of each movement path directly along coarse woody debris was recorded...

Periscopic Spine Surgery

DTIC Science & Technology

2005-03-01

Guided Technologies, Boulder, CO; motion path built from three orthogonal sinusoidal paths is Optotrak , Northern Digital, Waterloo, ON) optical tracking...Hopkins University using an Optotrak to evaluate the simulated motions. The Optotrak (Northern Digital, Inc.) is an optical high- precision 3-D motion...verify the accuracy of the RMS, tests were carried out using the Optotrak , which was placed about 2 m from the simulator. For each test, two sets of data

Fuzzy Logic Based Control for Autonomous Mobile Robot Navigation

PubMed Central

Masmoudi, Mohamed Slim; Masmoudi, Mohamed

2016-01-01

This paper describes the design and the implementation of a trajectory tracking controller using fuzzy logic for mobile robot to navigate in indoor environments. Most of the previous works used two independent controllers for navigation and avoiding obstacles. The main contribution of the paper can be summarized in the fact that we use only one fuzzy controller for navigation and obstacle avoidance. The used mobile robot is equipped with DC motor, nine infrared range (IR) sensors to measure the distance to obstacles, and two optical encoders to provide the actual position and speeds. To evaluate the performances of the intelligent navigation algorithms, different trajectories are used and simulated using MATLAB software and SIMIAM navigation platform. Simulation results show the performances of the intelligent navigation algorithms in terms of simulation times and travelled path. PMID:27688748

Repeating firing fields of CA1 neurons shift forward in response to increasing angular velocity.

PubMed

Cowen, Stephen L; Nitz, Douglas A

2014-01-01

Self-motion information influences spatially-specific firing patterns exhibited by hippocampal neurons. Moreover, these firing patterns can repeat across similar subsegments of an environment, provided that there is similarity of path shape and head orientations across subsegments. The influence of self-motion variables on repeating fields remains to be determined. To investigate the role of path shape and angular rotation on hippocampal activity, we recorded the activity of CA1 neurons from rats trained to run on spiral-shaped tracks. During inbound traversals of circular-spiral tracks, angular velocity increases continuously. Under this condition, most neurons (74%) exhibited repeating fields across at least three adjacent loops. Of these neurons, 86% exhibited forward shifts in the angles of field centers relative to centers on preceding loops. Shifts were absent on squared-spiral tracks, minimal and less reliable on concentric-circle tracks, and absent on outward-bound runs on circular-spiral tracks. However, outward-bound runs on the circular-spiral track in the dark were associated with backward shifts. Together, the most parsimonious interpretation of the results is that continuous increases or decreases in angular velocity are particularly effective at shifting the center of mass of repeating fields, although it is also possible that a nonlinear integration of step counts contributes to the shift. Furthermore, the unexpected absence of field shifts during outward journeys in light (but not darkness) suggests visual cues around the goal location anchored the map of space to an allocentric reference frame.

Group Delay Tracking with the Sydney University Stellar Interferometer

NASA Astrophysics Data System (ADS)

Lawson, Peter R.

1994-08-01

The Sydney University Stellar Interferometer (SUSI) is a long baseline optical interferometer, located at the Paul Wild Observatory near Narrabri, in northern New South Wales, Australia. It is designed to measure stellar angular diameters using light collected from a pair of siderostats, with 11 fixed siderostats giving separations between 5 and 640 m. Apertures smaller than Fried's coherence length, r_0, are used and active tilt-compensation is employed. This ensures that when the beams are combined in the pupil plane the wavefronts are parallel. Fringes are detected when the optical path-difference between the arriving wavefronts is less than tne coherence length of light used for the observation. While observing a star it is necessary to compensate for the changes in pathlength due to the earth's rotation. It is also highly desirable to compensate for path changes due to the effects of atmospheric turbulence. Tracking the path-difference permits an accurate calibration of the fringe visibility, allows larger bandwidths to be used, and therefore improves the sensitivity of the instrument. I describe a fringe tracking system which I developed for SUSI, based on group delay tracking with a PAPA (Precision Analog Photon Address) detector. The method uses short exposure images of fringes, 1-10 ms, detected in the dispersed spectra of the combined starlight. The number of fringes across a fixed bandwidth of channeled spectrum is directly proportional to the path-difference between the arriving wavefronts. A Fast Fourier Transform, implemented in hardware, is used to calculate the spatial power spectrum of the fringes, thereby locating the delay. The visibility loss due to a non-constant fringe spacing on the detector is investigated, and the improvements obtained from rebinning the photon data are shown. The low light level limitations of group delay tracking are determined theoretically with emphasis on the probability of tracking error, rather than the signal-to-noise ratio. Experimental results from both laboratory studies and stellar observations are presented. These show the first closed-loop operation of a fringe tracking system based on observations of group delay with a stellar interferometer. The Sydney University PAPA camera, a photon counting array detector developed for use in this work, is also described. The design principles of the PAPA camera are outlined and the potential sources of image artifacts are identified. The artifacts arise from the use of optical encoding with Gray coded masks, and teh new camera is distinguished by its mask-plate, which was designed to overcome artifacts due to vignetting. Nw lens mounts are also presented which permit a simplified optical alignment without the need for tilt-plates. The performance of the camera is described. (SECTION: Dissertation Summaries)

Multicutter machining of compound parametric surfaces

NASA Astrophysics Data System (ADS)

Hatna, Abdelmadjid; Grieve, R. J.; Broomhead, P.

2000-10-01

Parametric free forms are used in industries as disparate as footwear, toys, sporting goods, ceramics, digital content creation, and conceptual design. Optimizing tool path patterns and minimizing the total machining time is a primordial issue in numerically controlled (NC) machining of free form surfaces. We demonstrate in the present work that multi-cutter machining can achieve as much as 60% reduction in total machining time for compound sculptured surfaces. The given approach is based upon the pre-processing as opposed to the usual post-processing of surfaces for the detection and removal of interference followed by precise tracking of unmachined areas.

Quantum caustics in resonance-fluorescence trajectories

NASA Astrophysics Data System (ADS)

Naghiloo, M.; Tan, D.; Harrington, P. M.; Lewalle, P.; Jordan, A. N.; Murch, K. W.

2017-11-01

We employ phase-sensitive amplification to perform homodyne detection of the resonance fluorescence from a driven superconducting artificial atom. Entanglement between the emitter and its fluorescence allows us to track the individual quantum state trajectories of the emitter conditioned on the outcomes of the field measurements. We analyze the ensemble properties of these trajectories by considering trajectories that connect specific initial and final states. By applying the stochastic path-integral formalism, we calculate equations of motion for the most-likely path between two quantum states and compare these predicted paths to experimental data. Drawing on the mathematical similarity between the action formalism of the most-likely quantum paths and ray optics, we study the emergence of caustics in quantum trajectories: places where multiple extrema in the stochastic action occur. We observe such multiple most-likely paths in experimental data and find these paths to be in reasonable quantitative agreement with theoretical calculations.

Dynamics control of autonomous vehicle at driving limits and experiment on an autonomous formula racing car

NASA Astrophysics Data System (ADS)

Ni, Jun; Hu, Jibin

2017-06-01

In this paper, a novel dynamics controller for autonomous vehicle to simultaneously control it to the driving limits and follow the desired path is proposed. The dynamics controller consists of longitudinal and lateral controllers. In longitudinal controller, the G-G diagram is utilized to describe the driving and handling limits of the vehicle. The accurate G-G diagram is obtained based on phase plane approach and a nonlinear vehicle dynamic model with accurate tyre model. In lateral controller, the tyre cornering stiffness is estimated to improve the robustness of the controller. The stability analysis of the closed-looped error dynamics shows that the controller remains stable against parameters uncertainties in extreme condition such as tyre saturation. Finally, an electric autonomous Formula race car developed by the authors is used to validate the proposed controller. The autonomous driving experiment on an oval race track shows the efficiency and robustness of the proposed controller.

Motion detection, novelty filtering, and target tracking using an interferometric technique with a GaAs phase conjugate mirror

NASA Technical Reports Server (NTRS)

Cheng, Li-Jen (Inventor); Liu, Tsuen-Hsi (Inventor)

1990-01-01

A method and apparatus is disclosed for detecting and tracking moving objects in a noise environment cluttered with fast-and slow-moving objects and other time-varying background. A pair of phase conjugate light beams carrying the same spatial information commonly cancel each other out through an image subtraction process in a phase conjugate interferometer, wherein gratings are formed in a fast photo-refractive phase conjugate mirror material. In the steady state, there is no output. When the optical path of one of the two phase conjugate beams is suddenly changed, the return beam loses its phase conjugate nature and the inter-ferometer is out of balance, resulting in an observable output. The observable output lasts until the phase conjugate nature of the beam has recovered. The observable time of the output signal is roughly equal to the formation time of the grating. If the optical path changing time is slower than the formation time, the change of optical path becomes unobservable, because the index grating can follow the change. Thus, objects traveling at speeds which result in a path changing time which is slower than the formation time are not observable and do not clutter the output image view.

Needle-tissue interactive mechanism and steering control in image-guided robot-assisted minimally invasive surgery: a review.

PubMed

Li, Pan; Yang, Zhiyong; Jiang, Shan

2018-06-01

Image-guided robot-assisted minimally invasive surgery is an important medicine procedure used for biopsy or local target therapy. In order to reach the target region not accessible using traditional techniques, long and thin flexible needles are inserted into the soft tissue which has large deformation and nonlinear characteristics. However, the detection results and therapeutic effect are directly influenced by the targeting accuracy of needle steering. For this reason, the needle-tissue interactive mechanism, path planning, and steering control are investigated in this review by searching literatures in the last 10 years, which results in a comprehensive overview of the existing techniques with the main accomplishments, limitations, and recommendations. Through comprehensive analyses, surgical simulation for insertion into multi-layer inhomogeneous tissue is verified as a primary and propositional aspect to be explored, which accurately predicts the nonlinear needle deflection and tissue deformation. Investigation of the path planning of flexible needles is recommended to an anatomical or a deformable environment which has characteristics of the tissue deformation. Nonholonomic modeling combined with duty-cycled spinning for needle steering, which tracks the tip position in real time and compensates for the deviation error, is recommended as a future research focus in the steering control in anatomical and deformable environments. Graphical abstract a Insertion force when the needle is inserted into soft tissue. b Needle deflection model when the needle is inserted into soft tissue [68]. c Path planning in anatomical environments [92]. d Duty-cycled spinning incorporated in nonholonomic needle steering [64].

Precise estimation of tropospheric path delays with GPS techniques

NASA Technical Reports Server (NTRS)

Lichten, S. M.

1990-01-01

Tropospheric path delays are a major source of error in deep space tracking. However, the tropospheric-induced delay at tracking sites can be calibrated using measurements of Global Positioning System (GPS) satellites. A series of experiments has demonstrated the high sensitivity of GPS to tropospheric delays. A variety of tests and comparisons indicates that current accuracy of the GPS zenith tropospheric delay estimates is better than 1-cm root-mean-square over many hours, sampled continuously at intervals of six minutes. These results are consistent with expectations from covariance analyses. The covariance analyses also indicate that by the mid-1990s, when the GPS constellation is complete and the Deep Space Network is equipped with advanced GPS receivers, zenith tropospheric delay accuracy with GPS will improve further to 0.5 cm or better.

Optimal path planning for video-guided smart munitions via multitarget tracking

NASA Astrophysics Data System (ADS)

Borkowski, Jeffrey M.; Vasquez, Juan R.

2006-05-01

An advent in the development of smart munitions entails autonomously modifying target selection during flight in order to maximize the value of the target being destroyed. A unique guidance law can be constructed that exploits both attribute and kinematic data obtained from an onboard video sensor. An optimal path planning algorithm has been developed with the goals of obstacle avoidance and maximizing the value of the target impacted by the munition. Target identification and classification provides a basis for target value which is used in conjunction with multi-target tracks to determine an optimal waypoint for the munition. A dynamically feasible trajectory is computed to provide constraints on the waypoint selection. Results demonstrate the ability of the autonomous system to avoid moving obstacles and revise target selection in flight.

1984 Ivanovo tornado outbreak: Determination of actual tornado tracks with satellite data

NASA Astrophysics Data System (ADS)

Chernokulsky, Alexander; Shikhov, Andrey

2018-07-01

The 1984 Ivanovo tornado outbreak is one of the most fatal tornado events in Europe with previously unspecified tornado track characteristics. In this paper, we used Landsat images to discover tornado-induced forest disturbances and restore actual characteristics of tornadoes during the outbreak. We defined boundaries of tornado-induced windthrows by visual comparison of satellite images and specified them with Normalized Difference Infrared Index. We confirmed the occurrence of eight tornadoes during the outbreak and determined their location, path width and length. Other tornadoes occurrence during the outbreak was discussed. Fujita-scale intensity of confirmed tornadoes was estimated based on the related literature corpus including previously omitted sources. In addition, information on tornado path lengths and widths was used to estimate minimal tornado intensity for those tornadoes that passed no settlements. In total, the Ivanovo outbreak includes 8-13 tornadoes with F-scale rating mean ranges from 1.8-2.5 and has adjusted Fujita length around 540 km, which makes the outbreak one the strongest in Europe and places it within the upper quartile of U.S. outbreaks. Characteristics of certain tornadoes within the Ivanovo outbreak are exceptional for Russia. The widest tornado path during the Ivanovo outbreak is 1740 m; the longest is from 81.5-85.9 km. With the example of the Ivanovo outbreak, we showed that existing databases on historical Russian tornadoes tend to overestimate tornado path length (for very long tornadoes) and underestimate maximum tornado path width.

Estimation of detection thresholds for redirected walking techniques.

PubMed

Steinicke, Frank; Bruder, Gerd; Jerald, Jason; Frenz, Harald; Lappe, Markus

2010-01-01

In immersive virtual environments (IVEs), users can control their virtual viewpoint by moving their tracked head and walking through the real world. Usually, movements in the real world are mapped one-to-one to virtual camera motions. With redirection techniques, the virtual camera is manipulated by applying gains to user motion so that the virtual world moves differently than the real world. Thus, users can walk through large-scale IVEs while physically remaining in a reasonably small workspace. In psychophysical experiments with a two-alternative forced-choice task, we have quantified how much humans can unknowingly be redirected on physical paths that are different from the visually perceived paths. We tested 12 subjects in three different experiments: (E1) discrimination between virtual and physical rotations, (E2) discrimination between virtual and physical straightforward movements, and (E3) discrimination of path curvature. In experiment E1, subjects performed rotations with different gains, and then had to choose whether the visually perceived rotation was smaller or greater than the physical rotation. In experiment E2, subjects chose whether the physical walk was shorter or longer than the visually perceived scaled travel distance. In experiment E3, subjects estimate the path curvature when walking a curved path in the real world while the visual display shows a straight path in the virtual world. Our results show that users can be turned physically about 49 percent more or 20 percent less than the perceived virtual rotation, distances can be downscaled by 14 percent and upscaled by 26 percent, and users can be redirected on a circular arc with a radius greater than 22 m while they believe that they are walking straight.

Processing uncertain RFID data in traceability supply chains.

PubMed

Xie, Dong; Xiao, Jie; Guo, Guangjun; Jiang, Tong

2014-01-01

Radio Frequency Identification (RFID) is widely used to track and trace objects in traceability supply chains. However, massive uncertain data produced by RFID readers are not effective and efficient to be used in RFID application systems. Following the analysis of key features of RFID objects, this paper proposes a new framework for effectively and efficiently processing uncertain RFID data, and supporting a variety of queries for tracking and tracing RFID objects. We adjust different smoothing windows according to different rates of uncertain data, employ different strategies to process uncertain readings, and distinguish ghost, missing, and incomplete data according to their apparent positions. We propose a comprehensive data model which is suitable for different application scenarios. In addition, a path coding scheme is proposed to significantly compress massive data by aggregating the path sequence, the position, and the time intervals. The scheme is suitable for cyclic or long paths. Moreover, we further propose a processing algorithm for group and independent objects. Experimental evaluations show that our approach is effective and efficient in terms of the compression and traceability queries.

Three-dimensional automated nanoparticle tracking using Mie scattering in an optical microscope.

PubMed

Gineste, J-M; Macko, P; Patterson, E A; Whelan, M P

2011-08-01

The forward scattering of light in a conventional inverted optical microscope by nanoparticles ranging in diameter from 10 to 50nm has been used to automatically and quantitatively identify and track their location in three-dimensions with a temporal resolution of 200ms. The standard deviation of the location of nominally stationary 50-nm-diameter nanoparticles was found to be about 50nm along the light path and about 5nm in the plane perpendicular to the light path. The method is based on oscillating the microscope objective along the light path using a piezo actuator and acquiring images with the condenser aperture closed to a minimum to enhance the effects of diffraction. Data processing in the time and spatial domains allowed the location of particles to be obtained automatically so that the technique has potential applications both in the processing of nanoparticles and in their use in a variety of fields including nanobiotechnology, pharmaceuticals and food processing where a simple optical microscope maybe preferred for a variety of reasons. © 2011 The Authors Journal of Microscopy © 2011 Royal Microscopical Society.

Processing Uncertain RFID Data in Traceability Supply Chains

PubMed Central

Xie, Dong; Xiao, Jie

2014-01-01

Radio Frequency Identification (RFID) is widely used to track and trace objects in traceability supply chains. However, massive uncertain data produced by RFID readers are not effective and efficient to be used in RFID application systems. Following the analysis of key features of RFID objects, this paper proposes a new framework for effectively and efficiently processing uncertain RFID data, and supporting a variety of queries for tracking and tracing RFID objects. We adjust different smoothing windows according to different rates of uncertain data, employ different strategies to process uncertain readings, and distinguish ghost, missing, and incomplete data according to their apparent positions. We propose a comprehensive data model which is suitable for different application scenarios. In addition, a path coding scheme is proposed to significantly compress massive data by aggregating the path sequence, the position, and the time intervals. The scheme is suitable for cyclic or long paths. Moreover, we further propose a processing algorithm for group and independent objects. Experimental evaluations show that our approach is effective and efficient in terms of the compression and traceability queries. PMID:24737978

A new energy-efficient control approach for astronomical telescope drive system

NASA Astrophysics Data System (ADS)

Zhou, W.; Wang, Y.

2012-12-01

Drive control makes the astronomical telescope accurately tracking celestial bodies in spite of external and internal disturbances, which is a key technique to the performance of telescopes. In this paper, we propose a nonlinear ad, aptive observer based on power reversible approach for high precision telescope position tracking. The nonlinear adaptive observer automatically estimates the disturbances in drive system, and the observed value is applied to compensate for the real disturbances. With greatly reduced disturbances, the control precision can be evidently improved. In conventional drive control, the brake device is often used to slow down the reaction wheel and may waste enormous energy. To avoid those disadvantages, an H-bridge is put forward for wheel speed regulation. Such H-bridge has four independent sections, and each section mainly consists of a power electronic switch and an anti-parallel diode. During the period of the mount slowing down, the armature current of drive motor goes through the two path-wise diodes to charge the battery. Thus, energy waste is avoided. Based on the disturbance compensation, an optimal controller is designed to minimize an evaluation function which is made up of a weighted sum of position errors and energy consumption.The outputs of the controller are applied to control the H-bridge. Simulations are performed in MATLAB language. The results show that high precision control can be obtained by the proposed approach. And the energy consumption will be remarkably reduced.

OpenCV and TYZX : video surveillance for tracking.

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

He, Jim; Spencer, Andrew; Chu, Eric

2008-08-01

As part of the National Security Engineering Institute (NSEI) project, several sensors were developed in conjunction with an assessment algorithm. A camera system was developed in-house to track the locations of personnel within a secure room. In addition, a commercial, off-the-shelf (COTS) tracking system developed by TYZX was examined. TYZX is a Bay Area start-up that has developed its own tracking hardware and software which we use as COTS support for robust tracking. This report discusses the pros and cons of each camera system, how they work, a proposed data fusion method, and some visual results. Distributed, embedded image processingmore » solutions show the most promise in their ability to track multiple targets in complex environments and in real-time. Future work on the camera system may include three-dimensional volumetric tracking by using multiple simple cameras, Kalman or particle filtering, automated camera calibration and registration, and gesture or path recognition.« less

A Comprehensive Study of Data Collection Schemes Using Mobile Sinks in Wireless Sensor Networks

PubMed Central

Khan, Abdul Waheed; Abdullah, Abdul Hanan; Anisi, Mohammad Hossein; Bangash, Javed Iqbal

2014-01-01

Recently sink mobility has been exploited in numerous schemes to prolong the lifetime of wireless sensor networks (WSNs). Contrary to traditional WSNs where sensory data from sensor field is ultimately sent to a static sink, mobile sink-based approaches alleviate energy-holes issues thereby facilitating balanced energy consumption among nodes. In mobility scenarios, nodes need to keep track of the latest location of mobile sinks for data delivery. However, frequent propagation of sink topological updates undermines the energy conservation goal and therefore should be controlled. Furthermore, controlled propagation of sinks' topological updates affects the performance of routing strategies thereby increasing data delivery latency and reducing packet delivery ratios. This paper presents a taxonomy of various data collection/dissemination schemes that exploit sink mobility. Based on how sink mobility is exploited in the sensor field, we classify existing schemes into three classes, namely path constrained, path unconstrained, and controlled sink mobility-based schemes. We also organize existing schemes based on their primary goals and provide a comparative study to aid readers in selecting the appropriate scheme in accordance with their particular intended applications and network dynamics. Finally, we conclude our discussion with the identification of some unresolved issues in pursuit of data delivery to a mobile sink. PMID:24504107

MapMaker and PathTracer for tracking carbon in genome-scale metabolic models

PubMed Central

Tervo, Christopher J.; Reed, Jennifer L.

2016-01-01

Constraint-based reconstruction and analysis (COBRA) modeling results can be difficult to interpret given the large numbers of reactions in genome-scale models. While paths in metabolic networks can be found, existing methods are not easily combined with constraint-based approaches. To address this limitation, two tools (MapMaker and PathTracer) were developed to find paths (including cycles) between metabolites, where each step transfers carbon from reactant to product. MapMaker predicts carbon transfer maps (CTMs) between metabolites using only information on molecular formulae and reaction stoichiometry, effectively determining which reactants and products share carbon atoms. MapMaker correctly assigned CTMs for over 97% of the 2,251 reactions in an Escherichia coli metabolic model (iJO1366). Using CTMs as inputs, PathTracer finds paths between two metabolites. PathTracer was applied to iJO1366 to investigate the importance of using CTMs and COBRA constraints when enumerating paths, to find active and high flux paths in flux balance analysis (FBA) solutions, to identify paths for putrescine utilization, and to elucidate a potential CO2 fixation pathway in E. coli. These results illustrate how MapMaker and PathTracer can be used in combination with constraint-based models to identify feasible, active, and high flux paths between metabolites. PMID:26771089

Inspection Robot Based Mobile Sensing and Power Line Tracking for Smart Grid

PubMed Central

Byambasuren, Bat-erdene; Kim, Donghan; Oyun-Erdene, Mandakh; Bold, Chinguun; Yura, Jargalbaatar

2016-01-01

Smart sensing and power line tracking is very important in a smart grid system. Illegal electricity usage can be detected by remote current measurement on overhead power lines using an inspection robot. There is a need for accurate detection methods of illegal electricity usage. Stable and correct power line tracking is a very prominent issue. In order to correctly track and make accurate measurements, the swing path of a power line should be previously fitted and predicted by a mathematical function using an inspection robot. After this, the remote inspection robot can follow the power line and measure the current. This paper presents a new power line tracking method using parabolic and circle fitting algorithms for illegal electricity detection. We demonstrate the effectiveness of the proposed tracking method by simulation and experimental results. PMID:26907274

Inspection Robot Based Mobile Sensing and Power Line Tracking for Smart Grid.

PubMed

Byambasuren, Bat-Erdene; Kim, Donghan; Oyun-Erdene, Mandakh; Bold, Chinguun; Yura, Jargalbaatar

2016-02-19

Smart sensing and power line tracking is very important in a smart grid system. Illegal electricity usage can be detected by remote current measurement on overhead power lines using an inspection robot. There is a need for accurate detection methods of illegal electricity usage. Stable and correct power line tracking is a very prominent issue. In order to correctly track and make accurate measurements, the swing path of a power line should be previously fitted and predicted by a mathematical function using an inspection robot. After this, the remote inspection robot can follow the power line and measure the current. This paper presents a new power line tracking method using parabolic and circle fitting algorithms for illegal electricity detection. We demonstrate the effectiveness of the proposed tracking method by simulation and experimental results.

Mapping Gnss Restricted Environments with a Drone Tandem and Indirect Position Control

NASA Astrophysics Data System (ADS)

Cledat, E.; Cucci, D. A.

2017-08-01

The problem of autonomously mapping highly cluttered environments, such as urban and natural canyons, is intractable with the current UAV technology. The reason lies in the absence or unreliability of GNSS signals due to partial sky occlusion or multi-path effects. High quality carrier-phase observations are also required in efficient mapping paradigms, such as Assisted Aerial Triangulation, to achieve high ground accuracy without the need of dense networks of ground control points. In this work we consider a drone tandem in which the first drone flies outside the canyon, where GNSS constellation is ideal, visually tracks the second drone and provides an indirect position control for it. This enables both autonomous guidance and accurate mapping of GNSS restricted environments without the need of ground control points. We address the technical feasibility of this concept considering preliminary real-world experiments in comparable conditions and we perform a mapping accuracy prediction based on a simulation scenario.

Piloted Evaluation of an Integrated Methodology for Propulsion and Airframe Control Design

NASA Technical Reports Server (NTRS)

Bright, Michelle M.; Simon, Donald L.; Garg, Sanjay; Mattern, Duane L.; Ranaudo, Richard J.; Odonoghue, Dennis P.

1994-01-01

An integrated methodology for propulsion and airframe control has been developed and evaluated for a Short Take-Off Vertical Landing (STOVL) aircraft using a fixed base flight simulator at NASA Lewis Research Center. For this evaluation the flight simulator is configured for transition flight using a STOVL aircraft model, a full nonlinear turbofan engine model, simulated cockpit and displays, and pilot effectors. The paper provides a brief description of the simulation models, the flight simulation environment, the displays and symbology, the integrated control design, and the piloted tasks used for control design evaluation. In the simulation, the pilots successfully completed typical transition phase tasks such as combined constant deceleration with flight path tracking, and constant acceleration wave-off maneuvers. The pilot comments of the integrated system performance and the display symbology are discussed and analyzed to identify potential areas of improvement.

Statistical Analysis of the Links between Blocking and Nor'easters

NASA Astrophysics Data System (ADS)

Booth, J. F.; Pfahl, S.

2015-12-01

Nor'easters can be loosely defined as extratropical cyclones that develop as they progress northward along the eastern coast of North America. The path makes it possible for these storms to generate storm surge along the coastline and/or heavy precipitation or snow inland. In the present analysis, the path of the storms is investigated relative to the behavior of upstream blocking events over the North Atlantic Ocean. For this analysis, two separate Lagrangian tracking methods are used to identify the extratropical cyclone paths and the blocking events. Using the cyclone paths, Nor'easters are identified and blocking statistics are calculated for the days prior to, during and following the occurrence of the Nor'easters. The path, strength and intensification rates of the cyclones are compared with the strength and location of the blocks. In the event that a Nor'easter occurs, the likelihood of the presence of block at the southeast tip of Greenland is statistically significantly increased, i.e., the presence of a block concurrent with a Nor'easter happens more often than by random coincidence. However no significant link between the strength of the storms and the strength of the block is identified. These results suggest that the presence of the block mainly affects the path of the Nor'easters. On the other hand, in the event of blocking at the southeast tip of Greenland, the likelihood of a Nor'easter, as opposed to a different type of storm is no greater than what one might expect from randomly sampling cyclone tracks. The results confirm a long held understanding in forecast meteorology that upstream blocking is a necessary but not sufficient condition for generating a Nor'easter.

Design and Implementation of Vehicle Navigation System in Urban Environments using Internet of Things (Iot)

NASA Astrophysics Data System (ADS)

Godavarthi, Bhavana; Nalajala, Paparao; Ganapuram, Vasavi

2017-08-01

Advanced vehicle monitoring and tracking system based on embedded Linux board and android application is designed and implemented for monitoring the school vehicle from any location A to location B at real time. The present system would make good use of new technology that based on embedded Linux namely Raspberry Pi and Smartphone android application. This system works on GPS/GPRS/GSM SIM900A. GPS finds the current location of the vehicle, GPRS sends the tracking information to the server and the GSM is used for sending alert message to vehicle’s owner mobile. This system is placed inside the vehicle whose position is to be determined on the web page and monitored at real time. There is a comparison between the current vehicle path already specified paths into the file system. Inside the raspberry pi’s file system taken from vehicle owners through android phone using android application. Means the selection of path from location A to B takes place from vehicle owner’s android application which gives more safety and secures traveling to the traveler. Hence the driver drives the vehicle only on the vehicle owner’s specified path. The driver drives the vehicle only on the vehicle owner’s specified path but if the driver drives in wrong path the message alert will be sent from this system to the vehicle owners mobile and also sent speakers alert to driver through audio jack. If the vehicles speed goes beyond the specified value of the speed, then warning message will be sent to owner mobile. This system also takes care of the traveler’s safety by using Gas leakage and Temperature sensors

Why "The Best Way of Learning to Coach the Game Is Playing the Game": Conceptualising "Fast-Tracked" High-Performance Coaching Pathways

ERIC Educational Resources Information Center

Blackett, Alexander David; Evans, Adam; Piggott, David

2017-01-01

At the beginning of the 2013/2014 season in England and Wales, 90 head coaches of the 92 men's national professional football league clubs and 20 of the 22 men's professional rugby union clubs had tenure as a professional elite player in their respective sports. Moreover, Rynne [(2014). "'Fast track' and 'traditional path' coaches:…

A new 3D tracking method for cell mechanics investigation exploiting the capabilities of digital holography in microscopy

NASA Astrophysics Data System (ADS)

Miccio, L.; Memmolo, P.; Merola, F.; Fusco, S.; Netti, P. A.; Ferraro, P.

2014-03-01

A method for 3D tracking has been developed exploiting Digital Holography features in Microscopy (DHM). In the framework of self-consistent platform for manipulation and measurement of biological specimen we use DHM for quantitative and completely label free analysis of samples with low amplitude contrast. Tracking capability extend the potentiality of DHM allowing to monitor the motion of appropriate probes and correlate it with sample properties. Complete 3D tracking has been obtained for the probes avoiding the amplitude refocusing in traditional tracking processes. Moreover, in biology and biomedical research fields one of the main topic is the understanding of morphology and mechanics of cells and microorganisms. Biological samples present low amplitude contrast that limits the information that can be retrieved through optical bright-field microscope measurements. The main effect on light propagating in such objects is in phase. This is known as phase-retardation or phase-shift. DHM is an innovative and alternative approach in microscopy, it's a good candidate for no-invasive and complete specimen analysis because its main characteristic is the possibility to discern between intensity and phase information performing quantitative mapping of the Optical Path Length. In this paper, the flexibility of DH is employed to analyze cell mechanics of unstained cells subjected to appropriate stimuli. DHM is used to measure all the parameters useful to understand the deformations induced by external and controlled stresses on in-vitro cells. Our configuration allows 3D tracking of micro-particles and, simultaneously, furnish quantitative phase-contrast maps. Experimental results are presented and discussed for in vitro cells.

Hummingbirds control turning velocity using body orientation and turning radius using asymmetrical wingbeat kinematics

PubMed Central

Read, Tyson J. G.; Segre, Paolo S.; Middleton, Kevin M.; Altshuler, Douglas L.

2016-01-01

Turning in flight requires reorientation of force, which birds, bats and insects accomplish either by shifting body position and total force in concert or by using left–right asymmetries in wingbeat kinematics. Although both mechanisms have been observed in multiple species, it is currently unknown how each is used to control changes in trajectory. We addressed this problem by measuring body and wingbeat kinematics as hummingbirds tracked a revolving feeder, and estimating aerodynamic forces using a quasi-steady model. During arcing turns, hummingbirds symmetrically banked the stroke plane of both wings, and the body, into turns, supporting a body-dependent mechanism. However, several wingbeat asymmetries were present during turning, including a higher and flatter outer wingtip path and a lower more deviated inner wingtip path. A quasi-steady analysis of arcing turns performed with different trajectories revealed that changes in radius were associated with asymmetrical kinematics and forces, and changes in velocity were associated with symmetrical kinematics and forces. Collectively, our results indicate that both body-dependent and -independent force orientation mechanisms are available to hummingbirds, and that these kinematic strategies are used to meet the separate aerodynamic challenges posed by changes in velocity and turning radius. PMID:27030042

Design and Performance Evaluation of a UWB Communication and Tracking System for Mini-AERCam

NASA Technical Reports Server (NTRS)

Barton, Richard J.

2005-01-01

NASA Johnson Space Center (JSC) is developing a low-volume, low-mass, robotic free-flying camera known as Mini-AERCam (Autonomous Extra-vehicular Robotic Camera) to assist the International Space Station (ISS) operations. Mini-AERCam is designed to provide astronauts and ground control real-time video for camera views of ISS. The system will assist ISS crewmembers and ground personnel to monitor ongoing operations and perform visual inspections of exterior ISS components without requiring extravehicular activity (EAV). Mini-AERCam consists of a great number of subsystems. Many institutions and companies have been involved in the R&D for this project. A Mini-AERCam ground control system has been studied at Texas A&M University [3]. The path planning and control algorithms that direct the motions of Mini-AERCam have been developed through the joint effort of Carnegie Mellon University and the Texas Robotics and Automation Center [5]. NASA JSC has designed a layered control architecture that integrates all functions of Mini-AERCam [8]. The research described in this report is part of a larger effort focused on the communication and tracking subsystem that is designed to perform three major tasks: 1. To transmit commands from ISS to Mini-AERCam for control of robotic camera motions (downlink); 2. To transmit real-time video from Mini-AERCam to ISS for inspections (uplink); 3. To track the position of Mini-AERCam for precise motion control. The ISS propagation environment is unique due to the nature of the ISS structure and multiple RF interference sources [9]. The ISS is composed of various truss segments, solar panels, thermal radiator panels, and modules for laboratories and crew accommodations. A tracking system supplemental to GPS is desirable both to improve accuracy and to eliminate the structural blockage due to the close proximity of the ISS which could at times limit the number of GPS satellites accessible to the Mini-AERCam. Ideally, the tracking system will be a passive component of the communication system which will need to operate in a time-varying multipath environment created as the robot camera moves over the ISS structure. In addition, due to many interference sources located on the ISS, SSO, LEO satellites and ground-based transmitters, selecting a frequency for the ISS and Mini-AERCam link which will coexist with all interferers poses a major design challenge. To meet all of these challenges, ultrawideband (UWB) radio technology is being studied for use in the Mini-AERCam communication and tracking subsystem. The research described in this report is focused on design and evaluation of passive tracking system algorithms based on UWB radio transmissions from mini-AERCam.

HUD Guidance for the ASKA Experimental STOL Aircraft using Radar Position Information

NASA Technical Reports Server (NTRS)

Yazawa, Kenji; Terui, Yushi; Hardy, Gordon H.

1992-01-01

The paper describes a high performance HUD guidance system installed on the experimental powered-lift STOL aircraft Aska. Since the maiden flight in October 1985, the HUD system has been used in all the flight tests. The HUD has an accurate flight path symbol generated by inertial velocity from the IRS which is updated by up-linked precision radar position data. The flight path symbol is very useful for precise approach and flare control for Aska which has large ground effects. A synthetic runway is also presented, which is conformal with the real runway, using the position data from the ground tracking radar system. Under instrument meteorological conditions, the pilot can approach and land using the HUD synthetic runway as well as in visual meteorological conditions. The HUD system proved to be a valuable aid to the pilot for all the Aska flight tests. A NASA Ames Research Center test pilot demonstrated touch down accuracy of less than 8 meters (peak to peak) for a series of three landings.

Determination of time zero from a charged particle detector

DOEpatents

Green, Jesse Andrew [Los Alamos, NM

2011-03-15

A method, system and computer program is used to determine a linear track having a good fit to a most likely or expected path of charged particle passing through a charged particle detector having a plurality of drift cells. Hit signals from the charged particle detector are associated with a particular charged particle track. An initial estimate of time zero is made from these hit signals and linear tracks are then fit to drift radii for each particular time-zero estimate. The linear track having the best fit is then searched and selected and errors in fit and tracking parameters computed. The use of large and expensive fast detectors needed to time zero in the charged particle detectors can be avoided by adopting this method and system.

A Balloon-Borne Telescope System for Planetary Atmosphere and Plasma Studies

NASA Astrophysics Data System (ADS)

Taguchi, M.; Yoshida, K.; Sakamoto, Y.; Kanazawa, T.; Shoji, Y.; Sawakami, T.; Takahashi, Y.; Hoshino, N.; Sato, T.; Sakanoi, T.

2007-12-01

A telescope floating in the polar stratosphere can continuously monitor planets for more than 24 hours. Thin, clear and stable air of the stratosphere makes it possible to observe planets in a condition free from cloud with fine seeing and high atmospheric transmittance. Moreover, a balloon-borne telescope system is less expensive compared with a huge terrestrial telescope or a direct planetary probe mission. Targets of a balloon-borne telescope system will extend over various atmospheric and plasma phenomena on almost all the planets, i.e., a sodium tail of Mercury, lightning, airglow and aurora in the atmospheres of Venus, Jupiter and Saturn, escaping atmospheres of the Earth-type planets, satellite-induced luminous events in the Jovian atmosphere, etc. The first target is global dynamics of the Venusian atmosphere by detecting cloud motion in UV and NIR imagery. A decoupling mechanism and a pair of control moment gyros (CMGs) are mounted at the top of the gondola. The decoupling mechanism isolates the gondola from a balloon and also transfers an excess angular momentum of the CMGs to the balloon. The attitude of the gondola is stabilized at a constant sun azimuthal angle so that a solar cell panel faces to the sun. A 300 mm F30 Schmidt-Cassegrain telescope is installed at the bottom of the gondola. DC/DC converters, a PC, a high voltage power supply for a piezo-electrically moving mirror and digital video recorders are contained in a sealed cell. The azimuthal angle is detected by a sun-sensor. A PC processes sensor output to control DC motors used in the decoupling mechanism and CMGs with an accuracy in azimuthal attitude of about 0.5 deg. The two-axis gimbal mount of the telescope is controlled by the same PC, guiding an object within a field-of-view of a guide telescope. Residual tracking error is detected by a position sensitive photomultiplier tube and corrected by the two-axis moving mirror installed in the optical system. The optical path is divided into three paths with different colors: the first one with wavelengths less than 450 nm, the second one with 550-630 nm, and the last one more than 750 nm. The first and last paths are utilized for imagery of UV and NIR with bandpass filters and analog and digital CCD video cameras, respectively. The second path is for tracking error detection. The first experiment was scheduled in June, 2007 at Sanriku Balloon Center (SBC), Japan, but it was postponed until late August because of delay in final testing of the system. As of submission of this abstract the gondola has been ready for launch but has not yet been launched. The result of experiment will be presented.

Tracking Mallards (Anas platyrhynchos) with GPS Satellite Transmitters Along Their Migration Route Through Northeast Asia.

PubMed

Shin, Jeong-Hwa; Lee, Ki-Sup; Kim, Seol-Hee; Hwang, Jong-Kyung; Woo, Chanjin; Kim, Jiyeon; Kim, Jung-Hyun; Suh, Jae-Hwa; Jeong, Jipseol; Wang, Seung-Jun; Chung, Hyen-Mi; Yu, Seung-do; Choi, Kyung-Hee; Mo, In-Pil

2016-05-01

In this study, Global Positioning System satellite transmitters were attached to three mallards (Anas platyrhynchos) wintering in South Korea to track their migration routes, stopover sites, breeding sites, and migration patterns. We successfully tracked only one mallard (no. 108917) from November 15, 2011, to November 29, 2013, and determined separate migration routes in two cases of spring migration and one case of fall migration. The mallard repeatedly migrated to the same final destination, even though the travel path varied. We identified six stopover sites: Hunhe River, Liaohe River, Yinma River, Yalu River, Songjeon Bay, and Dahuofang Reservoir in China and South Korea. The wintering sites of two migration cases were discovered to be identical (Gokgyo River in Asan, South Korea). The terminal sites, which were presumed to be breeding grounds, were the same in both cases (Hinggan League in Inner Mongolia Autonomous Region, China). On the basis of the migration routes identified in this study, we suggest that future efforts to control highly pathogenic avian influenza (HPAI) should not only include avian influenza surveillance but also implement flyway-based strategies, with regard to all countries affected by potential HPAI outbreaks.

Simulation and training of ultrasound supported anaesthesia: a low-cost approach

NASA Astrophysics Data System (ADS)

Schaaf, T.; Lamontain, M.; Hilpert, J.; Schilling, F.; Tolxdorff, T.

2010-03-01

The use of ultrasound imaging technology during techniques of peripheral nerve blockade offers several clinical benefits. Here we report on a new method to educate residents in ultrasound-guided regional anesthesia. The daily challenge for the anesthesiologists is the 3D angle-depending handling of the stimulation needle and the ultrasound probe while watching the 2D ultrasound image on the monitor. Purpose: Our approach describes how a computer-aided simulation and training set for ultrasound-guided regional anesthesia could be built based on wireless low-cost devices and an interactive simulation of a 2D ultrasound image. For training purposes the injection needle and the ultrasound probe are replaced by wireless Bluetooth-connected 3D tracking devices, which are embedded in WII-mote controllers (Nintendo-Brand). In correlation to the tracked 3D positions of the needle and transducer models the visibility and position of the needle should be simulated in the 2D generated ultrasound image. Conclusion: In future, this tracking and visualization software module could be integrated in a more complex training set, where complex injection paths could be trained based on a 3D segmented model and the training results could be part of a curricular e-learning module.

Modified Hyperspheres Algorithm to Trace Homotopy Curves of Nonlinear Circuits Composed by Piecewise Linear Modelled Devices

PubMed Central

Vazquez-Leal, H.; Jimenez-Fernandez, V. M.; Benhammouda, B.; Filobello-Nino, U.; Sarmiento-Reyes, A.; Ramirez-Pinero, A.; Marin-Hernandez, A.; Huerta-Chua, J.

2014-01-01

We present a homotopy continuation method (HCM) for finding multiple operating points of nonlinear circuits composed of devices modelled by using piecewise linear (PWL) representations. We propose an adaptation of the modified spheres path tracking algorithm to trace the homotopy trajectories of PWL circuits. In order to assess the benefits of this proposal, four nonlinear circuits composed of piecewise linear modelled devices are analysed to determine their multiple operating points. The results show that HCM can find multiple solutions within a single homotopy trajectory. Furthermore, we take advantage of the fact that homotopy trajectories are PWL curves meant to replace the multidimensional interpolation and fine tuning stages of the path tracking algorithm with a simple and highly accurate procedure based on the parametric straight line equation. PMID:25184157

Analysis of mechanical system of extreme rainfall events using backward tracking on information from the atmosphere circulation pattern for the 2000-2015 precipitation record in South Korea

NASA Astrophysics Data System (ADS)

So, B. J.; Kwon, H. H.

2016-12-01

A natural disaster for flood and drought have occurred in different parts of the world, and the disasters caused by significant extreme hydrological event in past years. Several studies examining stochastic analysis based nonstationary analysis reported for forecasting and outlook for extreme hydrological events, but there is the procedure to select predictor variables. In this study, we analyzed mechanical system of extreme rainfall events using backward tracking to determine the predictors of nonstationary considering the atmosphere circulation pattern. First, observed rainfall data of KMA (Korea Meteorological Administration) and ECMWF ERA-Interm data were constructed during the 2000-2015 period. Then, the 7day backward tracking were performed to establish the path of air mass using the LAGRANTO Tool considering the observed rainfall stations located in S. Korea as a starting point, The tracking information for rainfall event were clustered and then, we extracts the main influence factor based on the categorized tracking path considering to information of rainfall magnitude (e.g,, mega-sized, medium-sized). Finally, the nonstationary predictors are determined through a combination of factors affecting the nonstationary rainfall simulation techniques. The predictors based on a mechanical structure is expected to be able to respond to external factors such as climate change. In addition, this method can be used to determine the prediction factor in different geographical areas by different position.

How Many Objects are You Worth? Quantification of the Self-Motion Load on Multiple Object Tracking

PubMed Central

Thomas, Laura E.; Seiffert, Adriane E.

2011-01-01

Perhaps walking and chewing gum is effortless, but walking and tracking moving objects is not. Multiple object tracking is impaired by walking from one location to another, suggesting that updating location of the self puts demands on object tracking processes. Here, we quantified the cost of self-motion in terms of the tracking load. Participants in a virtual environment tracked a variable number of targets (1–5) among distractors while either staying in one place or moving along a path that was similar to the objects’ motion. At the end of each trial, participants decided whether a probed dot was a target or distractor. As in our previous work, self-motion significantly impaired performance in tracking multiple targets. Quantifying tracking capacity for each individual under move versus stay conditions further revealed that self-motion during tracking produced a cost to capacity of about 0.8 (±0.2) objects. Tracking your own motion is worth about one object, suggesting that updating the location of the self is similar, but perhaps slightly easier, than updating locations of objects. PMID:21991259

Observations of tropospheric phase scintillations at 5 GHz on vertical paths

NASA Technical Reports Server (NTRS)

Armstrong, J. W.; Sramek, R. A.

1982-01-01

The article presents observations of turbulence-induced tropospheric phase fluctuations measured at 5 GHz on the near-vertical paths relevant to many astronomical and geophysical measurements. The data are summarized as phase power spectra, structure functions, and Allan variances. Comparisons to other microwave observations indicate relatively good agreement in both the level and shape of the power spectrum of these tropospheric phase fluctuations. Implications for precision Doppler tracking of spacecraft and geodesy/radio interferometry are discussed.

A concept for a fuel efficient flight planning aid for general aviation

NASA Technical Reports Server (NTRS)

Collins, B. P.; Haines, A. L.; Wales, C. J.

1982-01-01

A core equation for estimation of fuel burn from path profile data was developed. This equation was used as a necessary ingredient in a dynamic program to define a fuel efficient flight path. The resultant algorithm is oriented toward use by general aviation. The pilot provides a description of the desired ground track, standard aircraft parameters, and weather at selected waypoints. The algorithm then derives the fuel efficient altitudes and velocities at the waypoints.

Comparison of Genetic Algorithm and Hill Climbing for Shortest Path Optimization Mapping

NASA Astrophysics Data System (ADS)

Fronita, Mona; Gernowo, Rahmat; Gunawan, Vincencius

2018-02-01

Traveling Salesman Problem (TSP) is an optimization to find the shortest path to reach several destinations in one trip without passing through the same city and back again to the early departure city, the process is applied to the delivery systems. This comparison is done using two methods, namely optimization genetic algorithm and hill climbing. Hill Climbing works by directly selecting a new path that is exchanged with the neighbour's to get the track distance smaller than the previous track, without testing. Genetic algorithms depend on the input parameters, they are the number of population, the probability of crossover, mutation probability and the number of generations. To simplify the process of determining the shortest path supported by the development of software that uses the google map API. Tests carried out as much as 20 times with the number of city 8, 16, 24 and 32 to see which method is optimal in terms of distance and time computation. Based on experiments conducted with a number of cities 3, 4, 5 and 6 producing the same value and optimal distance for the genetic algorithm and hill climbing, the value of this distance begins to differ with the number of city 7. The overall results shows that these tests, hill climbing are more optimal to number of small cities and the number of cities over 30 optimized using genetic algorithms.

Algebraic Approach for Recovering Topology in Distributed Camera Networks

DTIC Science & Technology

2009-01-14

not valid for camera networks. Spatial sam- pling of plenoptic function [2] from a network of cameras is rarely i.i.d. (independent and identi- cally...coverage can be used to track and compare paths in a wireless camera network without any metric calibration information. In particular, these results can...edition edition, 2000. [14] A. Rahimi, B. Dunagan, and T. Darrell. Si- multaneous calibration and tracking with a network of non-overlapping sensors. In

C(G)-Band and X(I)-Band Noncoherent Radar Transponder Performance Specification Standard

DTIC Science & Technology

2014-06-01

transmitter with an integral power supply. The transponder must accept interrogation signals from single or multiple radar sets and provide a...the transponder receives a coded pulse interrogation from the ground radar and transmits a single pulse reply in the same frequency band. The...obtained by using either a single tracking station or several tracking stations along the flight path of the target vehicle. The accuracy gained by use

Detumbling control for kinematically redundant space manipulator post-grasping a rotational satellite

NASA Astrophysics Data System (ADS)

Wang, Mingming; Luo, Jianjun; Yuan, Jianping; Walter, Ulrich

2017-12-01

The objective of this paper is to establish a detumbling strategy and a coordination control scheme for a kinematically redundant space manipulator post-grasping a rotational satellite. First, the dynamics of the kinematically redundant space robot after grasping the target is presented, which lays the foundation for the coordination controller design. Subsequently, optimal detumbling and motion planning strategy for the post-capture phase is proposed based on the quartic Bézier curves and adaptive differential evolution (DE) algorithm subject to the specific constraints. Both detumbling time and control torques are taken into account for the generation of the optimal detumbling strategy. Furthermore, a coordination control scheme is presented to track the designed reference path while regulating the attitude of the chaser to a desired value, which successfully dumps the initial angular velocity of the rotational satellite and controls the base attitude synchronously. Simulation results are presented for detumbling a target with rotational motion using a 7 degree-of-freedom (DOF) redundant space manipulator, which demonstrates the effectiveness of the proposed method.

System and method for controlling remote devices

DOEpatents

Carrender, Curtis Lee [Richland, WA; Gilbert, Ronald W [Benton City, WA; Scott, Jeff W [Pasco, WA; Clark, David A [Kennewick, WA

2006-02-07

A system and method for controlling remote devices utilizing a radio frequency identification (RFID) tag device having a control circuit adapted to render the tag device, and associated objects, permanently inoperable in response to radio-frequency control signals. The control circuit is configured to receive the control signals that can include an enable signal, and in response thereto enable an associated object, such as a weapon; and in response to a disable signal, to disable the tag itself, or, if desired, to disable the associated weapon or both the device and the weapon. Permanent disabling of the tag can be accomplished by several methods, including, but not limited to, fusing a fusable link, breaking an electrically conductive path, permanently altering the modulation or backscattering characteristics of the antenna circuit, and permanently erasing an associated memory. In this manner, tags in the possession of unauthorized employees can be remotely disabled, and weapons lost on a battlefield can be easily tracked and enabled or disabled automatically or at will.

Cursor Control Device Test Battery

NASA Technical Reports Server (NTRS)

Holden, Kritina; Sandor, Aniko; Pace, John; Thompson, Shelby

2013-01-01

The test battery was developed to provide a standard procedure for cursor control device evaluation. The software was built in Visual Basic and consists of nine tasks and a main menu that integrates the set-up of the tasks. The tasks can be used individually, or in a series defined in the main menu. Task 1, the Unidirectional Pointing Task, tests the speed and accuracy of clicking on targets. Two rectangles with an adjustable width and adjustable center- to-center distance are presented. The task is to click back and forth between the two rectangles. Clicks outside of the rectangles are recorded as errors. Task 2, Multidirectional Pointing Task, measures speed and accuracy of clicking on targets approached from different angles. Twenty-five numbered squares of adjustable width are arranged around an adjustable diameter circle. The task is to point and click on the numbered squares (placed on opposite sides of the circle) in consecutive order. Clicks outside of the squares are recorded as errors. Task 3, Unidirectional (horizontal) Dragging Task, is similar to dragging a file into a folder on a computer desktop. Task 3 requires dragging a square of adjustable width from one rectangle and dropping it into another. The width of each rectangle is adjustable, as well as the distance between the two rectangles. Dropping the square outside of the rectangles is recorded as an error. Task 4, Unidirectional Path Following, is similar to Task 3. The task is to drag a square through a tunnel consisting of two lines. The size of the square and the width of the tunnel are adjustable. If the square touches any of the lines, it is counted as an error and the task is restarted. Task 5, Text Selection, involves clicking on a Start button, and then moving directly to the underlined portion of the displayed text and highlighting it. The pointing distance to the text is adjustable, as well as the to-be-selected font size and the underlined character length. If the selection does not include all of the underlined characters, or includes non-underlined characters, it is recorded as an error. Task 6, Multi-size and Multi-distance Pointing, presents the participant with 24 consecutively numbered buttons of different sizes (63 to 163 pixels), and at different distances (60 to 80 pixels) from the Start button. The task is to click on the Start button, and then move directly to, and click on, each numbered target button in consecutive order. Clicks outside of the target area are errors. Task 7, Standard Interface Elements Task, involves interacting with standard interface elements as instructed in written procedures, including: drop-down menus, sliders, text boxes, radio buttons, and check boxes. Task completion time is recorded. In Task 8, a circular track is presented with a disc in it at the top. Track width and disc size are adjustable. The task is to move the disc with circular motion within the path without touching the boundaries of the track. Time and errors are recorded. Task 9 is a discrete task that allows evaluation of discrete cursor control devices that tab from target to target, such as a castle switch. The task is to follow a predefined path and to click on the yellow targets along the path.

Simulation evaluation of a low-altitude helicopter flight guidance system adapted for a helmet-mounted display

NASA Technical Reports Server (NTRS)

Swenson, Harry N.; Zelenka, Richard E.; Hardy, Gordon H.; Dearing, Munro G.

1992-01-01

A computer aiding concept for low-altitude helicopter flight was developed and evaluated in a real-time piloted simulation. The concept included an optimal control trajectory-generation algorithm based upon dynamic programming and a helmet-mounted display (HMD) presentation of a pathway-in-the-sky, a phantom aircraft, and flight-path vector/predictor guidance symbology. The trajectory-generation algorithm uses knowledge of the global mission requirements, a digital terrain map, aircraft performance capabilities, and advanced navigation information to determine a trajectory between mission way points that seeks valleys to minimize threat exposure. The pilot evaluation was conducted at NASA ARC moving base Vertical Motion Simulator (VMS) by pilots representing NASA, the U.S. Army, the Air Force, and the helicopter industry. The pilots manually tracked the trajectory generated by the algorithm utilizing the HMD symbology. The pilots were able to satisfactorily perform the tracking tasks while maintaining a high degree of awareness of the outside world.

Computer aiding for low-altitude helicopter flight

NASA Technical Reports Server (NTRS)

Swenson, Harry N.

1991-01-01

A computer-aiding concept for low-altitude helicopter flight was developed and evaluated in a real-time piloted simulation. The concept included an optimal control trajectory-generated algorithm based on dynamic programming, and a head-up display (HUD) presentation of a pathway-in-the-sky, a phantom aircraft, and flight-path vector/predictor symbol. The trajectory-generation algorithm uses knowledge of the global mission requirements, a digital terrain map, aircraft performance capabilities, and advanced navigation information to determine a trajectory between mission waypoints that minimizes threat exposure by seeking valleys. The pilot evaluation was conducted at NASA Ames Research Center's Sim Lab facility in both the fixed-base Interchangeable Cab (ICAB) simulator and the moving-base Vertical Motion Simulator (VMS) by pilots representing NASA, the U.S. Army, and the U.S. Air Force. The pilots manually tracked the trajectory generated by the algorithm utilizing the HUD symbology. They were able to satisfactorily perform the tracking tasks while maintaining a high degree of awareness of the outside world.

Remote operation of the Black Knight unmanned ground combat vehicle

NASA Astrophysics Data System (ADS)

Valois, Jean-Sebastien; Herman, Herman; Bares, John; Rice, David P.

2008-04-01

The Black Knight is a 12-ton, C-130 deployable Unmanned Ground Combat Vehicle (UGCV). It was developed to demonstrate how unmanned vehicles can be integrated into a mechanized military force to increase combat capability while protecting Soldiers in a full spectrum of battlefield scenarios. The Black Knight is used in military operational tests that allow Soldiers to develop the necessary techniques, tactics, and procedures to operate a large unmanned vehicle within a mechanized military force. It can be safely controlled by Soldiers from inside a manned fighting vehicle, such as the Bradley Fighting Vehicle. Black Knight control modes include path tracking, guarded teleoperation, and fully autonomous movement. Its state-of-the-art Autonomous Navigation Module (ANM) includes terrain-mapping sensors for route planning, terrain classification, and obstacle avoidance. In guarded teleoperation mode, the ANM data, together with automotive dials and gages, are used to generate video overlays that assist the operator for both day and night driving performance. Remote operation of various sensors also allows Soldiers to perform effective target location and tracking. This document covers Black Knight's system architecture and includes implementation overviews of the various operation modes. We conclude with lessons learned and development goals for the Black Knight UGCV.

Coordinated three-dimensional motion of the head and torso by dynamic neural networks.

PubMed

Kim, J; Hemami, H

1998-01-01

The problem of trajectory tracking control of a three dimensional (3D) model of the human upper torso and head is considered. The torso and the head are modeled as two rigid bodies connected at one point, and the Newton-Euler method is used to derive the nonlinear differential equations that govern the motion of the system. The two-link system is driven by six pairs of muscle like actuators that possess physiologically inspired alpha like and gamma like inputs, and spindle like and Golgi tendon organ like outputs. These outputs are utilized as reflex feedback for stability and stiffness control, in a long loop feedback for the purpose of estimating the state of the system (somesthesis), and as part of the input to the controller. Ideal delays of different duration are included in the feedforward and feedback paths of the system to emulate such delays encountered in physiological systems. Dynamical neural networks are trained to learn effective control of the desired maneuvers of the system. The feasibility of the controller is demonstrated by computer simulation of the successful execution of the desired maneuvers. This work demonstrates the capabilities of neural circuits in controlling highly nonlinear systems with multidelays in their feedforward and feedback paths. The ultimate long range goal of this research is toward understanding the working of the central nervous system in controlling movement. It is an interdisciplinary effort relying on mechanics, biomechanics, neuroscience, system theory, physiology and anatomy, and its short range relevance to rehabilitation must be noted.

Delay-Aware Energy-Efficient Routing towards a Path-Fixed Mobile Sink in Industrial Wireless Sensor Networks.

PubMed

Wu, Shaobo; Chou, Wusheng; Niu, Jianwei; Guizani, Mohsen

2018-03-18

Wireless sensor networks (WSNs) involve more mobile elements with their widespread development in industries. Exploiting mobility present in WSNs for data collection can effectively improve the network performance. However, when the sink (i.e., data collector) path is fixed and the movement is uncontrollable, existing schemes fail to guarantee delay requirements while achieving high energy efficiency. This paper proposes a delay-aware energy-efficient routing algorithm for WSNs with a path-fixed mobile sink, named DERM, which can strike a desirable balance between the delivery latency and energy conservation. We characterize the object of DERM as realizing the energy-optimal anycast to time-varying destination regions, and introduce a location-based forwarding technique tailored for this problem. To reduce the control overhead, a lightweight sink location calibration method is devised, which cooperates with the rough estimation based on the mobility pattern to determine the sink location. We also design a fault-tolerant mechanism called track routing to tackle location errors for ensuring reliable and on-time data delivery. We comprehensively evaluate DERM by comparing it with two canonical routing schemes and a baseline solution presented in this work. Extensive evaluation results demonstrate that DERM can provide considerable energy savings while meeting the delay constraint and maintaining a high delivery ratio.

Delay-Aware Energy-Efficient Routing towards a Path-Fixed Mobile Sink in Industrial Wireless Sensor Networks

PubMed Central

Wu, Shaobo; Chou, Wusheng; Niu, Jianwei; Guizani, Mohsen

2018-01-01

Wireless sensor networks (WSNs) involve more mobile elements with their widespread development in industries. Exploiting mobility present in WSNs for data collection can effectively improve the network performance. However, when the sink (i.e., data collector) path is fixed and the movement is uncontrollable, existing schemes fail to guarantee delay requirements while achieving high energy efficiency. This paper proposes a delay-aware energy-efficient routing algorithm for WSNs with a path-fixed mobile sink, named DERM, which can strike a desirable balance between the delivery latency and energy conservation. We characterize the object of DERM as realizing the energy-optimal anycast to time-varying destination regions, and introduce a location-based forwarding technique tailored for this problem. To reduce the control overhead, a lightweight sink location calibration method is devised, which cooperates with the rough estimation based on the mobility pattern to determine the sink location. We also design a fault-tolerant mechanism called track routing to tackle location errors for ensuring reliable and on-time data delivery. We comprehensively evaluate DERM by comparing it with two canonical routing schemes and a baseline solution presented in this work. Extensive evaluation results demonstrate that DERM can provide considerable energy savings while meeting the delay constraint and maintaining a high delivery ratio. PMID:29562628

Forecasting for natural avalanches during spring opening of Going-to-the-Sun Road, Glacier National Park, Montana, USA

USGS Publications Warehouse

Reardon, Blase; Lundy, Chris

2004-01-01

The annual spring opening of the Going-to-the-Sun Road in Glacier National Park presents a unique avalanche forecasting challenge. The highway traverses dozens of avalanche paths mid-track in a 23-kilometer section that crosses the Continental Divide. Workers removing seasonal snow and avalanche debris are exposed to paths that can produce avalanches of destructive class 4. The starting zones for most slide paths are within proposed Wilderness, and explosive testing or control are not currently used. Spring weather along the Divide is highly variable; rain-on-snow events are common, storms can bring several feet of new snow as late as June, and temperature swings can be dramatic. Natural avalanches - dry and wet slab, dry and wet loose, and glide avalanches - present a wide range of hazards and forecasting issues. This paper summarizes the forecasting program instituted in 2002 for the annual snow removal operations. It focuses on tools and techniques for forecasting natural wet snow avalanches by incorporating two case studies, including a widespread climax wet slab cycle in 2003. We examine weather and snowpack conditions conducive to wet snow avalanches, indicators for instability, and suggest a conceptual model for wet snow stability in a northern intermountain snow climate.

The pattern and variability of winter Kuroshio intrusion northeast of Taiwan

NASA Astrophysics Data System (ADS)

Liu, Xiaohui; Dong, Changming; Chen, Dake; Su, Jilan

2014-08-01

The variations of the Kuroshio path and velocity northeast of Taiwan are analyzed based on along-track satellite altimeter data as well as high-resolution model experiments. Observations reveal that in winter the Kuroshio intrusion into the East China Sea (ECS) at this location is manifested by a secondary maximum current core (SMCC) shoreward of the Kuroshio's main path. The SMCC varies significantly on interannual time scale, and its variability is strikingly out of phase with that of the Kuroshio entering the ECS, meaning that the stronger the Kuroshio, the weaker the SMCC, and vice versa. Model experiments corroborate the observational results and, more importantly, indicate that the Kuroshio intrusion here follows two primary routes, a large anticyclonic loop that separates from the Kuroshio at the northern end of Taiwan and moves forward to form the SMCC, and a straight northward path onto the shelf when the Kuroshio turns sharply eastward along the continental slope of the ECS. The intrusion is controlled by both local forcing and remote effect, with its pattern and variability depending mostly on the local heat flux and the inertia of the Kuroshio Current. This article was corrected on 12 SEP 2014. See the end of the full text for details.

Band gap engineering by swift heavy ions irradiation induced amorphous nano-channels in LiNbO3

DOE PAGES

Sachan, Ritesh; Pakarinen, Olli H.; Liu, Peng; ...

2015-04-01

The irradiation of lithium niobate with swift heavy ions results in the creation of amorphous nano-sized channels along the incident ion path. These nano-channels are on the order of a hundred microns in length and could be useful for photonic applications. However, there are two major challenges in these nano-channels characterization; (i) it is difficult to investigate the structural characteristics of these nano-channels due to their very long length, and (ii) the analytical electron microscopic analysis of individual ion track is complicated due to electron beam sensitive nature of lithium niobate. Here, we report the first high resolution microscopic characterizationmore » of these amorphous nano-channels, widely known as ion-tracks, by direct imaging them at different depths in the material, and subsequently correlating the key characteristics with Se of ions. Energetic Kr ions ( 84Kr 22 with 1.98 GeV energy) are used to irradiate single crystal lithium niobate with a fluence of 2x10 10 ions/cm 2, which results in the formation of individual ion tracks with a penetration depth of ~180 μm. Along the ion path, electron energy loss of the ions, which is responsible for creating the ion tracks, increases with depth under these conditions in LiNbO 3, resulting in increases in track diameter of a factor of ~2 with depth. This diameter increase with electronic stopping power is consistent with predictions of the inelastic thermal spike model. We also show a new method to measure the band gap in individual ion track by using electron energy-loss spectroscopy.« less

Intelligent Paging Based Mobile User Tracking Using Fuzzy Logic

NASA Astrophysics Data System (ADS)

Saha, Sajal; Dutta, Raju; Debnath, Soumen; Mukhopadhyay, Asish K.

2010-11-01

In general, a mobile user travels in a predefined path that depends mostly on the user's characteristics. Thus, tracking the locations of a mobile user is one of the challenges for location management. In this paper, we introduce a movement pattern learning strategy system to track the user's movements using adaptive fuzzy logic. Our fuzzy inference system extracts patterns from the historical data record of the cell numbers along with the date and time stamp of the users occupying the cell. Implementation of this strategy has been evaluated with the real time user data which proves the efficiency and accuracy of the model. This mechanism not only reduces user location tracking costs, but also significantly decreases the call-loss rates and average paging delays.

Optical track width measurements below 100 nm using artificial neural networks

NASA Astrophysics Data System (ADS)

Smith, R. J.; See, C. W.; Somekh, M. G.; Yacoot, A.; Choi, E.

2005-12-01

This paper discusses the feasibility of using artificial neural networks (ANNs), together with a high precision scanning optical profiler, to measure very fine track widths that are considerably below the conventional diffraction limit of a conventional optical microscope. The ANN is trained using optical profiles obtained from tracks of known widths, the network is then assessed by applying it to test profiles. The optical profiler is an ultra-stable common path scanning interferometer, which provides extremely precise surface measurements. Preliminary results, obtained with a 0.3 NA objective lens and a laser wavelength of 633 nm, show that the system is capable of measuring a 50 nm track width, with a standard deviation less than 4 nm.

A μ analysis-based, controller-synthesis framework for robust bioinspired visual navigation in less-structured environments.

PubMed

Keshavan, J; Gremillion, G; Escobar-Alvarez, H; Humbert, J S

2014-06-01

Safe, autonomous navigation by aerial microsystems in less-structured environments is a difficult challenge to overcome with current technology. This paper presents a novel visual-navigation approach that combines bioinspired wide-field processing of optic flow information with control-theoretic tools for synthesis of closed loop systems, resulting in robustness and performance guarantees. Structured singular value analysis is used to synthesize a dynamic controller that provides good tracking performance in uncertain environments without resorting to explicit pose estimation or extraction of a detailed environmental depth map. Experimental results with a quadrotor demonstrate the vehicle's robust obstacle-avoidance behaviour in a straight line corridor, an S-shaped corridor and a corridor with obstacles distributed in the vehicle's path. The computational efficiency and simplicity of the current approach offers a promising alternative to satisfying the payload, power and bandwidth constraints imposed by aerial microsystems.

How bumblebees use lateral and ventral optic flow cues for position control in environments of different proximity.

PubMed

Linander, Nellie; Baird, Emily; Dacke, Marie

2017-05-01

Flying insects frequently navigate through environments of different complexity. In this study, buff-tailed bumblebees (Bombus terrestris L.) were trained to fly along tunnels of different widths, from 60 to 240 cm. In tunnel widths of 60 and 120 cm, bumblebees control their lateral position by balancing the magnitude of translational optic flow experienced in the lateral visual field of each eye. In wider tunnels, bumblebees use translational optic flow cues in the ventral visual field to control their lateral position and to steer along straight tracks. Our results also suggest that bumblebees prefer to fly over surfaces that provide strong ventral optic flow cues, rather than over featureless ones. Together, these strategies allow bumblebees to minimize the risk of collision and to maintain relatively straight flight paths in a broad range of environments.

LayTracks3D: A new approach for meshing general solids using medial axis transform

DOE PAGES

Quadros, William Roshan

2015-08-22

This study presents an extension of the all-quad meshing algorithm called LayTracks to generate high quality hex-dominant meshes of general solids. LayTracks3D uses the mapping between the Medial Axis (MA) and the boundary of the 3D domain to decompose complex 3D domains into simpler domains called Tracks. Tracks in 3D have no branches and are symmetric, non-intersecting, orthogonal to the boundary, and the shortest path from the MA to the boundary. These properties of tracks result in desired meshes with near cube shape elements at the boundary, structured mesh along the boundary normal with any irregular nodes restricted to themore » MA, and sharp boundary feature preservation. The algorithm has been tested on a few industrial CAD models and hex-dominant meshes are shown in the Results section. Work is underway to extend LayTracks3D to generate all-hex meshes.« less

A new energy-efficient control approach for space telescope drive system

NASA Astrophysics Data System (ADS)

Zhou, Wangping; Wang, Yong

Drive control makes the telescope accurately track celestial bodies in spite of external and in-ternal disturbances, and is a key technique to the performance of telescopes. In this paper, we propose a nonlinear adaptive observer based on power reversible approach for high preci-sion position tracking, i.e., space telescopes. The nonlinear adaptive observer automatically estimates the disturbances in drive system, and the observed value is applied to compensate for the real disturbances. With greatly reduced disturbances, the control precision can be ev-idently improved. In conventional drive control, the brake device is often used to slow down the reaction wheel and may waste enormous energy. To avoid those disadvantages, an H-bridge is put forward for wheel speed regulation. Such H-bridge has four independent sections, and each section mainly consists of a power electronic switch and an anti-parallel diode. A pair of diagonal sections is switched on for speeding up the reaction wheel and the other pair act in reverse. During the period of the wheel slowing down, the armature current of drive motor goes through the two path-wise diodes to discharge the battery. Thusly, energy waste is avoided. Based on the disturbance compensation, an optimal controller is designed to minimize an eval-uation function which is made up of a weighted sum of position errors and energy consumption. The outputs of the controller are amplified to control the H-bridge. Simulations are performed in MATLAB language. The results show that high precision control can be obtained by the proposed approach. And the energy consumption will be remarkably reduced.

NASA Data Helps Track Heat Potential Fueling Rita

NASA Image and Video Library

2005-09-26

Tropical Cyclone Heat Potential TCHP field in the Gulf of Mexico during September 22, 2005. The path of Hurricane Rita is indicated with circles spaced every 3 hours with their size and color representing intensity see legend.

Fast tracking of wind speed with a differential absorption LiDAR system: first results of an experimental campaign at Stromboli volcano

NASA Astrophysics Data System (ADS)

Parracino, Stefano; Santoro, Simone; Maio, Giovanni; Nuvoli, Marcello; Aiuppa, Alessandro; Fiorani, Luca

2017-04-01

Carbon dioxide (CO2) is considered a precursor gas of volcanic eruptions by volcanologists. Monitoring the anomalous release of this parameter, we can retrieve useful information for the mitigation of volcanic hazards, such as for air traffic security. From a dataset collected during the Stromboli volcano field campaign, an assessment of the wind speed, in both horizontal and vertical paths, performing a fast tracking of this parameter was retrieved. This was determined with a newly designed shot-per-shot differential absorption LiDAR system operated in the near-infrared spectral region due to the simultaneous reconstruction of CO2 concentrations and wind speeds, using the same sample of LiDAR returns. A correlation method was used for the wind speed retrieval in which the transport of the spatial inhomogeneities of the aerosol backscattering coefficient, along the optical path of the system, was analyzed.

Aerial Prefeeding Followed by Ground Based Toxic Baiting for More Efficient and Acceptable Poisoning of Invasive Small Mammalian Pests

PubMed Central

Morgan, David; Warburton, Bruce; Nugent, Graham

2015-01-01

Introduced brushtail possums (Trichosurus vulpecula) and rat species (Rattus spp.) are major vertebrate pests in New Zealand, with impacts on conservation and agriculture being managed largely through poisoning operations. Aerial distribution of baits containing sodium fluoroacetate (1080) has been refined to maximise cost effectiveness and minimise environmental impact, but this method is strongly opposed by some as it is perceived as being indiscriminate. Although ground based control enables precise placement of baits, operations are often more than twice as costly as aerial control, mainly due to the high labour costs. We investigated a new approach to ground based control that combined aerial distribution of non-toxic ‘prefeed’ baits followed by sparse distribution of toxic baits at regular intervals along the GPS tracked prefeeding flight paths. This approach was tested in two field trials in which both 1080 baits and cholecalciferol baits were used in separate areas. Effectiveness of the approach, assessed primarily using ‘chewcards’, was compared with that of scheduled aerial 1080 operations that were conducted in outlying areas of both trials. Contractors carrying out ground based control were able to follow the GPS tracks of aerial prefeeding flight lines very accurately, and with 1080 baits achieved very high levels of kill of possums and rats similar to those achieved by aerial 1080 baiting. Cholecalciferol was less effective in the first trial, but by doubling the amount of cholecalciferol bait used in the second trial, few possums or rats survived. By measuring the time taken to complete ground baiting from GPS tracks, we predicted that the method (using 1080 baits) would be similarly cost effective to aerial 1080 operations for controlling possums and rats, and considerably less expensive than typical current costs of ground based control. The main limitations to the use of the method will be access to, and size of, the operational site, along with topography and vegetation density. PMID:26218095

Through the eyes of a bird: modelling visually guided obstacle flight

PubMed Central

Lin, Huai-Ti; Ros, Ivo G.; Biewener, Andrew A.

2014-01-01

Various flight navigation strategies for birds have been identified at the large spatial scales of migratory and homing behaviours. However, relatively little is known about close-range obstacle negotiation through cluttered environments. To examine obstacle flight guidance, we tracked pigeons (Columba livia) flying through an artificial forest of vertical poles. Interestingly, pigeons adjusted their flight path only approximately 1.5 m from the forest entry, suggesting a reactive mode of path planning. Combining flight trajectories with obstacle pole positions, we reconstructed the visual experience of the pigeons throughout obstacle flights. Assuming proportional–derivative control with a constant delay, we searched the relevant parameter space of steering gains and visuomotor delays that best explained the observed steering. We found that a pigeon's steering resembles proportional control driven by the error angle between the flight direction and the desired opening, or gap, between obstacles. Using this pigeon steering controller, we simulated obstacle flights and showed that pigeons do not simply steer to the nearest opening in the direction of flight or destination. Pigeons bias their flight direction towards larger visual gaps when making fast steering decisions. The proposed behavioural modelling method converts the obstacle avoidance behaviour into a (piecewise) target-aiming behaviour, which is better defined and understood. This study demonstrates how such an approach decomposes open-loop free-flight behaviours into components that can be independently evaluated. PMID:24812052

Through the eyes of a bird: modelling visually guided obstacle flight.

PubMed

Lin, Huai-Ti; Ros, Ivo G; Biewener, Andrew A

2014-07-06

Various flight navigation strategies for birds have been identified at the large spatial scales of migratory and homing behaviours. However, relatively little is known about close-range obstacle negotiation through cluttered environments. To examine obstacle flight guidance, we tracked pigeons (Columba livia) flying through an artificial forest of vertical poles. Interestingly, pigeons adjusted their flight path only approximately 1.5 m from the forest entry, suggesting a reactive mode of path planning. Combining flight trajectories with obstacle pole positions, we reconstructed the visual experience of the pigeons throughout obstacle flights. Assuming proportional-derivative control with a constant delay, we searched the relevant parameter space of steering gains and visuomotor delays that best explained the observed steering. We found that a pigeon's steering resembles proportional control driven by the error angle between the flight direction and the desired opening, or gap, between obstacles. Using this pigeon steering controller, we simulated obstacle flights and showed that pigeons do not simply steer to the nearest opening in the direction of flight or destination. Pigeons bias their flight direction towards larger visual gaps when making fast steering decisions. The proposed behavioural modelling method converts the obstacle avoidance behaviour into a (piecewise) target-aiming behaviour, which is better defined and understood. This study demonstrates how such an approach decomposes open-loop free-flight behaviours into components that can be independently evaluated.

Environmental factors and flow paths related to Escherichia coli concentrations at two beaches on Lake St. Clair, Michigan, 2002–2005

USGS Publications Warehouse

Holtschlag, David J.; Shively, Dawn; Whitman, Richard L.; Haack, Sheridan K.; Fogarty, Lisa R.

2008-01-01

Regression analyses and hydrodynamic modeling were used to identify environmental factors and flow paths associated with Escherichia coli (E. coli) concentrations at Memorial and Metropolitan Beaches on Lake St. Clair in Macomb County, Mich. Lake St. Clair is part of the binational waterway between the United States and Canada that connects Lake Huron with Lake Erie in the Great Lakes Basin. Linear regression, regression-tree, and logistic regression models were developed from E. coli concentration and ancillary environmental data. Linear regression models on log10 E. coli concentrations indicated that rainfall prior to sampling, water temperature, and turbidity were positively associated with bacteria concentrations at both beaches. Flow from Clinton River, changes in water levels, wind conditions, and log10 E. coli concentrations 2 days before or after the target bacteria concentrations were statistically significant at one or both beaches. In addition, various interaction terms were significant at Memorial Beach. Linear regression models for both beaches explained only about 30 percent of the variability in log10 E. coli concentrations. Regression-tree models were developed from data from both Memorial and Metropolitan Beaches but were found to have limited predictive capability in this study. The results indicate that too few observations were available to develop reliable regression-tree models. Linear logistic models were developed to estimate the probability of E. coli concentrations exceeding 300 most probable number (MPN) per 100 milliliters (mL). Rainfall amounts before bacteria sampling were positively associated with exceedance probabilities at both beaches. Flow of Clinton River, turbidity, and log10 E. coli concentrations measured before or after the target E. coli measurements were related to exceedances at one or both beaches. The linear logistic models were effective in estimating bacteria exceedances at both beaches. A receiver operating characteristic (ROC) analysis was used to determine cut points for maximizing the true positive rate prediction while minimizing the false positive rate. A two-dimensional hydrodynamic model was developed to simulate horizontal current patterns on Lake St. Clair in response to wind, flow, and water-level conditions at model boundaries. Simulated velocity fields were used to track hypothetical massless particles backward in time from the beaches along flow paths toward source areas. Reverse particle tracking for idealized steady-state conditions shows changes in expected flow paths and traveltimes with wind speeds and directions from 24 sectors. The results indicate that three to four sets of contiguous wind sectors have similar effects on flow paths in the vicinity of the beaches. In addition, reverse particle tracking was used for transient conditions to identify expected flow paths for 10 E. coli sampling events in 2004. These results demonstrate the ability to track hypothetical particles from the beaches, backward in time, to likely source areas. This ability, coupled with a greater frequency of bacteria sampling, may provide insight into changes in bacteria concentrations between source and sink areas.

Human performance evaluation of a pathway HMD

NASA Astrophysics Data System (ADS)

Lorenz, Bernd; Tobben, Helmut; Schmerwitz, Sven

2005-05-01

Head-up displays (HUD) and helmet (or head)-mounted displays (HMD) aim at reducing the pilot's visual scanning cost in support of concurrent monitoring of both instrument information (near domain) and the outside environment (far domain). An HMD used in combination with a head tracker enables the assessment of the pilot"s head direction in real time allowing symbologies to remain spatially linked to elements of the outside environment. The paper examines the potential added benefits of improved flight path tracking to be expected by displaying symbologies of a virtual 3D perspective pathway plus predictor information on an HMD. Results of a high-fidelity flight-simulation experiment are reported that involved a series of curved approaches supported with such a pathway HMD. The study used a monocular retinal-scanning HMD and involved 18 pilots. Dependent human performance data were derived from flight path tracking measures, subjective measures of mental workload and situation awareness and pilot reactions in response to an unexpected rare event in the outside scene (intruding aircraft on the active runway for the intended landing). Comparison with a standard head-down ILS baseline condition revealed a mix of performance costs and benefits, which is consistent with most of the human factors literature on the general use of HUDs and of HUDs used in combination with pathway guidance: The pathway HMD promoted substantially better flight path tracking but caused also a delayed response to the unexpected event. This effect points to some disadvantages of HUDs referred to as 'attention capture', which may become exaggerated by the additional use of pathway guidance symbology.

A dynamic Brownian bridge movement model to estimate utilization distributions for heterogeneous animal movement.

PubMed

Kranstauber, Bart; Kays, Roland; Lapoint, Scott D; Wikelski, Martin; Safi, Kamran

2012-07-01

1. The recently developed Brownian bridge movement model (BBMM) has advantages over traditional methods because it quantifies the utilization distribution of an animal based on its movement path rather than individual points and accounts for temporal autocorrelation and high data volumes. However, the BBMM assumes unrealistic homogeneous movement behaviour across all data. 2. Accurate quantification of the utilization distribution is important for identifying the way animals use the landscape. 3. We improve the BBMM by allowing for changes in behaviour, using likelihood statistics to determine change points along the animal's movement path. 4. This novel extension, outperforms the current BBMM as indicated by simulations and examples of a territorial mammal and a migratory bird. The unique ability of our model to work with tracks that are not sampled regularly is especially important for GPS tags that have frequent failed fixes or dynamic sampling schedules. Moreover, our model extension provides a useful one-dimensional measure of behavioural change along animal tracks. 5. This new method provides a more accurate utilization distribution that better describes the space use of realistic, behaviourally heterogeneous tracks. © 2012 The Authors. Journal of Animal Ecology © 2012 British Ecological Society.

A software-based tool for video motion tracking in the surgical skills assessment landscape.

PubMed

Ganni, Sandeep; Botden, Sanne M B I; Chmarra, Magdalena; Goossens, Richard H M; Jakimowicz, Jack J

2018-01-16

The use of motion tracking has been proved to provide an objective assessment in surgical skills training. Current systems, however, require the use of additional equipment or specialised laparoscopic instruments and cameras to extract the data. The aim of this study was to determine the possibility of using a software-based solution to extract the data. 6 expert and 23 novice participants performed a basic laparoscopic cholecystectomy procedure in the operating room. The recorded videos were analysed using Kinovea 0.8.15 and the following parameters calculated the path length, average instrument movement and number of sudden or extreme movements. The analysed data showed that experts had significantly shorter path length (median 127 cm vs. 187 cm, p = 0.01), smaller average movements (median 0.40 cm vs. 0.32 cm, p = 0.002) and fewer sudden movements (median 14.00 vs. 21.61, p = 0.001) than their novice counterparts. The use of software-based video motion tracking of laparoscopic cholecystectomy is a simple and viable method enabling objective assessment of surgical performance. It provides clear discrimination between expert and novice performance.

Optimization of vehicle-trailer connection systems

NASA Astrophysics Data System (ADS)

Sorge, F.

2016-09-01

The three main requirements of a vehicle-trailer connection system are: en route stability, over- or under-steering restraint, minimum off-tracking along curved path. Linking the two units by four-bar trapeziums, wider stability margins may be attained in comparison with the conventional pintle-hitch for both instability types, divergent or oscillating. The stability maps are traced applying the Hurwitz method or the direct analysis of the characteristic equation at the instability threshold. Several types of four-bar linkages may be quickly tested, with the drawbars converging towards the trailer or the towing unit. The latter configuration appears preferable in terms of self-stability and may yield high critical speeds by optimising the geometrical and physical properties. Nevertheless, the system stability may be improved in general by additional vibration dampers in parallel with the connection linkage. Moreover, the four-bar connection may produce significant corrections of the under-steering or over-steering behaviour of the vehicle-train after a steering command from the driver. The off- tracking along the curved paths may be also optimized or kept inside prefixed margins of acceptableness. Activating electronic stability systems if necessary, fair results are obtainable for both the steering conduct and the off-tracking.

Paleomagnetic Euler Poles and the Apparent Polar Wander and Absolute Motion of North America Since the Carboniferous

NASA Astrophysics Data System (ADS)

Gordon, Richard G.; Cox, Allan; O'Hare, Scott

1984-10-01

The apparent polar wander path for a plate is determined from paleomagnetic data by plotting a time sequence of paleomagnetic poles, each representing the location of the earth's spin axis as seen from the plate. Apparent polar wander paths consist of long, gently curved segments termed tracks linked by short segments with sharp curvature termed cusps. The tracks correspond to time intervals when the direction of plate motion was constant, and the cusps correspond to time intervals when the direction of plate motion was changing. Apparent polar wander tracks, like hot spot tracks, tend to lie along small circles. The center of a circle is called a hot spot Euler pole in the case of hot spot tracks and a paleomagnetic Euler pole in the case of paleomagnetic apparent polar wander paths. Both types of tracks mark the motion of a plate with respect to a point, a rising mantle plume in the case of hot spot tracks and the earth's paleomagnetic axis in the case of apparent polar wander paths. Unlike approaches uced in previous studies, paleomagnetic Euler pole analysis yields all three components of motion—including the east-west motion—of a plate with respect to the paleomagnetic axis. A new method for analyzing paleomagnetic poles along a track by using a maximum likelihood criterion gives the best fit paleomagnetic Euler pole and an ellipsoid of 95% confidence about the paleomagnetic Euler pole. In analyzing synthetic and real data, we found that the ellipsoids are elongate, the long axes being aligned with a great circle drawn from the paleomagnetic Euler pole to the center of the apparent polar wander track. This elongation is caused by the azimuths of circular tracks being better defined than their radii of curvature. A Jurassic-Cretaceous paleomagnetic Euler pole for North America was determined from 13 paleomagnetic poles. This track begins with the Wingate and Kayenta formations (about 200 Ma) and ends with the Niobrara Formation (about 87 Ma). Morgan's hot spot Euler pole for 200-90 Ma lies only 15° outside the 95% confidence ellipsoid of the paleomagnetic Euler pole. The good but not perfect agreement reflects displacement between the hot spot and paleomagnetic reference frames at an average rate that is smaller by an order of magnitude than the rate at which the faster plates are moving. The angular velocity of North America about the Jurassic-Cretaceous paleomagnetic Euler pole was determined by plotting the angular positions of paleomagnetic poles along the track as a function of age. For the Cretaceous the angular velocity was too small to measure. During the Jurassic the angular velocity was high, corresponding to a root-mean-square velocity of 70 km/m.y. for the North American plate. A short time interval of even more rapid movement during the Middle and Late Jurassic, possibly corresponding to the beginning of rapid displacement between North America and Africa, is suggested by the data. The direction of absolute motion of North America during the Jurassic was toward the northwest. A Carboniferous-Permian-Triassic paleomagnetic Euler pole was determined from 26 paleomagnetic poles. The progression of poles along this track is consistent with known ages and stratigraphy, except for some systematic differences between poles from Triassic rocks on the Colorado Plateau and poles from Triassic rocks off the Colorado Plateau. These differences could be due to a small clockwise rotation of the Colorado Plateau with respect to cratonal North America, or to miscorrelations between Triassic rocks on the Colorado Plateau and off the Colorado Plateau, or to large lag times between the deposition and magnetization of some rock units, or to some combination of these possibilities. Despite these ambiguities in interpreting paleomagnetic data from Triassic rocks, the general pattern of apparent polar wander and plate motion during the Carboniferous through Triassic is clear: The root-mean-square velocity of North America was slow (about 20 km/m.y.) during the Carboniferous, probably slow (about 20 km/m.y.) during the Permian, but rapid (60-100 km/m.y.) during the Triassic. Paleomagnetic Euler pole analysis establishes that the present slow (less than 30 km/m.y.) velocity of large continental plates like North America is not an intrinsic property of the plates. Occasionally these plates have, for intervals of 50 ± 20 m.y., moved as rapidly as the oceanic plates are moving today. In our interpretation, during times of rapid motion the continents were attached along a passive margin to oceanic lithosphere that was being subducted at some distance from the continent. Rapid motion stopped when the oceanic lithosphere had been consumed by subduction. If North America, Greenland, and Eurasia were joined as a single land mass during the Jurassic, then a likely location for the subducting oceanic plate attached to this landmass is along the southern margin of the cratonal core of Asia with the oceanic plate extending into Tethys. At the cusp between the Carboniferous-Permian-Triassic track and the Jurassic-Cretaceous track, the trend of the path changes by 160°. The western point of the cusp, which is delineated by paleomagnetic poles from the Chinle, Wingate, and Kayenta formations, is 13° farther west in our analysis than it is in commonly accepted apparent polar wander paths for North America. An implication for terrane analysis is that northward displacements found by using our Late Triassic and Early Jurassic poles are up to 2000 km smaller than are those found by using previously published Late Triassic and Early Jurassic cratonal poles.

Exploring the possibility of following the movements of a bird from an artificial earth satellite

NASA Technical Reports Server (NTRS)

Mackay, R. S.

1974-01-01

The development of a harness to hold the transmitter is discussed along with satellite systems for monitoring the flight paths of the birds, and incorporating biological information into the tracking signal.

SU-C-18A-02: Image-Based Camera Tracking: Towards Registration of Endoscopic Video to CT

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

Ingram, S; Rao, A; Wendt, R

Purpose: Endoscopic examinations are routinely performed on head and neck and esophageal cancer patients. However, these images are underutilized for radiation therapy because there is currently no way to register them to a CT of the patient. The purpose of this work is to develop a method to track the motion of an endoscope within a structure using images from standard clinical equipment. This method will be incorporated into a broader endoscopy/CT registration framework. Methods: We developed a software algorithm to track the motion of an endoscope within an arbitrary structure. We computed frame-to-frame rotation and translation of the cameramore » by tracking surface points across the video sequence and utilizing two-camera epipolar geometry. The resulting 3D camera path was used to recover the surrounding structure via triangulation methods. We tested this algorithm on a rigid cylindrical phantom with a pattern spray-painted on the inside. We did not constrain the motion of the endoscope while recording, and we did not constrain our measurements using the known structure of the phantom. Results: Our software algorithm can successfully track the general motion of the endoscope as it moves through the phantom. However, our preliminary data do not show a high degree of accuracy in the triangulation of 3D point locations. More rigorous data will be presented at the annual meeting. Conclusion: Image-based camera tracking is a promising method for endoscopy/CT image registration, and it requires only standard clinical equipment. It is one of two major components needed to achieve endoscopy/CT registration, the second of which is tying the camera path to absolute patient geometry. In addition to this second component, future work will focus on validating our camera tracking algorithm in the presence of clinical imaging features such as patient motion, erratic camera motion, and dynamic scene illumination.« less

Flexible integration of robotics, ultrasonics and metrology for the inspection of aerospace components

NASA Astrophysics Data System (ADS)

Mineo, Carmelo; MacLeod, Charles; Morozov, Maxim; Pierce, S. Gareth; Summan, Rahul; Rodden, Tony; Kahani, Danial; Powell, Jonathan; McCubbin, Paul; McCubbin, Coreen; Munro, Gavin; Paton, Scott; Watson, David

2017-02-01

Improvements in performance of modern robotic manipulators have in recent years allowed research aimed at development of fast automated non-destructive testing (NDT) of complex geometries. Contemporary robots are well adaptable to new tasks. Several robotic inspection prototype systems and a number of commercial products have been developed worldwide. This paper describes the latest progress in research focused at large composite aerospace components. A multi-robot flexible inspection cell is used to take the fundamental research and the feasibility studies to higher technology readiness levels, all set for the future industrial exploitation. The robot cell is equipped with high accuracy and high payload robots, mounted on 7 meter tracks, and an external rotary axis. A robotically delivered photogrammetry technique is first used to assess the position of the components placed within the robot working envelope and their deviation to CAD. Offline programming is used to generate a scan path for phased array ultrasonic testing (PAUT). PAUT is performed using a conformable wheel probe, with high data rate acquisition from PAUT controller. Real-time robot path-correction, based on force-torque control (FTC), is deployed to achieve the optimum ultrasonic coupling and repeatable data quality. New communication software is developed that enabled simultaneous control of the multiple robots performing different tasks and the acquisition of accurate positional data. All aspects of the system are controlled through a purposely developed graphic user interface that enables the flexible use of the unique set of hardware resources, the data acquisition, visualization and analysis.

Bicycle Guidelines and Crash Rates on Cycle Tracks in the United States

PubMed Central

Morency, Patrick; Miranda-Moreno, Luis F.; Willett, Walter C.; Dennerlein, Jack T.

2013-01-01

Objectives. We studied state-adopted bicycle guidelines to determine whether cycle tracks (physically separated, bicycle-exclusive paths adjacent to sidewalks) were recommended, whether they were built, and their crash rate. Methods. We analyzed and compared US bicycle facility guidelines published between 1972 and 1999. We identified 19 cycle tracks in the United States and collected extensive data on cycle track design, usage, and crash history from local communities. We used bicycle counts and crash data to estimate crash rates. Results. A bicycle facility guideline written in 1972 endorsed cycle tracks but American Association of State Highway and Transportation Officials (AASHTO) guidelines (1974–1999) discouraged or did not include cycle tracks and did not cite research about crash rates on cycle tracks. For the 19 US cycle tracks we examined, the overall crash rate was 2.3 (95% confidence interval = 1.7, 3.0) per 1 million bicycle kilometers. Conclusions. AASHTO bicycle guidelines are not explicitly based on rigorous or up-to-date research. Our results show that the risk of bicycle–vehicle crashes is lower on US cycle tracks than published crashes rates on roadways. This study and previous investigations support building cycle tracks. PMID:23678920

Tortuous Pore Path Through the Glaucomatous Lamina Cribrosa.

PubMed

Wang, Bo; Lucy, Katie A; Schuman, Joel S; Sigal, Ian A; Bilonick, Richard A; Lu, Chen; Liu, Jonathan; Grulkowski, Ireneusz; Nadler, Zachary; Ishikawa, Hiroshi; Kagemann, Larry; Fujimoto, James G; Wollstein, Gadi

2018-05-08

The lamina cribrosa is a primary site of damage in glaucoma. While mechanical distortion is hypothesized to cause reduction of axoplasmic flow, little is known about how the pores, which contains the retinal ganglion cell axons, traverse the lamina cribrosa. We investigated lamina cribrosa pore paths in vivo to quantify differences in tortuosity of pore paths between healthy and glaucomatous eyes. We imaged 16 healthy, 23 glaucoma suspect and 48 glaucomatous eyes from 70 subjects using a swept source optical coherence tomography system. The lamina cribrosa pores were automatically segmented using a previously described segmentation algorithm. Individual pore paths were automatically tracked through the depth of the lamina cribrosa using custom software. Pore path convergence to the optic nerve center and tortuosity was quantified for each eye. We found that lamina cribrosa pore pathways traverse the lamina cribrosa closer to the optic nerve center along the depth of the lamina cribrosa regardless of disease severity or diagnostic category. In addition, pores of glaucoma eyes take a more tortuous path through the lamina cribrosa compared to those of healthy eyes, suggesting a potential mechanism for reduction of axoplasmic flow in glaucoma.

Nocturnal bird migration in opaque clouds

NASA Technical Reports Server (NTRS)

Griffin, D. R.

1972-01-01

The use of a tracking radar to measure the flight paths of migrating birds on nights with opaque clouds is discussed. The effects of wind and lack of visual references are examined. The limitations of the radar observations are described, and samples of tracks obtained during radar observations are included. It is concluded that nonvisual mechanisms of orientation make it possible for birds to migrate in opaque clouds, but the exact nature of the sensory information cannot be determined by radar observations.

Measure and Analysis of a Gaze Position Using Infrared Light Technique

DTIC Science & Technology

2001-10-25

MEASURE AND ANALYSIS OF A GAZE POSITION USING INFRARED LIGHT TECHNIQUE Z. Ramdane-Cherif1,2, A. Naït-Ali2, J F. Motsch2, M. O. Krebs1 1INSERM E 01-17...also proposes a method to correct head movements. Keywords: eye movement, gaze tracking, visual scan path, spatial mapping. INTRODUCTION The eye gaze ...tracking has been used for clinical purposes to detect illnesses, such as nystagmus , unusual eye movements and many others [1][2][3]. It is also used

A Search for Mountain Waves in MLS Stratospheric Limb Radiances from the Winter Northern Hemisphere: Data Analysis and Global Mountain Wave Modeling

DTIC Science & Technology

2004-02-11

the general circulation of the middle atmosphere, Philos. Trans. R. Soc. London, Ser. A, 323, 693–705. Anton , H. (2000), Elementary Linear Algebra ...Because the saturated radiances may depend slightly on tangent height as the limb path length decreases, a linear trend (described by parameters a and b...track days and interpolated onto the same limb-track orbits. The color bar scale for radiance variance is linear . (b) Digital elevations of northern

Tracking Gravity Probe B gyroscope polhode motion

NASA Technical Reports Server (NTRS)

Keiser, George M.; Parkinson, Bradford W.; Cohen, Clark E.

1990-01-01

The superconducting Gravity Probe B spacecraft is being developed to measure two untested predictions of Einstein's theory of general relativity by using orbiting gyroscopes; it possesses an intrinsic magnetic field which rotates with the rotor and is fixed with respect to the rotor body frame. In this paper, the path of the rotor spin axes is tracked using this trapped magnetic flux as a reference. Both the rotor motion and the magnetic field shape are estimated simultaneously, employing the higher order components of the magnetic field shape.

Comparison of Arc Tracking Tests in Various Aerospace Environments

NASA Technical Reports Server (NTRS)

Stueber, Thomas J.; Hammoud, Ahmad; McCall, David

1996-01-01

Momentary short-circuit arcs between a polyimide insulated wire with defective insulation and another conductor may cause pyrolization of the insulation resulting in a conductive path capable of sustaining the arc. These sustained arcs may propagate along the wires or to neighboring wires leading to complete failure of the wire bundle. Wire insulation susceptibility to arc tracking may be dependent on its environment. Because all wire insulation types tested to date arc track, a test procedure has been developed to compare different insulation types with respect to their arc tracking susceptibility. This test procedure is presented along with a comparison of arc tracking in the following three environments: (1) Air at atmospheric pressure and 1 gravitational(g) force; (2) Vacuum (2.67 x 10(exp -3) Pa) and 1g, and (3) Air at atmospheric pressure and microgravity (less than 0.04g).

Learning-based Nonlinear Model Predictive Control to Improve Vision-based Mobile Robot Path Tracking

DTIC Science & Technology

2015-07-01

corresponding cost function to be J(u) = ( xd − x)TQx ( xd − x) + uTRu, (20) where Qx ∈ RKnx×Knx is positive semi-definite, R and u are as in (3), xd is a...sequence of desired states, xd = ( xd ,k+1, . . . , xd ,k+K), x is a sequence of predicted states, x = (xk+1, . . . ,xk+K), and K is the given prediction...vact,k−1+b, ωact,k−1+b), based ωk θk vk xd ,i−1 xd ,i xd ,i+1 xk yk Figure 5: Definition of the robot velocities, vk and ωk, and three pose variables

Deictic primitives for general purpose navigation

NASA Technical Reports Server (NTRS)

Crismann, Jill D.

1994-01-01

A visually-based deictic primative used as an elementary command set for general purpose navigation was investigated. It was shown that a simple 'follow your eyes' scenario is sufficient for tracking a moving target. Limitations of velocity, acceleration, and modeling of the response of the mechanical systems were enforced. Realistic paths of the robots were produced during the simulation. Scientists could remotely command a planetary rover to go to a particular rock formation that may be interesting. Similarly an expert at plant maintenance could obtain diagnostic information remotely by using deictic primitives on a mobile are used in the deictic primitives, we could imagine that the exact same control software could be used for all of these applications.

The Human Space Life Sciences Critical Path Roadmap Project: A Strategy for Human Space Flight through Exploration-Class Missions

NASA Technical Reports Server (NTRS)

Sawin, Charles F.

1999-01-01

The product of the critical path roadmap project is an integrated strategy for mitigating the risks associated with human exploration class missions. It is an evolving process that will assure the ability to communicate the integrated critical path roadmap. Unlike previous reports, this one will not sit on a shelf - it has the full support of the JSC Space and Life Sciences Directorate (SA) and is already being used as a decision making tool (e.g., budget and investigation planning for Shuttle and Space Station mission). Utility of this product depends on many efforts, namely: providing the required information (completed risk data sheets, critical question information, technology data). It is essential to communicate the results of the critical path roadmap to the scientific community - this meeting is a good opportunity to do so. The web site envisioned for the critical path roadmap will provide the capability to communicate to a broader community and to track and update the system routinely.

A Dynamic Bayesian Observer Model Reveals Origins of Bias in Visual Path Integration.

PubMed

Lakshminarasimhan, Kaushik J; Petsalis, Marina; Park, Hyeshin; DeAngelis, Gregory C; Pitkow, Xaq; Angelaki, Dora E

2018-06-20

Path integration is a strategy by which animals track their position by integrating their self-motion velocity. To identify the computational origins of bias in visual path integration, we asked human subjects to navigate in a virtual environment using optic flow and found that they generally traveled beyond the goal location. Such a behavior could stem from leaky integration of unbiased self-motion velocity estimates or from a prior expectation favoring slower speeds that causes velocity underestimation. Testing both alternatives using a probabilistic framework that maximizes expected reward, we found that subjects' biases were better explained by a slow-speed prior than imperfect integration. When subjects integrate paths over long periods, this framework intriguingly predicts a distance-dependent bias reversal due to buildup of uncertainty, which we also confirmed experimentally. These results suggest that visual path integration in noisy environments is limited largely by biases in processing optic flow rather than by leaky integration. Copyright © 2018 Elsevier Inc. All rights reserved.

Architectural constraints are a major factor reducing path integration accuracy in the rat head direction cell system.

PubMed

Page, Hector J I; Walters, Daniel; Stringer, Simon M

2015-01-01

Head direction cells fire to signal the direction in which an animal's head is pointing. They are able to track head direction using only internally-derived information (path integration)In this simulation study we investigate the factors that affect path integration accuracy. Specifically, two major limiting factors are identified: rise time, the time after stimulation it takes for a neuron to start firing, and the presence of symmetric non-offset within-layer recurrent collateral connectivity. On the basis of the latter, the important prediction is made that head direction cell regions directly involved in path integration will not contain this type of connectivity; giving a theoretical explanation for architectural observations. Increased neuronal rise time is found to slow path integration, and the slowing effect for a given rise time is found to be more severe in the context of short conduction delays. Further work is suggested on the basis of our findings, which represent a valuable contribution to understanding of the head direction cell system.

Symbiotic Navigation in Multi-Robot Systems with Remote Obstacle Knowledge Sharing

PubMed Central

Ravankar, Abhijeet; Ravankar, Ankit A.; Kobayashi, Yukinori; Emaru, Takanori

2017-01-01

Large scale operational areas often require multiple service robots for coverage and task parallelism. In such scenarios, each robot keeps its individual map of the environment and serves specific areas of the map at different times. We propose a knowledge sharing mechanism for multiple robots in which one robot can inform other robots about the changes in map, like path blockage, or new static obstacles, encountered at specific areas of the map. This symbiotic information sharing allows the robots to update remote areas of the map without having to explicitly navigate those areas, and plan efficient paths. A node representation of paths is presented for seamless sharing of blocked path information. The transience of obstacles is modeled to track obstacles which might have been removed. A lazy information update scheme is presented in which only relevant information affecting the current task is updated for efficiency. The advantages of the proposed method for path planning are discussed against traditional method with experimental results in both simulation and real environments. PMID:28678193

A tactual display aid for primary flight training

NASA Technical Reports Server (NTRS)

Gilson, R. D.

1979-01-01

A means of flight instruction is discussed. In addition to verbal assistance, control feedback was continously presented via a nonvisual means utilizing touch. A kinesthetic-tactile (KT) display was used as a readout and tracking device for a computer generated signal of desired angle of attack during the approach and landing. Airspeed and glide path information was presented via KT or visual heads up display techniques. Performance with the heads up display of pitch information was shown to be significantly better than performance with the KT pitch display. Testing without the displays showed that novice pilots who had received tactile pitch error information performed both pitch and throttle control tasks significantly better than those who had received the same information from the visual heads up display of pitch during the test series of approaches to landing.

Three-dimensional speckle tracking echocardiography allows detailed evaluation of left atrial function in hypertrophic cardiomyopathy--insights from the MAGYAR-Path Study.

PubMed

Domsik, Péter; Kalapos, Anita; Chadaide, Számi; Sepp, Róbert; Hausinger, Péter; Forster, Tamás; Nemes, Attila

2014-11-01

Hypertrophic cardiomyopathy (HCM) represents a generalized myopathic process affecting both ventricular and atrial myocardium. Reduced left atrial (LA) function was demonstrated in HCM by different methods. Three-dimensional (3D) speckle tracking echocardiography (STE) has just been introduced for the evaluation of LA. This study was designed to compare 3DSTE-derived LA volumetric and strain parameters in HCM with healthy controls. The study comprised 23 consecutive HCM patients (mean age: 48.5 ± 15.1 years, 14 men). Their results were compared to 23 age- and gender-matched healthy controls. Complete two-dimensional Doppler echocardiography and 3DSTE have been performed in all cases. Calculated LA maximum (66.4 ± 20.4 mL vs. 36.0 ± 6.1 mL, P < 0.0001) and minimum (39.2 ± 19.1 vs. 16.0 ± 4.6 mL, P < 0.0001) volumes and LA volume before atrial contraction (53.6 ± 19.9 vs. 24.0 ± 6.2 mL, P < 0.0001) were significantly increased in HCM patients. Atrial stroke volumes respecting cardiac cycles proved to be increased, while emptying fractions were decreased in subjects with HCM. Mean global radial (-12.2 ± 6.7% vs. -19.6 ± 11.7, P < 0.05), longitudinal (26.5 ± 16.5% vs. 29.8 ± 12.1%, P < 0.05) and 3D strain (-6.1 ± 4.4% vs. -12.5 ± 10.2%, P < 0.05) proved to be significantly reduced in HCM patients as compared with matched controls. Three-dimensional speckle tracking echocardiography allows detailed evaluation of LA (dys) function in HCM by volumetric and strain measurements. © 2014, Wiley Periodicals, Inc.

Predictive gaze during observation of irrational actions in adults with autism spectrum conditions.

PubMed

Marsh, L E; Pearson, A; Ropar, D; Hamilton, A F de C

2015-01-01

Understanding irrational actions may require the observer to make mental state inferences about why an action was performed. Individuals with autism spectrum conditions (ASC) have well documented difficulties with mentalizing; however, the degree to which rationality understanding is impaired in autism is not yet clear. The present study uses eye-tracking to measure online understanding of action rationality in individuals with ASC. Twenty adults with ASC and 20 typically developing controls, matched for age and IQ watched movies of rational and irrational actions while their eye movements were recorded. Measures of looking time, scan path and saccade latency were calculated. Results from looking time and scan path analyses demonstrate that participants with ASC have reduced visual attention to salient action features such as the action goal and the hand performing the action, regardless of action rationality. However, when participants with ASC do attend to these features, they are able to make anticipatory goal saccades as quickly as typically developing controls. Taken together these results indicate that individuals with autism have reduced attention to observed actions, but when attention is maintained, goal prediction is typical. We conclude that the basic mechanisms of action understanding are intact in individuals with ASC although there may be impairment in the top-down, social modulation of eye movements.

ASTER Sees Path of Destruction from Joplin, Mo. Tornado

NASA Image and Video Library

2011-05-31

On May 30, 2011, a week after an EF-5 tornado swept through the city of Joplin, Mo, NASA Terra spacecraft captured this image showing the track of the deadly tornado through the city shown horizontally in green-blue.

A novel tracking tool for the analysis of plant-root tip movements.

PubMed

Russino, A; Ascrizzi, A; Popova, L; Tonazzini, A; Mancuso, S; Mazzolai, B

2013-06-01

The growth process of roots consists of many activities, such as exploring the soil volume, mining minerals, avoiding obstacles and taking up water to fulfil the plant's primary functions, that are performed differently, depending on environmental conditions. Root movements are strictly related to a root decision strategy, which helps plants to survive under stressful conditions by optimizing energy consumption. In this work, we present a novel image-analysis tool to study the kinematics of the root tip (apex), named analyser for root tip tracks (ARTT). The software implementation combines a segmentation algorithm with additional software imaging filters in order to realize a 2D tip detection. The resulting paths, or tracks, arise from the sampled tip positions through the acquired images during the growth. ARTT allows work with no markers and deals autonomously with new emerging root tips, as well as handling a massive number of data relying on minimum user interaction. Consequently, ARTT can be used for a wide range of applications and for the study of kinematics in different plant species. In particular, the study of the root growth and behaviour could lead to the definition of novel principles for the penetration and/or control paradigms for soil exploration and monitoring tasks. The software capabilities were demonstrated by experimental trials performed with Zea mays and Oryza sativa.

Evaluation of two cockpit display concepts for civil tiltrotor instrument operations on steep approaches

NASA Technical Reports Server (NTRS)

Decker, William A.; Bray, Richard S.; Simmons, Rickey C.; Tucker, George E.

1993-01-01

A piloted simulation experiment was conducted using the NASA Ames Research Center Vertical Motion Simulator to evaluate two cockpit display formats designed for manual control on steep instrument approaches for a civil transport tiltrotor aircraft. The first display included a four-cue (pitch, roll, power lever position, and nacelle angle movement prompt) flight director. The second display format provided instantaneous flight path angle information together with other symbols for terminal area guidance. Pilots evaluated these display formats for an instrument approach task which required a level flight conversion from airplane-mode flight to helicopter-mode flight while decelerating to the nominal approach airspeed. Pilots tracked glide slopes of 6, 9, 15 and 25 degrees, terminating in a hover for a vertical landing on a 150 feet square vertipad. Approaches were conducted with low visibility and ceilings and with crosswinds and turbulence, with all aircraft systems functioning normally and were carried through to a landing. Desired approach and tracking performance was achieved with generally satisfactory handling qualities using either display format on glide slopes up through 15 degrees. Evaluations with both display formats for a 25 degree glide slope revealed serious problems with glide slope tracking at low airspeeds in crosswinds and the loss of the intended landing spot from the cockpit field of view.

Outdoor flocking of quadcopter drones with decentralized model predictive control.

PubMed

Yuan, Quan; Zhan, Jingyuan; Li, Xiang

2017-11-01

In this paper, we present a multi-drone system featured with a decentralized model predictive control (DMPC) flocking algorithm. The drones gather localized information from neighbors and update their velocities using the DMPC flocking algorithm. In the multi-drone system, data packages are transmitted through XBee ® wireless modules in broadcast mode, yielding such an anonymous and decentralized system where all the calculations and controls are completed on an onboard minicomputer of each drone. Each drone is a double-layered agent system with the coordination layer running multi-drone flocking algorithms and the flight control layer navigating the drone, and the final formation of the flock relies on both the communication range and the desired inter-drone distance. We give both numerical simulations and field tests with a flock of five drones, showing that the DMPC flocking algorithm performs well on the presented multi-drone system in both the convergence rate and the ability of tracking a desired path. Copyright © 2017 ISA. Published by Elsevier Ltd. All rights reserved.

Flow path oscillations in transient ground-water simulations of large peatland systems

USGS Publications Warehouse

Reeve, A.S.; Evensen, R.; Glaser, P.H.; Siegel, D.I.; Rosenberry, D.

2006-01-01

Transient numerical simulations of the Glacial Lake Agassiz Peatland near the Red Lakes in Northern Minnesota were constructed to evaluate observed reversals in vertical ground-water flow. Seasonal weather changes were introduced to a ground-water flow model by varying evapotranspiration and recharge over time. Vertical hydraulic reversals, driven by changes in recharge and evapotranspiration were produced in the simulated peat layer. These simulations indicate that the high specific storage associated with the peat is an important control on hydraulic reversals. Seasonally driven vertical flow is on the order of centimeters in the deep peat, suggesting that seasonal vertical advective fluxes are not significant and that ground-water flow into the deep peat likely occurs on decadal or longer time scales. Particles tracked within the ground-water flow model oscillate over time, suggesting that seasonal flow reversals will enhance vertical mixing in the peat column. The amplitude of flow path oscillations increased with increasing peat storativity, with amplitudes of about 5 cm occurring when peat specific storativity was set to about 0.05 m-1. ?? 2005 Elsevier B.V. All rights reserved.

Spatial Updating Strategy Affects the Reference Frame in Path Integration.

PubMed

He, Qiliang; McNamara, Timothy P

2018-06-01

This study investigated how spatial updating strategies affected the selection of reference frames in path integration. Participants walked an outbound path consisting of three successive waypoints in a featureless environment and then pointed to the first waypoint. We manipulated the alignment of participants' final heading at the end of the outbound path with their initial heading to examine the adopted reference frame. We assumed that the initial heading defined the principal reference direction in an allocentric reference frame. In Experiment 1, participants were instructed to use a configural updating strategy and to monitor the shape of the outbound path while they walked it. Pointing performance was best when the final heading was aligned with the initial heading, indicating the use of an allocentric reference frame. In Experiment 2, participants were instructed to use a continuous updating strategy and to keep track of the location of the first waypoint while walking the outbound path. Pointing performance was equivalent regardless of the alignment between the final and the initial headings, indicating the use of an egocentric reference frame. These results confirmed that people could employ different spatial updating strategies in path integration (Wiener, Berthoz, & Wolbers Experimental Brain Research 208(1) 61-71, 2011), and suggested that these strategies could affect the selection of the reference frame for path integration.

Semianalytical computation of path lines for finite-difference models

USGS Publications Warehouse

Pollock, D.W.

1988-01-01

A semianalytical particle tracking method was developed for use with velocities generated from block-centered finite-difference ground-water flow models. Based on the assumption that each directional velocity component varies linearly within a grid cell in its own coordinate directions, the method allows an analytical expression to be obtained describing the flow path within an individual grid cell. Given the intitial position of a particle anywhere in a cell, the coordinates of any other point along its path line within the cell, and the time of travel between them, can be computed directly. For steady-state systems, the exit point for a particle entering a cell at any arbitrary location can be computed in a single step. By following the particle as it moves from cell to cell, this method can be used to trace the path of a particle through any multidimensional flow field generated from a block-centered finite-difference flow model. -Author

Path (un)predictability of two interacting cracks in polycarbonate sheets using Digital Image Correlation.

PubMed

Koivisto, J; Dalbe, M-J; Alava, M J; Santucci, S

2016-08-31

Crack propagation is tracked here with Digital Image Correlation analysis in the test case of two cracks propagating in opposite directions in polycarbonate, a material with high ductility and a large Fracture Process Zone (FPZ). Depending on the initial distances between the two crack tips, one may observe different complex crack paths with in particular a regime where the two cracks repel each other prior to being attracted. We show by strain field analysis how this can be understood according to the principle of local symmetry: the propagation is to the direction where the local shear - mode KII in fracture mechanics language - is zero. Thus the interactions exhibited by the cracks arise from symmetry, from the initial geometry, and from the material properties which induce the FPZ. This complexity makes any long-range prediction of the path(s) impossible.

Passive infrared bullet detection and tracking

DOEpatents

Karr, Thomas J.

1997-01-01

An apparatus and method for passively detecting a projectile such as, for example, a bullet using a passive infrared detector. A passive infrared detector is focused onto a region in which a projectile is expected to be located. Successive images of infrared radiation in the region are recorded. Background infrared radiation present in the region is suppressed such that second successive images of infrared radiation generated by the projectile as the projectile passes through the region are produced. A projectile path calculator determines the path and other aspects of the projectile by using the second successive images of infrared radiation generated by the projectile. The present invention, in certain embodiments, also determines the origin of the path of the projectile and takes a photograph of the area surrounding the origin and/or fires at least one projectile at the area surrounding the origin of the path of the projectile.

Passive infrared bullet detection and tracking

DOEpatents

Karr, T.J.

1997-01-21

An apparatus and method for passively detecting a projectile such as, for example, a bullet using a passive infrared detector. A passive infrared detector is focused onto a region in which a projectile is expected to be located. Successive images of infrared radiation in the region are recorded. Background infrared radiation present in the region is suppressed such that second successive images of infrared radiation generated by the projectile as the projectile passes through the region are produced. A projectile path calculator determines the path and other aspects of the projectile by using the second successive images of infrared radiation generated by the projectile. The present invention, in certain embodiments, also determines the origin of the path of the projectile and takes a photograph of the area surrounding the origin and/or fires at least one projectile at the area surrounding the origin of the path of the projectile. 9 figs.

Why reread? Evidence from garden-path and local coherence structures.

PubMed

Christianson, Kiel; Luke, Steven G; Hussey, Erika K; Wochna, Kacey L

2017-07-01

Two eye-tracking experiments were conducted to compare the online reading and offline comprehension of main verb/reduced relative garden-path sentences and local coherence sentences. Rereading of early material in garden-path reduced relatives should be revisionary, aimed at reanalysing an earlier misparse; however, rereading of early material in a local coherence reduced relative need only be confirmatory, as the original parse of the earlier portion of these sentences is ultimately correct. Results of online and offline measures showed that local coherence structures elicited signals of reading disruption that arose earlier and lasted longer, and local coherence comprehension was also better than garden path comprehension. Few rereading measures in either sentence type were predicted by structural features of these sentences, nor was rereading related to comprehension accuracy, which was extremely low overall. Results are discussed with respect to selective reanalysis and good-enough processing.

Vision-based mobile robot navigation through deep convolutional neural networks and end-to-end learning

NASA Astrophysics Data System (ADS)

Zhang, Yachu; Zhao, Yuejin; Liu, Ming; Dong, Liquan; Kong, Lingqin; Liu, Lingling

2017-09-01

In contrast to humans, who use only visual information for navigation, many mobile robots use laser scanners and ultrasonic sensors along with vision cameras to navigate. This work proposes a vision-based robot control algorithm based on deep convolutional neural networks. We create a large 15-layer convolutional neural network learning system and achieve the advanced recognition performance. Our system is trained from end to end to map raw input images to direction in supervised mode. The images of data sets are collected in a wide variety of weather conditions and lighting conditions. Besides, the data sets are augmented by adding Gaussian noise and Salt-and-pepper noise to avoid overfitting. The algorithm is verified by two experiments, which are line tracking and obstacle avoidance. The line tracking experiment is proceeded in order to track the desired path which is composed of straight and curved lines. The goal of obstacle avoidance experiment is to avoid the obstacles indoor. Finally, we get 3.29% error rate on the training set and 5.1% error rate on the test set in the line tracking experiment, 1.8% error rate on the training set and less than 5% error rate on the test set in the obstacle avoidance experiment. During the actual test, the robot can follow the runway centerline outdoor and avoid the obstacle in the room accurately. The result confirms the effectiveness of the algorithm and our improvement in the network structure and train parameters

Hydrocarbon Contamination Decreases Mating Success in a Marine Planktonic Copepod

PubMed Central

Seuront, Laurent

2011-01-01

The mating behavior and the mating success of copepods rely on chemoreception to locate and track a sexual partner. However, the potential impact of the water-soluble fraction of hydrocarbons on these aspects of copepod reproduction has never been tested despite the widely acknowledged acute chemosensory abilities of copepods. I examined whether three concentrations of the water-soluble fraction of diesel oil (0.01%, 0.1% and 1%) impacts (i) the swimming behavior of both adult males and females of the widespread calanoid copepod Temora longcornis, and (ii) the ability of males to locate, track and mate with females. The three concentrations of the water-soluble fraction of diesel oil (WSF) significantly and non-significantly affect female and male swimming velocities, respectively. In contrast, both the complexity of male and female swimming paths significantly decreased with increasing WSF concentrations, hence suggesting a sex-specific sensitivity to WSF contaminated seawater. In addition, the three WSF concentrations impacted both T. longicornis mating behavior and mating success. Specifically, the ability of males to detect female pheromone trails, to accurately follow trails and to successfully track a female significantly decreased with increasing WSF concentrations. This led to a significant decrease in contact and capture rates from control to WSF contaminated seawater. These results indicate that hydrocarbon contamination of seawater decreases the ability of male copepods to detect and track a female, hence suggest an overall impact on population fitness and dynamics. PMID:22053187

JAVA PathFinder

NASA Technical Reports Server (NTRS)

Mehhtz, Peter

2005-01-01

JPF is an explicit state software model checker for Java bytecode. Today, JPF is a swiss army knife for all sort of runtime based verification purposes. This basically means JPF is a Java virtual machine that executes your program not just once (like a normal VM), but theoretically in all possible ways, checking for property violations like deadlocks or unhandled exceptions along all potential execution paths. If it finds an error, JPF reports the whole execution that leads to it. Unlike a normal debugger, JPF keeps track of every step how it got to the defect.

Earth observations taken during STS-136

NASA Image and Video Library

1995-07-04

STS071-745-006 (27 June-7 July 1995) --- This view shows a ship track, probably in the northern Pacific Ocean, where a ship has caused clouds to form more thickly directly above the path of this ship. This track is therefore visible even though the ship itself is not. Ship tracks are thought to be caused by particles thrown up into the air by the ship, from smokestack emissions and from water particles generated by the ship moving through the sea. Under favorable weather conditions, water condenses around these particles to form clouds, in this case thicker "popcorn" clouds than already exists in the area. Ongoing studies are attempting to understand this phenomenon better.

The electrobrachistochrone

NASA Astrophysics Data System (ADS)

Lipscombe, Trevor C.; Mungan, Carl E.

2018-05-01

The brachistochrone problem consists of finding the track of shortest travel time between given initial and final points for a particle sliding frictionlessly along it under the influence of a given external force field. Solvable variations of the standard example of a uniform gravitational field would be suitable for homework and computer projects by undergraduate physics students studying intermediate mechanics and electromagnetism. An electrobrachistochrone problem is here proposed, in which a charged particle moves along a frictionless track under the influence of its electrostatic force of attraction to an image charge in a grounded conducting plane below the track. The path of least time is found to be a foreshortened cycloid and its properties are investigated analytically and graphically.

Spatial and temporal allocation of ship exhaust emissions in Australian coastal waters using AIS data: Analysis and treatment of data gaps

NASA Astrophysics Data System (ADS)

Goldsworthy, Brett

2017-08-01

Ship exhaust emissions need to be allocated accurately in both space and time in order to examine many of the associated impacts, including on air quality and health. Data on ship activity from the Automatic Identification System (AIS) allow ship exhaust emissions to be calculated with fine spatial and temporal resolution. However, there are spatial gaps in the coverage afforded by the coastal network of ground stations that are used to collect the AIS data. This paper focuses on the problem of allocating emissions to the coastal gap regions. Allocating emissions to these regions involves generating interpolated ship tracks that both span the gaps and avoid coming too close to land. In most cases, a simple shortest path or straight line interpolation produces tracks that do not overlap or come too close to land. Where the simple method does not produce acceptable results, vessel tracks are steered around land on shortest available paths using a combination of visibility graphs and Dijkstra's algorithm. A geographical cluster analysis is first used to identify the boundary regions of the data gaps. The properties of the data gaps are summarised in terms of the length, duration and speed of the spanning tracks. The interpolation methods are used to improve the spatial distribution of emissions. It is also shown that emissions in the gap regions can contribute substantially to the total ship exhaust emissions in close proximity to highly populated areas.

Virtual decoupling flight control via real-time trajectory synthesis and tracking

NASA Astrophysics Data System (ADS)

Zhang, Xuefu

The production of the General Aviation industry has declined in the past 25 years. Ironically, however, the increasing demand for air travel as a fast, safe, and high-quality mode of transportation has been far from satisfied. Addressing this demand shortfall with personal air transportation necessitates advanced systems for navigation, guidance, control, flight management, and flight traffic control. Among them, an effective decoupling flight control system will not only improve flight quality, safety, and simplicity, and increase air space usage, but also reduce expenses on pilot initial and current training, and thus expand the current market and explore new markets. Because of the formidable difficulties encountered in the actual decoupling of non-linear, time-variant, and highly coupled flight control systems through traditional approaches, a new approach, which essentially converts the decoupling problem into a real-time trajectory synthesis and tracking problem, is employed. Then, the converted problem is solved and a virtual decoupling effect is achieved. In this approach, a trajectory in inertial space can be predefined and dynamically modified based on the flight mission and the pilot's commands. A feedforward-feedback control architecture is constructed to guide the airplane along the trajectory as precisely as possible. Through this approach, the pilot has much simpler, virtually decoupled control of the airplane in terms of speed, flight path angle and horizontal radius of curvature. To verify and evaluate this approach, extensive computer simulation is performed. A great deal of test cases are designed for the flight control under different flight conditions. The simulation results show that our decoupling strategy is satisfactory and promising, and therefore the research can serve as a consolidated foundation for future practical applications.

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

Ginn, Timothy R.; Weathers, Tess

Biogeochemical modeling using PHREEQC2 and a streamtube ensemble approach is utilized to understand a well-to-well subsurface treatment system at the Vadose Zone Research Park (VZRP) near Idaho Falls, Idaho. Treatment involves in situ microbially-mediated ureolysis to induce calcite precipitation for the immobilization of strontium-90. PHREEQC2 is utilized to model the kinetically-controlled ureolysis and consequent calcite precipitation. Reaction kinetics, equilibrium phases, and cation exchange are used within PHREEQC2 to track pH and levels of calcium, ammonium, urea, and calcite precipitation over time, within a series of one-dimensional advective-dispersive transport paths creating a streamtube ensemble representation of the well-to-well transport. An understandingmore » of the impact of physical heterogeneities within this radial flowfield is critical for remediation design; we address this via the streamtube approach: instead of depicting spatial extents of solutes in the subsurface we focus on their arrival distribution at the control well(s). Traditionally, each streamtube maintains uniform velocity; however in radial flow in homogeneous media, the velocity within any given streamtube is spatially-variable in a common way, being highest at the input and output wells and approaching a minimum at the midpoint between the wells. This idealized velocity variability is of significance in the case of ureolytically driven calcite precipitation. Streamtube velocity patterns for any particular configuration of injection and withdrawal wells are available as explicit calculations from potential theory, and also from particle tracking programs. To approximate the actual spatial distribution of velocity along streamtubes, we assume idealized radial non-uniform velocity associated with homogeneous media. This is implemented in PHREEQC2 via a non-uniform spatial discretization within each streamtube that honors both the streamtube’s travel time and the idealized “fast-slow-fast” pattern of non-uniform velocity along the streamline. Breakthrough curves produced by each simulation are weighted by the path-respective flux fractions (obtained by deconvolution of tracer tests conducted at the VZRP) to obtain the flux-average of flow contributions to the observation well.« less

Pursuit and prediction in the tracking of moving food by a teleost fish (Acanthaluteres spilomelanurus).

PubMed

Lanchester, B S; Mark, R F

1975-12-01

1. The path, eye and body movements of a teleost fish (the leatherjacket Acanthaluteres spilomelanurus) approaching and taking food were measured by cinematography. 2. Fixation of the food by movement of the eyes is an invariable feature of the approach. The eyes then remain aligned with the target while the body moves forward and round to bring the mouth to the food. 3. When pursuing pieces of food moving vertically at constant velocity through the water these fish normally trace out the pathway that can be calculated by assuming the fish aims constantly at the food. Predictive pathways that imply anticipation of the point of intersection with the food are not regularly seen. 4. Deviations from pursuit occur sporadically, usually in the direction of a predictive path, particularly when the fish approach falling food from below. 5. The geometry of the situation suggests that predictive paths may sometimes be generated if the alignment of eye and body during the pursuit of moving food can be delayed. In approaches from below this may be because forward movement of the fish would tend to stabilize the image of the falling food in the retina. 6. We suggest that a simple linked control system using both eye and body movements to fixate retinal images will on occasions generate predictive pathways without any need for the central nervous system to calculate them in advance.

Hypersonic vehicle control law development using H infinity and mu-synthesis

NASA Technical Reports Server (NTRS)

Gregory, Irene M.; Chowdhry, Rajiv S.; Mcminn, John D.; Shaughnessy, John D.

1992-01-01

Applicability and effectiveness of robust control techniques to a single-stage-to-orbit (SSTO) airbreathing hypersonic vehicle on an ascent accelerating path and their effectiveness are explored in this paper. An SSTO control system design problem, requiring high accuracy tracking of velocity and altitude commands while limiting angle of attack oscillations, minimizing control power usage and stabilizing the vehicle all in the presence of atmospheric turbulence and uncertainty in the system, was formulated to compare results of the control designs using H infinity and mu-synthesis procedures. The math model, an integrated flight/propulsion dynamic model of a conical accelerator class vehicle, was linearized as the vehicle accelerated through Mach 8. Controller analysis was conducted using the singular value technique and the mu-analysis approach. Analysis results were obtained in both the frequency and the time domains. The results clearly demonstrate the inherent advantages of the structured singular value framework for this class of problems. Since payload performance margins are so critical for the SSTO mission, it is crucial that adequate stability margins be provided without sacrificing any payload mass.

Characterization and simulation of ground-water flow in the Kansas River Valley at Fort Riley, Kansas, 1990-98

USGS Publications Warehouse

Myers, Nathan C.

2000-01-01

Hydrologic data and a ground-water flow model were used to characterize ground-water flow in the Kansas River alluvial aquifer at Fort Riley in northeast Kansas. The ground-water flow model was developed as a tool to project ground-water flow and potential contaminant-transport paths in the alluvial aquifer on the basis of past hydrologic conditions. The model also was used to estimate historical and hypothetical ground-water flow paths with respect to a private- and several public-supply wells. The ground-water flow model area extends from the Smoky Hill and Republican Rivers downstream to about 2.5 miles downstream from the city of Ogden. The Kansas River Valley has low relief and, except for the area within the Fort Riley Military Reservation, is used primarily for crop production. Sedimentary deposits in the Kansas River Valley, formed after the ancestral Kansas River eroded into bedrock, primarily are alluvial sediment deposited by the river during Quaternary time. The alluvial sediment consists of as much as about 75 feet of poorly sorted, coarse-to-fine sand, silt, and clay, 55 feet of which can be saturated with ground water. The alluvial aquifer is unconfined and is bounded on the sides and bottom by Permian-age shale and limestone bedrock. Hydrologic data indicate that ground water in the Kansas River Valley generally flows in a downstream direction, but flow direction can be quite variable near the Kansas River due to changes in river stage. Ground-water-level changes caused by infiltration of precipitation are difficult to detect because they are masked by larger changes caused by fluctuation in Kansas River stage. Ratios of strontium isotopes Sr87 and Sr86 in water collected from wells in the Camp Funston Area indicate that the ground water along the northern valley wall originates, in part, from upland areas north of the river valley. Water from Threemile Creek, which flows out of the uplands north of the river valley, had Sr87:Sr86 ratios similar to those in ground water from wells in the northern Camp Funston Area. In addition, comparison of observed water levels from wells CF90-06, CF97-101, and CF97-401 in the Camp Funston Area and ground-water levels simulated for these wells using floodwave-response analysis indicates that ground-water inflow from bedrock is a hydraulic stress that, in addition to the changing stage in the Kansas River, acts on the aquifer. This hydraulic stress seems to be located near the northern valley wall because the effect of this stress is greater for well CF97-101, which is the well closest to the valley wall. Ground-water flow was simulated using a modular, three-dimensional, finite-difference ground-water flow model (MODFLOW). Particle tracking, used to visualize ground-water flow paths in the alluvial aquifer, was accomplished using MODPATH. Forward-in-time particle tracking indicated that, in general, particles released near the Kansas River followed much more variable paths than particles released near the valley wall. Although particle tracking does not simulate solute transport, this increased path variability indicates that, near the river, ground-water contaminants could follow many possible paths towards the river, whereas more distant from the river, ground-water contaminants likely would follow a narrower corridor. Particle tracks in the Camp Funston Area indicate that, for the 1990-98 simulation period, contaminants from the ground-water study sites in the Camp Funston Area would be unlikely to move into the vicinity of Ogden's supply wells. Backward-in-time particle tracking indicated that the flow-path and recharge areas for model cells corresponding to Ogden's supply wells lie near the northern valley wall and extend into the northern Camp Funston Area. The flow-path and recharge areas for model cells corresponding to Morris County Rural Water District wells lie within Clarks Creek Valley and probably extend outside the model area. Three hypothetical simulations, i

A channel simulator design study

NASA Technical Reports Server (NTRS)

Devito, D. M.; Goutmann, M. M.; Harper, R. C.

1971-01-01

A propagation path simulator was designed for the channel between a Tracking and Data Relay Satellite in geostationary orbit and a user spacecraft orbiting the earth at an altitude between 200 and 4000 kilometers. The simulator is required to duplicate the time varying parameters of the propagation channel.

Sub-0.1 μm optical track width measurement

NASA Astrophysics Data System (ADS)

Smith, Richard J.; See, Chung W.; Somekh, Mike G.; Yacoot, Andrew

2005-08-01

In this paper, we will describe a technique that combines a common path scanning optical interferometer with artificial neural networks (ANN), to perform track width measurements that are significantly beyond the capability of conventional optical systems. Artificial neural networks have been used for many different applications. In the present case, ANNs are trained using profiles of known samples obtained from the scanning interferometer. They are then applied to tracks that have not previously been exposed to the networks. This paper will discuss the impacts of various ANN configurations, and the processing of the input signal on the training of the network. The profiles of the samples, which are used as the inputs to the ANNs, are obtained with a common path scanning optical interferometer. It provides extremely repeatable measurements, with very high signal to noise ratio, both are essential for the working of the ANNs. The characteristics of the system will be described. A number of samples with line widths ranging from 60nm-3μm have been measured to test the system. The system can measure line widths down to 60nm with a standard deviation of 3nm using optical wavelength of 633nm and a system numerical aperture of 0.3. These results will be presented in detail along with a discussion of the potential of this technique.

STRIPE: Remote Driving Using Limited Image Data

NASA Technical Reports Server (NTRS)

Kay, Jennifer S.

1997-01-01

Driving a vehicle, either directly or remotely, is an inherently visual task. When heavy fog limits visibility, we reduce our car's speed to a slow crawl, even along very familiar roads. In teleoperation systems, an operator's view is limited to images provided by one or more cameras mounted on the remote vehicle. Traditional methods of vehicle teleoperation require that a real time stream of images is transmitted from the vehicle camera to the operator control station, and the operator steers the vehicle accordingly. For this type of teleoperation, the transmission link between the vehicle and operator workstation must be very high bandwidth (because of the high volume of images required) and very low latency (because delayed images can cause operators to steer incorrectly). In many situations, such a high-bandwidth, low-latency communication link is unavailable or even technically impossible to provide. Supervised TeleRobotics using Incremental Polyhedral Earth geometry, or STRIPE, is a teleoperation system for a robot vehicle that allows a human operator to accurately control the remote vehicle across very low bandwidth communication links, and communication links with large delays. In STRIPE, a single image from a camera mounted on the vehicle is transmitted to the operator workstation. The operator uses a mouse to pick a series of 'waypoints' in the image that define a path that the vehicle should follow. These 2D waypoints are then transmitted back to the vehicle, where they are used to compute the appropriate steering commands while the next image is being transmitted. STRIPE requires no advance knowledge of the terrain to be traversed, and can be used by novice operators with only minimal training. STRIPE is a unique combination of computer and human control. The computer must determine the 3D world path designated by the 2D waypoints and then accurately control the vehicle over rugged terrain. The human issues involve accurate path selection, and the prevention of disorientation, a common problem across all types of teleoperation systems. STRIPE is the only semi-autonomous teleoperation system that can accurately follow paths designated in monocular images on varying terrain. The thesis describes the STRIPE algorithm for tracking points using the incremental geometry model, insight into the design and redesign of the interface, an analysis of the effects of potential errors, details of the user studies, and hints on how to improve both the algorithm and interface for future designs.

Sperm navigation along helical paths in 3D chemoattractant landscapes

PubMed Central

Jikeli, Jan F.; Alvarez, Luis; Friedrich, Benjamin M.; Wilson, Laurence G.; Pascal, René; Colin, Remy; Pichlo, Magdalena; Rennhack, Andreas; Brenker, Christoph; Kaupp, U. Benjamin

2015-01-01

Sperm require a sense of direction to locate the egg for fertilization. They follow gradients of chemical and physical cues provided by the egg or the oviduct. However, the principles underlying three-dimensional (3D) navigation in chemical landscapes are unknown. Here using holographic microscopy and optochemical techniques, we track sea urchin sperm navigating in 3D chemoattractant gradients. Sperm sense gradients on two timescales, which produces two different steering responses. A periodic component, resulting from the helical swimming, gradually aligns the helix towards the gradient. When incremental path corrections fail and sperm get off course, a sharp turning manoeuvre puts sperm back on track. Turning results from an ‘off' Ca2+ response signifying a chemoattractant stimulation decrease and, thereby, a drop in cyclic GMP concentration and membrane voltage. These findings highlight the computational sophistication by which sperm sample gradients for deterministic klinotaxis. We provide a conceptual and technical framework for studying microswimmers in 3D chemical landscapes. PMID:26278469

Shifting Surface Currents in the Northern North Atlantic Ocean

NASA Technical Reports Server (NTRS)

Hakkinen, Sirpa; Rhines, Peter B.

2007-01-01

Analysis of surface drifter tracks in the North Atlantic Ocean from the time period 1990 to 2006 provides the first evidence that the Gulf Stream waters can have direct pathways to the Nordic Seas. Prior to 2000, the drifters entering the channels leading to the Nordic Seas originated in the western and central subpolar region. Since 2001 several paths from the western subtropics have been present in the drifter tracks leading to the Rockall Trough through which the most saline North Atlantic Waters pass to the Nordic Seas. Eddy kinetic energy from altimetry shows also the increased energy along the same paths as the drifters, These near surface changes have taken effect while the altimetry shows a continual weakening of the subpolar gyre. These findings highlight the changes in the vertical structure of the northern North Atlantic Ocean, its dynamics and exchanges with the higher latitudes, and show how pathways of the thermohaline circulation can open up and maintain or increase its intensity even as the basin-wide circulation spins down.

Sperm navigation along helical paths in 3D chemoattractant landscapes.

PubMed

Jikeli, Jan F; Alvarez, Luis; Friedrich, Benjamin M; Wilson, Laurence G; Pascal, René; Colin, Remy; Pichlo, Magdalena; Rennhack, Andreas; Brenker, Christoph; Kaupp, U Benjamin

2015-08-17

Sperm require a sense of direction to locate the egg for fertilization. They follow gradients of chemical and physical cues provided by the egg or the oviduct. However, the principles underlying three-dimensional (3D) navigation in chemical landscapes are unknown. Here using holographic microscopy and optochemical techniques, we track sea urchin sperm navigating in 3D chemoattractant gradients. Sperm sense gradients on two timescales, which produces two different steering responses. A periodic component, resulting from the helical swimming, gradually aligns the helix towards the gradient. When incremental path corrections fail and sperm get off course, a sharp turning manoeuvre puts sperm back on track. Turning results from an 'off' Ca(2+) response signifying a chemoattractant stimulation decrease and, thereby, a drop in cyclic GMP concentration and membrane voltage. These findings highlight the computational sophistication by which sperm sample gradients for deterministic klinotaxis. We provide a conceptual and technical framework for studying microswimmers in 3D chemical landscapes.

Large‐scale heavy precipitation over central Europe and the role of atmospheric cyclone track types

PubMed Central

Lexer, Annemarie; Homann, Markus; Blöschl, Günter

2017-01-01

ABSTRACT Precipitation patterns over Europe are largely controlled by atmospheric cyclones embedded in the general circulation of the mid‐latitudes. This study evaluates the climatologic features of precipitation for selected regions in central Europe with respect to cyclone track types for 1959–2015, focusing on large‐scale heavy precipitation. The analysis suggests that each of the cyclone track types is connected to a specific pattern of the upper level atmospheric flow, usually characterized by a major trough located over Europe. A dominant upper level cut‐off low (COL) is found over Europe for strong continental (CON) and van Bebber's type (Vb) cyclones which move from the east and southeast into central Europe. Strong Vb cyclones revealed the longest residence times, mainly due to circular propagation paths. The central European cyclone precipitation climate can largely be explained by seasonal track‐type frequency and cyclone intensity; however, additional factors are needed to explain a secondary precipitation maximum in early autumn. The occurrence of large precipitation totals for track events is strongly related to the track type and the region, with the highest value of 45% of all Vb cyclones connected to heavy precipitation in summer over the Czech Republic and eastern Austria. In western Germany, Atlantic winter cyclones are most relevant for heavy precipitation. The analysis of the top 50 precipitation events revealed an outstanding heavy precipitation period from 2006 to 2011 in the Czech Republic, but no gradual long‐term change. The findings help better understand spatio‐temporal variability of heavy precipitation in the context of floods and may be used for evaluating climate models.

Linear phase conjugation for atmospheric aberration compensation

NASA Astrophysics Data System (ADS)

Grasso, Robert J.; Stappaerts, Eddy A.

1998-01-01

Atmospheric induced aberrations can seriously degrade laser performance, greatly affecting the beam that finally reaches the target. Lasers propagated over any distance in the atmosphere suffer from a significant decrease in fluence at the target due to these aberrations. This is especially so for propagation over long distances. It is due primarily to fluctuations in the atmosphere over the propagation path, and from platform motion relative to the intended aimpoint. Also, delivery of high fluence to the target typically requires low beam divergence, thus, atmospheric turbulence, platform motion, or both results in a lack of fine aimpoint control to keep the beam directed at the target. To improve both the beam quality and amount of laser energy delivered to the target, Northrop Grumman has developed the Active Tracking System (ATS); a novel linear phase conjugation aberration compensation technique. Utilizing a silicon spatial light modulator (SLM) as a dynamic wavefront reversing element, ATS undoes aberrations induced by the atmosphere, platform motion or both. ATS continually tracks the target as well as compensates for atmospheric and platform motion induced aberrations. This results in a high fidelity, near-diffraction limited beam delivered to the target.

Tracking fuzzy borders using geodesic curves with application to liver segmentation on planning CT

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

Yuan, Yading, E-mail: yading.yuan@mssm.edu; Chao, Ming; Sheu, Ren-Dih

Purpose: This work aims to develop a robust and efficient method to track the fuzzy borders between liver and the abutted organs where automatic liver segmentation usually suffers, and to investigate its applications in automatic liver segmentation on noncontrast-enhanced planning computed tomography (CT) images. Methods: In order to track the fuzzy liver–chestwall and liver–heart borders where oversegmentation is often found, a starting point and an ending point were first identified on the coronal view images; the fuzzy border was then determined as a geodesic curve constructed by minimizing the gradient-weighted path length between these two points near the fuzzy border.more » The minimization of path length was numerically solved by fast-marching method. The resultant fuzzy borders were incorporated into the authors’ automatic segmentation scheme, in which the liver was initially estimated by a patient-specific adaptive thresholding and then refined by a geodesic active contour model. By using planning CT images of 15 liver patients treated with stereotactic body radiation therapy, the liver contours extracted by the proposed computerized scheme were compared with those manually delineated by a radiation oncologist. Results: The proposed automatic liver segmentation method yielded an average Dice similarity coefficient of 0.930 ± 0.015, whereas it was 0.912 ± 0.020 if the fuzzy border tracking was not used. The application of fuzzy border tracking was found to significantly improve the segmentation performance. The mean liver volume obtained by the proposed method was 1727 cm{sup 3}, whereas it was 1719 cm{sup 3} for manual-outlined volumes. The computer-generated liver volumes achieved excellent agreement with manual-outlined volumes with correlation coefficient of 0.98. Conclusions: The proposed method was shown to provide accurate segmentation for liver in the planning CT images where contrast agent is not applied. The authors’ results also clearly demonstrated that the application of tracking the fuzzy borders could significantly reduce contour leakage during active contour evolution.« less

Hippocampus and Retrosplenial Cortex Combine Path Integration Signals for Successful Navigation

PubMed Central

Erdem, Uğur M.; Ross, Robert S.; Brown, Thackery I.; Hasselmo, Michael E.; Stern, Chantal E.

2013-01-01

The current study used fMRI in humans to examine goal-directed navigation in an open field environment. We designed a task that required participants to encode survey-level spatial information and subsequently navigate to a goal location in either first person, third person, or survey perspectives. Critically, no distinguishing landmarks or goal location markers were present in the environment, thereby requiring participants to rely on path integration mechanisms for successful navigation. We focused our analysis on mechanisms related to navigation and mechanisms tracking linear distance to the goal location. Successful navigation required translation of encoded survey-level map information for orientation and implementation of a planned route to the goal. Our results demonstrate that successful first and third person navigation trials recruited the anterior hippocampus more than trials when the goal location was not successfully reached. When examining only successful trials, the retrosplenial and posterior parietal cortices were recruited for goal-directed navigation in both first person and third person perspectives. Unique to first person perspective navigation, the hippocampus was recruited to path integrate self-motion cues with location computations toward the goal location. Last, our results demonstrate that the hippocampus supports goal-directed navigation by actively tracking proximity to the goal throughout navigation. When using path integration mechanisms in first person and third person perspective navigation, the posterior hippocampus was more strongly recruited as participants approach the goal. These findings provide critical insight into the neural mechanisms by which we are able to use map-level representations of our environment to reach our navigational goals. PMID:24305826

Event processing in the visual world: Projected motion paths during spoken sentence comprehension.

PubMed

Kamide, Yuki; Lindsay, Shane; Scheepers, Christoph; Kukona, Anuenue

2016-05-01

Motion events in language describe the movement of an entity to another location along a path. In 2 eye-tracking experiments, we found that comprehension of motion events involves the online construction of a spatial mental model that integrates language with the visual world. In Experiment 1, participants listened to sentences describing the movement of an agent to a goal while viewing visual scenes depicting the agent, goal, and empty space in between. Crucially, verbs suggested either upward (e.g., jump) or downward (e.g., crawl) paths. We found that in the rare event of fixating the empty space between the agent and goal, visual attention was biased upward or downward in line with the verb. In Experiment 2, visual scenes depicted a central obstruction, which imposed further constraints on the paths and increased the likelihood of fixating the empty space between the agent and goal. The results from this experiment corroborated and refined the previous findings. Specifically, eye-movement effects started immediately after hearing the verb and were in line with data from an additional mouse-tracking task that encouraged a more explicit spatial reenactment of the motion event. In revealing how event comprehension operates in the visual world, these findings suggest a mental simulation process whereby spatial details of motion events are mapped onto the world through visual attention. The strength and detectability of such effects in overt eye-movements is constrained by the visual world and the fact that perceivers rarely fixate regions of empty space. (PsycINFO Database Record (c) 2016 APA, all rights reserved).

Train repathing in emergencies based on fuzzy linear programming.

PubMed

Meng, Xuelei; Cui, Bingmou

2014-01-01

Train pathing is a typical problem which is to assign the train trips on the sets of rail segments, such as rail tracks and links. This paper focuses on the train pathing problem, determining the paths of the train trips in emergencies. We analyze the influencing factors of train pathing, such as transferring cost, running cost, and social adverse effect cost. With the overall consideration of the segment and station capability constraints, we build the fuzzy linear programming model to solve the train pathing problem. We design the fuzzy membership function to describe the fuzzy coefficients. Furthermore, the contraction-expansion factors are introduced to contract or expand the value ranges of the fuzzy coefficients, coping with the uncertainty of the value range of the fuzzy coefficients. We propose a method based on triangular fuzzy coefficient and transfer the train pathing (fuzzy linear programming model) to a determinate linear model to solve the fuzzy linear programming problem. An emergency is supposed based on the real data of the Beijing-Shanghai Railway. The model in this paper was solved and the computation results prove the availability of the model and efficiency of the algorithm.

Curvature and torsion in growing actin networks

NASA Astrophysics Data System (ADS)

Shaevitz, Joshua W.; Fletcher, Daniel A.

2008-06-01

Intracellular pathogens such as Listeria monocytogenes and Rickettsia rickettsii move within a host cell by polymerizing a comet-tail of actin fibers that ultimately pushes the cell forward. This dense network of cross-linked actin polymers typically exhibits a striking curvature that causes bacteria to move in gently looping paths. Theoretically, tail curvature has been linked to details of motility by considering force and torque balances from a finite number of polymerizing filaments. Here we track beads coated with a prokaryotic activator of actin polymerization in three dimensions to directly quantify the curvature and torsion of bead motility paths. We find that bead paths are more likely to have low rather than high curvature at any given time. Furthermore, path curvature changes very slowly in time, with an autocorrelation decay time of 200 s. Paths with a small radius of curvature, therefore, remain so for an extended period resulting in loops when confined to two dimensions. When allowed to explore a three-dimensional (3D) space, path loops are less evident. Finally, we quantify the torsion in the bead paths and show that beads do not exhibit a significant left- or right-handed bias to their motion in 3D. These results suggest that paths of actin-propelled objects may be attributed to slow changes in curvature, possibly associated with filament debranching, rather than a fixed torque.

Reconstruction for proton computed tomography by tracing proton trajectories: A Monte Carlo study

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

Li Tianfang; Liang Zhengrong; Singanallur, Jayalakshmi V.

Proton computed tomography (pCT) has been explored in the past decades because of its unique imaging characteristics, low radiation dose, and its possible use for treatment planning and on-line target localization in proton therapy. However, reconstruction of pCT images is challenging because the proton path within the object to be imaged is statistically affected by multiple Coulomb scattering. In this paper, we employ GEANT4-based Monte Carlo simulations of the two-dimensional pCT reconstruction of an elliptical phantom to investigate the possible use of the algebraic reconstruction technique (ART) with three different path-estimation methods for pCT reconstruction. The first method assumes amore » straight-line path (SLP) connecting the proton entry and exit positions, the second method adapts the most-likely path (MLP) theoretically determined for a uniform medium, and the third method employs a cubic spline path (CSP). The ART reconstructions showed progressive improvement of spatial resolution when going from the SLP [2 line pairs (lp) cm{sup -1}] to the curved CSP and MLP path estimates (5 lp cm{sup -1}). The MLP-based ART algorithm had the fastest convergence and smallest residual error of all three estimates. This work demonstrates the advantage of tracking curved proton paths in conjunction with the ART algorithm and curved path estimates.« less

Magnetic navigation of an untethered micro device using four stationary coils.

PubMed

Ha, Yong H; Choi, Kyung M; Han, Byung H; Cho, Min H; Lee, Soo Y

2009-01-01

We introduce a magnetic navigation of a small magnet using four stationary coils. We used a Maxwell gradient coil to get magnetic propulsion force and three Helmholtz coils to control the moving direction of the magnet in the magnetic navigation. Using a three-channel coil driver with output capacity of 320A, we performed magnetic navigation of a small NdFeB magnet with the size of 10 mm x 10 mm x 12 mm on a horizontal plane. When navigated with a slow speed of about 1 mm/s, the magnet kept track of any arbitrary navigational path. We expect the proposed magnetic navigation method can be easily incorporated into the system for human applications since it does not use any moving coils.

Age differences in attention toward decision-relevant information: education matters.

PubMed

Xing, Cai; Isaacowitz, Derek

2011-01-01

Previous studies suggested that older adults are more likely to engage in heuristic decision-making than young adults. This study used eye tracking technique to examine young adults' and highly educated older adults' attention toward two types of decision-relevant information: heuristic cue vs. factual cues. Surprisingly, highly educated older adults showed the reversed age pattern-they looked more toward factual cues than did young adults. This age difference disappeared after controlling for educational level. Additionally, education correlated with attentional pattern to decision-relevant information. We interpret this finding as an indication of the power of education: education may modify what are thought to be "typical" age differences in decision-making, and education may influence young and older people's decision-making via different paths.

Simulated groundwater flow paths, travel time, and advective transport of nitrogen in the Kirkwood-Cohansey aquifer system, Barnegat Bay–Little Egg Harbor Watershed, New Jersey

USGS Publications Warehouse

Voronin, Lois M.; Cauller, Stephen J.

2017-07-31

Elevated concentrations of nitrogen in groundwater that discharges to surface-water bodies can degrade surface-water quality and habitats in the New Jersey Coastal Plain. An analysis of groundwater flow in the Kirkwood-Cohansey aquifer system and deeper confined aquifers that underlie the Barnegat Bay–Little Egg Harbor (BB-LEH) watershed and estuary was conducted by using groundwater-flow simulation, in conjunction with a particle-tracking routine, to provide estimates of groundwater flow paths and travel times to streams and the BB-LEH estuary.Water-quality data from the Ambient Groundwater Quality Monitoring Network, a long-term monitoring network of wells distributed throughout New Jersey, were used to estimate the initial nitrogen concentration in recharge for five different land-use classes—agricultural cropland or pasture, agricultural orchard or vineyard, urban non-residential, urban residential, and undeveloped. Land use at the point of recharge within the watershed was determined using a geographic information system (GIS). Flow path starting locations were plotted on land-use maps for 1930, 1973, 1986, 1997, and 2002. Information on the land use at the time and location of recharge, time of travel to the discharge location, and the point of discharge were determined for each simulated flow path. Particle-tracking analysis provided the link from the point of recharge, along the particle flow path, to the point of discharge, and the particle travel time. The travel time of each simulated particle established the recharge year. Land use during the year of recharge was used to define the nitrogen concentration associated with each flow path. The recharge-weighted average nitrogen concentration for all flow paths that discharge to the Toms River upstream from streamflow-gaging station 01408500 or to the BB-LEH estuary was calculated.Groundwater input into the Barnegat Bay–Little Egg Harbor estuary from two main sources— indirect discharge from base flow to streams that eventually flow into the bay and groundwater discharge directly into the estuary and adjoining coastal wetlands— is summarized by quantity, travel time, and estimated nitrogen concentration. Simulated average groundwater discharge to streams in the watershed that flow into the BB-LEH estuary is approximately 400 million gallons per day. Particle-tracking results indicate that the travel time of 56 percent of this discharge is less than 7 years. Fourteen percent of the groundwater discharge to the streams in the BB-LEH watershed has a travel time of less than 7 years and originates in urban land. Analysis of flow-path simulations indicate that approximately 13 percent of the total groundwater flow through the study area discharges directly to the estuary and adjoining coastal wetlands (approximately 64 million gallons per day). The travel time of 19 percent of this discharge is less than 7 years. Ten percent of this discharge (1 percent of the total groundwater flow through the study area) originates in urban areas and has a travel time of less than 7 years. Groundwater that discharges to the streams that flow into the BB-LEH, in general, has shorter travel times, and a higher percentage of it originates in urban areas than does direct groundwater discharge to the Barnegat Bay–Little Egg Harbor estuary.The simulated average nitrogen concentration in groundwater that discharges to the Toms River, upstream from streamflow-gaging station 01408500 was computed and compared to summary concentrations determined from analysis of multiple surface-water samples. The nitrogen concentration in groundwater that discharges directly to the estuary and adjoining coastal wetlands is a current data gap. The particle tracking methodology used in this study provides an estimate of this concentration."

Comparison of path visualizations and cognitive measures relative to travel technique in a virtual environment.

PubMed

Zanbaka, Catherine A; Lok, Benjamin C; Babu, Sabarish V; Ulinski, Amy C; Hodges, Larry F

2005-01-01

We describe a between-subjects experiment that compared four different methods of travel and their effect on cognition and paths taken in an immersive virtual environment (IVE). Participants answered a set of questions based on Crook's condensation of Bloom's taxonomy that assessed their cognition of the IVE with respect to knowledge, understanding and application, and higher mental processes. Participants also drew a sketch map of the IVE and the objects within it. The users' sense of presence was measured using the Steed-Usoh-Slater Presence Questionnaire. The participants' position and head orientation were automatically logged during their exposure to the virtual environment. These logs were later used to create visualizations of the paths taken. Path analysis, such as exploring the overlaid path visualizations and dwell data information, revealed further differences among the travel techniques. Our results suggest that, for applications where problem solving and evaluation of information is important or where opportunity to train is minimal, then having a large tracked space so that the participant can walk around the virtual environment provides benefits over common virtual travel techniques.

Properties of an adaptive feedback equalization algorithm.

PubMed

Engebretson, A M; French-St George, M

1993-01-01

This paper describes a new approach to feedback equalization for hearing aids. The method involves the use of an adaptive algorithm that estimates and tracks the characteristic of the hearing aid feedback path. The algorithm is described and the results of simulation studies and bench testing are presented.

Optimal Path Determination for Flying Vehicle to Search an Object

NASA Astrophysics Data System (ADS)

Heru Tjahjana, R.; Heri Soelistyo U, R.; Ratnasari, L.; Irawanto, B.

2018-01-01

In this paper, a method to determine optimal path for flying vehicle to search an object is proposed. Background of the paper is controlling air vehicle to search an object. Optimal path determination is one of the most popular problem in optimization. This paper describe model of control design for a flying vehicle to search an object, and focus on the optimal path that used to search an object. In this paper, optimal control model is used to control flying vehicle to make the vehicle move in optimal path. If the vehicle move in optimal path, then the path to reach the searched object also optimal. The cost Functional is one of the most important things in optimal control design, in this paper the cost functional make the air vehicle can move as soon as possible to reach the object. The axis reference of flying vehicle uses N-E-D (North-East-Down) coordinate system. The result of this paper are the theorems which say that the cost functional make the control optimal and make the vehicle move in optimal path are proved analytically. The other result of this paper also shows the cost functional which used is convex. The convexity of the cost functional is use for guarantee the existence of optimal control. This paper also expose some simulations to show an optimal path for flying vehicle to search an object. The optimization method which used to find the optimal control and optimal path vehicle in this paper is Pontryagin Minimum Principle.

Applications of amorphous track models in radiation biology

NASA Technical Reports Server (NTRS)

Cucinotta, F. A.; Nikjoo, H.; Goodhead, D. T.; Wilson, J. W. (Principal Investigator)

1999-01-01

The average or amorphous track model uses the response of a system to gamma-rays and the radial distribution of dose about an ion's path to describe survival and other cellular endpoints from proton, heavy ion, and neutron irradiation. This model has been used for over 30 years to successfully fit many radiobiology data sets. We review several extensions of this approach that address objections to the original model, and consider applications of interest in radiobiology and space radiation risk assessment. In the light of present views of important cellular targets, the role of target size as manifested through the relative contributions from ion-kill (intra-track) and gamma-kill (inter-track) remains a critical question in understanding the success of the amorphous track model. Several variations of the amorphous model are discussed, including ones that consider the radial distribution of event-sizes rather than average electron dose, damage clusters rather than multiple targets, and a role for repair or damage processing.

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.

Three-dimensional particle tracking velocimetry using dynamic vision sensors

NASA Astrophysics Data System (ADS)

Borer, D.; Delbruck, T.; Rösgen, T.

2017-12-01

A fast-flow visualization method is presented based on tracking neutrally buoyant soap bubbles with a set of neuromorphic cameras. The "dynamic vision sensors" register only the changes in brightness with very low latency, capturing fast processes at a low data rate. The data consist of a stream of asynchronous events, each encoding the corresponding pixel position, the time instant of the event and the sign of the change in logarithmic intensity. The work uses three such synchronized cameras to perform 3D particle tracking in a medium sized wind tunnel. The data analysis relies on Kalman filters to associate the asynchronous events with individual tracers and to reconstruct the three-dimensional path and velocity based on calibrated sensor information.

Transitioning from clinical practice to academia: university expectations on the tenure track.

PubMed

Clark, Nancy J; Alcala-Van Houten, Luzmaria; Perea-Ryan, Mechelle

2010-01-01

Approximately 37% of tenured or tenure track nursing faculty in universities have a terminal degree at the master's level. Often these faculty enter academic culture devoid of the socialization that their doctoral level colleagues experienced in graduate school. Embedded in the doctoral culture is an awareness of the rigorous path to promotion and tenure, both of which are necessary for retention at the university. Achievement of rank and tenure rely on standards quite different from promotion in clinical or practice settings. The authors offer an informative and reflective framework for new faculty. It introduces novice educators to the values of the university and role transition, suggests methods for success, and contains personal reflections of the first year on the tenure track.

Understanding GRETINA using angular correlation method

NASA Astrophysics Data System (ADS)

Austin, Madeline

2015-10-01

The ability to trace the path of gamma rays through germanium is not only necessary for taking full advantage of GRETINA but also a promising possibility for homeland security defense against nuclear threats. This research tested the current tracking algorithm using the angular correlation method by comparing results from raw and tracked data to the theoretical model for Co-60. It was found that the current tracking method is unsuccessful in reproducing angular correlation. Variations to the tracking algorithm were made in the FM value, tracking angle, number of angles of separation observed, and window of coincidence in attempt to improve correlation results. From these variations it was observed that having a larger FM improved results, reducing the number of observational angles worsened correlation, and that overall larger tracking angles improved with larger windows of coincidence and vice-verse. Future research would be to refine the angle of measurement for raw data and to explore the possibility of an energy dependence by testing other elements. This work is supported by the United States Department of Energy, Office of Science, under Contract Number DE-AC02-06CH11357

A local crack-tracking strategy to model three-dimensional crack propagation with embedded methods

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

Annavarapu, Chandrasekhar; Settgast, Randolph R.; Vitali, Efrem

We develop a local, implicit crack tracking approach to propagate embedded failure surfaces in three-dimensions. We build on the global crack-tracking strategy of Oliver et al. (Int J. Numer. Anal. Meth. Geomech., 2004; 28:609–632) that tracks all potential failure surfaces in a problem at once by solving a Laplace equation with anisotropic conductivity. We discuss important modifications to this algorithm with a particular emphasis on the effect of the Dirichlet boundary conditions for the Laplace equation on the resultant crack path. Algorithmic and implementational details of the proposed method are provided. Finally, several three-dimensional benchmark problems are studied and resultsmore » are compared with available literature. Lastly, the results indicate that the proposed method addresses pathological cases, exhibits better behavior in the presence of closely interacting fractures, and provides a viable strategy to robustly evolve embedded failure surfaces in 3D.« less

A local crack-tracking strategy to model three-dimensional crack propagation with embedded methods

DOE PAGES

Annavarapu, Chandrasekhar; Settgast, Randolph R.; Vitali, Efrem; ...

2016-09-29

We develop a local, implicit crack tracking approach to propagate embedded failure surfaces in three-dimensions. We build on the global crack-tracking strategy of Oliver et al. (Int J. Numer. Anal. Meth. Geomech., 2004; 28:609–632) that tracks all potential failure surfaces in a problem at once by solving a Laplace equation with anisotropic conductivity. We discuss important modifications to this algorithm with a particular emphasis on the effect of the Dirichlet boundary conditions for the Laplace equation on the resultant crack path. Algorithmic and implementational details of the proposed method are provided. Finally, several three-dimensional benchmark problems are studied and resultsmore » are compared with available literature. Lastly, the results indicate that the proposed method addresses pathological cases, exhibits better behavior in the presence of closely interacting fractures, and provides a viable strategy to robustly evolve embedded failure surfaces in 3D.« less

A piloted-simulation evaluation of two electronic display formats for approach and landing

NASA Technical Reports Server (NTRS)

Steinmetz, G. G.; Morello, S. A.; Knox, C. E.; Person, L. H., Jr.

1976-01-01

The results of a piloted-simulation evaluation of the benefits of adding runway symbology and track information to a baseline electronic-attitude-director-indicator (EADI) format for the approach-to-landing task were presented. The evaluation was conducted for the baseline format and for the baseline format with the added symbology during 3 deg straight-in approaches with calm, cross-wind, and turbulence conditions. Flight-path performance data and pilot subjective comments were examined with regard to the pilot's tracking performance and mental workload for both display formats. The results show that the addition of a perspective runway image and relative track information to a basic situation-information EADI format improve the tracking performance both laterally and vertically during an approach-to-landing task and that the mental workload required to assess the approach situation was thus reduced as a result of integration of information.

Field emitter arrays and displays produced by ion tracking lithography

NASA Astrophysics Data System (ADS)

Felter, T. E.; Musket, R. G.; Bernhardt, A. F.

2005-12-01

When ions of sufficient electronic energy loss traverse a dielectric film or foil, they alter the chemical bonding along their nominally straight path within the material. A suitable etchant can quickly dissolve these so-called latent tracks leaving holes of small diameter (∼10 nm) but long length - several microns. Continuing the etching process gradually increases the diameter reproducibly and uniformly. The trackable medium can be applied as a uniform film onto large substrates. The small, monodisperse holes produced by this track etching can be used in conjunction with additional thin film processing to create functional structures attached to the substrate. For example, Lawrence Livermore National Laboratory and Candescent Technologies Corporation (CTC) co-developed a process to make arrays of gated field emitters (∼100 nm diameter electron guns) for CTC's Thin CRTTM displays, which have been fabricated to diagonal dimensions >13 in. Additional technological applications of ion tracking lithography will be briefly covered.

Tracks to therapy

NASA Technical Reports Server (NTRS)

Katz, R.; Cucinotta, F. A.

1999-01-01

Studies of the structure of particle tracks have led to models of track effects based on radial dose and radiobiological target theory that have been very successful in describing and predicting track effects in physical, chemical, and biological systems. For describing mammalian cellular inactivation two inactivation modes are required, called gamma-kill and ion-kill, the first due to synergistic effects of delta rays from adjacent ion paths thus resembling the effects from gamma rays, and the second to the effects of single ion transits through a cell nucleus. The ion-kill effect is more severe, where the fraction of cells experiencing ion kill is responsible for a decrease in the oxygen enhancement ratio, and an increase in relative biological effectiveness, but these are accompanied by loss of repair, hence to a reduction in the efficiency of fractionation in high LET therapy, as shown by our calculations for radiobiological effects in the "spread out Bragg Peak".

Amorphization due to electronic energy deposition in defective strontium titanate

DOE PAGES

Xue, Haizhou; Zarkadoula, Eva; Liu, Peng; ...

2017-01-27

The synergistic interaction of electronic energy loss by ions with ion-induced defects created by elastic nuclear scattering processes has been investigated for single crystal SrTiO 3. An initial pre-damaged defect state corresponding to a relative disorder level of 0.10–0.15 sensitizes the SrTiO 3 to amorphous track formation along the ion path of 12 and 20 MeV Ti, 21 MeV Cl and 21 MeV Ni ions, where Ti, Cl and Ni ions otherwise do not produce amorphous or damage tracks in pristine SrTiO 3. The electronic stopping power threshold for amorphous ion track formation is found to be 6.7 keV/nm formore » the pre-damaged defect state studied in this work. Lastly, these results suggest the possibility of selectively producing nanometer scale, amorphous ion tracks in thin films of epitaxial SrTiO 3.« less

Adaptive DFT-based Interferometer Fringe Tracking

NASA Technical Reports Server (NTRS)

Wilson, Edward; Pedretti, Ettore; Bregman, Jesse; Mah, Robert W.; Traub, Wesley A.

2004-01-01

An automatic interferometer fringe tracking system has been developed, implemented, and tested at the Infrared Optical Telescope Array (IOTA) observatory at Mt. Hopkins, Arizona. The system can minimize the optical path differences (OPDs) for all three baselines of the Michelson stellar interferometer at IOTA. Based on sliding window discrete Fourier transform (DFT) calculations that were optimized for computational efficiency and robustness to atmospheric disturbances, the algorithm has also been tested extensively on off-line data. Implemented in ANSI C on the 266 MHz PowerPC processor running the VxWorks real-time operating system, the algorithm runs in approximately 2.0 milliseconds per scan (including all three interferograms), using the science camera and piezo scanners to measure and correct the OPDs. The adaptive DFT-based tracking algorithm should be applicable to other systems where there is a need to detect or track a signal with an approximately constant-frequency carrier pulse.

Development and Flight Test of an Augmented Thrust-Only Flight Control System on an MD-11 Transport Airplane

NASA Technical Reports Server (NTRS)

Burcham, Frank W., Jr.; Maine, Trindel A.; Burken, John J.; Pappas, Drew

1996-01-01

An emergency flight control system using only engine thrust, called Propulsion-Controlled Aircraft (PCA), has been developed and flight tested on an MD-11 airplane. In this thrust-only control system, pilot flight path and track commands and aircraft feedback parameters are used to control the throttles. The PCA system was installed on the MD-11 airplane using software modifications to existing computers. Flight test results show that the PCA system can be used to fly to an airport and safely land a transport airplane with an inoperative flight control system. In up-and-away operation, the PCA system served as an acceptable autopilot capable of extended flight over a range of speeds and altitudes. The PCA approaches, go-arounds, and three landings without the use of any non-nal flight controls have been demonstrated, including instrument landing system-coupled hands-off landings. The PCA operation was used to recover from an upset condition. In addition, PCA was tested at altitude with all three hydraulic systems turned off. This paper reviews the principles of throttles-only flight control; describes the MD-11 airplane and systems; and discusses PCA system development, operation, flight testing, and pilot comments.

Multiple object tracking with non-unique data-to-object association via generalized hypothesis testing. [tracking several aircraft near each other or ships at sea

NASA Technical Reports Server (NTRS)

Porter, D. W.; Lefler, R. M.

1979-01-01

A generalized hypothesis testing approach is applied to the problem of tracking several objects where several different associations of data with objects are possible. Such problems occur, for instance, when attempting to distinctly track several aircraft maneuvering near each other or when tracking ships at sea. Conceptually, the problem is solved by first, associating data with objects in a statistically reasonable fashion and then, tracking with a bank of Kalman filters. The objects are assumed to have motion characterized by a fixed but unknown deterministic portion plus a random process portion modeled by a shaping filter. For example, the object might be assumed to have a mean straight line path about which it maneuvers in a random manner. Several hypothesized associations of data with objects are possible because of ambiguity as to which object the data comes from, false alarm/detection errors, and possible uncertainty in the number of objects being tracked. The statistical likelihood function is computed for each possible hypothesized association of data with objects. Then the generalized likelihood is computed by maximizing the likelihood over parameters that define the deterministic motion of the object.

Evidence on the Returns to Secondary Vocational Education

ERIC Educational Resources Information Center

Meer, Jonathan

2007-01-01

Vocational education in high schools has frequently been stigmatized as an anachronistic, dead-end path for students. We use data from the National Education Longitudinal Survey of 1988 to examine claims that students on a vocational track would benefit from a more academically rigorous education. Clearly, selection bias confounds attempts to…

Gradiency and Visual Context in Syntactic Garden-Paths

ERIC Educational Resources Information Center

Farmer, Thomas A.; Anderson, Sarah E.; Spivey, Michael J.

2007-01-01

Through recording the streaming x- and y-coordinates of computer-mouse movements, we report evidence that visual context provides an immediate constraint on the resolution of syntactic ambiguity in the visual-world paradigm. This finding converges with previous eye-tracking results that support a constraint-based account of sentence processing, in…

Fermilab | Tevatron | Experiments

Science.gov Websites

electrons, muons and charged hadrons followed curved paths through them. The slower or less massive the particles, the greater was the magnet's effect on them, and the more they curved. Scientists therefore used the amount which a particle's track curved to determine its momentum. This information helped them

Examining Teachers' Conception of and Needs on Action Research

ERIC Educational Resources Information Center

Morales, Marie Paz E.; Abulon, Edna Luz R.; Soriano, Portia R.; David, Adonis P.; Hermosisima, Ma. Victoria C.; Gerundio, Maribel G.

2016-01-01

Action research is viewed as a path towards better student achievement. This track may be attained through the reflective nature instilled in the teacher that sparks initiatives to promote better classroom practices in the aspects of pedagogy, assessment, and parental involvement. This descriptive survey explores Filipino teachers' conceptions of…

Bonus: Apollo's Amazing Mission and Spin-Offs from Space.

ERIC Educational Resources Information Center

Learning, 1994

1994-01-01

Two posters examine the 1969 Apollo moon mission. The first tracks the stages and path of the mission, suggesting that students create their own diagrams or models. The second presents a puzzle that helps student understand how many items developed for the mission are useful to today's everyday life. (SM)

A Competency Approach to Developing Leaders--Is This Approach Effective?

ERIC Educational Resources Information Center

Richards, Patricia

2008-01-01

This paper examines the underlying assumptions that competency-based frameworks are based upon in relation to leadership development. It examines the impetus for this framework becoming the prevailing theoretical base for developing leaders and tracks the historical path to this phenomenon. Research suggests that a competency-based framework may…

Dynamics and control of robotic aircraft with articulated wings

NASA Astrophysics Data System (ADS)

Paranjape, Aditya Avinash

There is a considerable interest in developing robotic aircraft, inspired by birds, for a variety of missions covering reconnaissance and surveillance. Flapping wing aircraft concepts have been put forth in light of the efficiency of flapping flight at small scales. These aircraft are naturally equipped with the ability to rotate their wings about the root, a form of wing articulation. This thesis covers some problems concerning the performance, stability and control of robotic aircraft with articulated wings in gliding flight. Specifically, we are interested in aircraft without a vertical tail, which would then use wing articulation for longitudinal as well as lateral-directional control. Although the dynamics and control of articulated wing aircraft share several common features with conventional fixed wing aircraft, the presence of wing articulation presents several unique benefits as well as limitations from the perspective of performance and control. One of the objective of this thesis is to understand these features using a combination of theoretical and numerical tools. The aircraft concept envisioned in this thesis uses the wing dihedral angles for longitudinal and lateral-directional control. Aircraft with flexible articulated wings are also investigated. We derive a complete nonlinear model of the flight dynamics incorporating dynamic CG location and the changing moment of inertia. We show that symmetric dihedral configuration, along with a conventional horizontal tail, can be used to control flight speed and flight path angle independently of each other. This characteristic is very useful for initiating an efficient perching maneuver. It is shown that wing dihedral angles alone can effectively regulate sideslip during rapid turns and generate a wide range of equilibrium turn rates while maintaining a constant flight speed and regulating sideslip. We compute the turning performance limitations that arise due to the use of wing dihedral for yaw control, and compare the steady state performance of rigid and flexible-winged aircraft. We present an intuitive but very useful notion, called the effective dihedral, which allows us to extend some of the stability and performance results derived for rigid aircraft to flexible aircraft. In the process, we identify the extent of flexibility needed to induce substantial performance benefits, and conversely the extent to which results derived for rigid aircraft apply to a flexible aircraft. We demonstrate, interestingly enough, that wing flexibility actually causes a deterioration in the maximum achievable turn rate when the sideslip is regulated. We also present experimental results which help demonstrate the capability of wing dihedral for control and for executing maneuvers such as slow, rapid descent and perching. Open loop as well as closed loop experiments are performed to demonstrate (a) the effectiveness of symmetric dihedral for flight path angle control, (b) yaw control using asymmetric dihedral, and (c) the elements of perching. Using a simple order of magnitude analysis, we derive conditions under which the wing is structurally statically stable, as well as conditions under which there exists time scale separation between the bending and twisting dynamics. We show that the time scale separation depends on the geometry of the wing cross section, the Poisson's ratio of the wing material, the flight speed and the aspect ratio of the wing. We design independent control laws for bending and twisting. A key contribution of this thesis is the formulation of a partial differential equation (PDE) boundary control problem for wing deformation. PDE-backstepping is used to derive tracking and exponentially stabilizing boundary control laws for wing twist which ensure that a weighted integral of the wing twist (net lift or the rolling moment) tracks the desired time-varying reference input. We show that a control law which only ensures tracking of a weighted integral improves the stability margin of the twisting dynamics sixteen fold. A tracking control law is derived for the wing tip displacement which uses motion planning and a novel two-stage perturbation observer. This work on PDE-based control of wing deformation allows for the use of highly flexible wings on MAVs. Put together, the thesis provides a comprehensive understanding of the flight dynamics of a robotic aircraft equipped with articulated wings, and provides a set of control laws for performing agile maneuvers and for honing the benefits of using highly flexible wings.

Control of Sediment Availability on the Path of Channel Recovery in Bedload-Dominated Rivers

NASA Astrophysics Data System (ADS)

Doyle, H.; Renshaw, C. E.; Magilligan, F. J.

2015-12-01

Following a disturbance, a channel can recover to an equilibrium form by adjusting its slope, width, depth, grain size, or some combination of these dimensions that define the recovery path. In this study we relate the channel recovery path to the quantity and caliber of sediment introduced due to dam construction/removal or erosion caused by flooding. We suggest that the recovery path of a channel depends on the availability of sediment of a size that is transported as bedload during bankfull flows (the "mobile fraction"). We define a ratio, S*, of the sediment volume added to the channel because of the disturbance to the average annual sediment flux. We compare S* values to the recovery path of New England gravel-bedded streams following two dam emplacements and removals and flooding related to Tropical Storm Irene. Pelham Dam in Pelham, MA (removed 2012) and Kendrick Dam in Pittsford, VT (removed 2014) were on similar streams: drainage areas ~25 km2, slopes 1-2%, and bankfull widths ~10 m. Sediment was excavated from both impoundments prior to removal, resulting in lower S* values. Irene-affected study sites are on ~10 gravel-bedded streams in VT, NH, and MA. Sediment input at these sites is due to bank failures and landslides, many of which continue to supply sediment to the channel four years after flooding. To track recovery we collected annual topographic and sediment size data and calculated Shields numbers to determine if channels had reached an equilibrium form. We define equilibrium for bedload rivers as Shields numbers at bankfull discharge equal to that required to initiate bedload transport. Following dam emplacements the channels failed to recover because mobile sediment was unavailable. Fining dominated the recovery at Irene-affected sites (~10% reduction in sediment size) and dam removal sites (up to 30-60% reduction) with little post-disturbance change in channel geometry, possibly due to the limited mobile fraction.

Objective Assessment Method for RNAV STAR Adherence

NASA Technical Reports Server (NTRS)

Stewart, Michael; Matthews, Bryan

2017-01-01

Flight crews and air traffic controllers have reported many safety concerns regarding area navigation standard terminal arrival routes (RNAV STARs). Specifically, optimized profile descents (OPDs). However, our information sources to quantify these issues are limited to subjective reporting and time consuming case-by-case investigations. This work is a preliminary study into the objective performance of instrument procedures and provides a framework to track procedural concepts and assess design specifications. We created a tool and analysis methods for gauging aircraft adherence as it relates to RNAV STARs. This information is vital for comprehensive understanding of how our air traffic behaves. In this study, we mined the performance of 24 major US airports over the preceding three years. Overlaying 4D radar track data onto RNAV STAR routes provided a comparison between aircraft flight paths and the waypoint positions and altitude restrictions. NASA Ames Supercomputing resources were utilized to perform the data mining and processing. We assessed STARs by lateral transition path (full-lateral), vertical restrictions (full-lateral/full-vertical), and skipped waypoints (skips). In addition, we graphed frequencies of aircraft altitudes relative to the altitude restrictions. Full-lateral adherence was always greater than Full-lateral/ full- vertical, as it is a subset, but the difference between the rates was not consistent. Full-lateral/full-vertical adherence medians of the 2016 procedures ranged from 0% in KDEN (Denver) to 21% in KMEM (Memphis). Waypoint skips ranged from 0% to nearly 100% for specific waypoints. Altitudes restrictions were sometimes missed by systematic amounts in 1,000 ft. increments from the restriction, creating multi-modal distributions. Other times, altitude misses looked to be more normally distributed around the restriction. This tool may aid in providing acceptability metrics as well as risk assessment information.

RNAV STAR Procedural Adherence

NASA Technical Reports Server (NTRS)

Matthews, Bryan L.; Stewart, Michael J.

2017-01-01

Flight crews and air traffic controllers have reported many safety concerns regarding area navigation standard terminal arrival routes (RNAV STARs). However, our information sources to quantify these issues are limited to subjective reporting and time consuming case-by-case investigations. This work is a preliminary study into the objective performance of instrument procedures and provides a framework to track procedural concepts and assess design functionality. We created a tool and analysis methods for gauging aircraft adherence as it relates to RNAV STARs. This information is vital for comprehensive understanding of how our air traffic behaves. In this exploratory archival study, we mined the performance of 24 major US airports over the preceding three years. Overlaying radar track data on top of RNAV STAR routes provided a comparison between aircraft flight paths and the waypoint positions and altitude restrictions. NASA Ames Supercomputing resources were utilized to perform the data mining and processing. We assessed STARs by lateral transition path (full-lateral), vertical restrictions (full-lateralfull-vertical), and skipped waypoints (skips). In addition, we graphed aircraft altitudes relative to the altitude restrictions and their occurrence rates. Full-lateral adherence was generally greater than Full-lateralfull-vertical, but the difference between the rates was not always consistent. Full-lateralfull-vertical adherence medians of the 2016 procedures ranged from 0 in KDEN (Denver) to 21 in KMEM (Memphis). Waypoint skips ranged from 0 to nearly 100 for specific waypoints. Altitudes restrictions were sometimes missed by systematic amounts in 1000 ft. increments from the restriction, creating multi-modal distributions. Other times, altitude misses looked to be more normally distributed around the restriction. This tool may aid in providing acceptability metrics as well as risk assessment information.

Effects of sport expertise on representational momentum during timing control.

PubMed

Nakamoto, Hiroki; Mori, Shiro; Ikudome, Sachi; Unenaka, Satoshi; Imanaka, Kuniyasu

2015-04-01

Sports involving fast visual perception require players to compensate for delays in neural processing of visual information. Memory for the final position of a moving object is distorted forward along its path of motion (i.e., "representational momentum," RM). This cognitive extrapolation of visual perception might compensate for the neural delay in interacting appropriately with a moving object. The present study examined whether experienced batters cognitively extrapolate the location of a fast-moving object and whether this extrapolation is associated with coincident timing control. Nine expert and nine novice baseball players performed a prediction motion task in which a target moved from one end of a straight 400-cm track at a constant velocity. In half of the trials, vision was suddenly occluded when the target reached the 200-cm point (occlusion condition). Participants had to press a button concurrently with the target arrival at the end of the track and verbally report their subjective assessment of the first target-occluded position. Experts showed larger RM magnitude (cognitive extrapolation) than did novices in the occlusion condition. RM magnitude and timing errors were strongly correlated in the fast velocity condition in both experts and novices, whereas in the slow velocity condition, a significant correlation appeared only in experts. This suggests that experts can cognitively extrapolate the location of a moving object according to their anticipation and, as a result, potentially circumvent neural processing delays. This process might be used to control response timing when interacting with moving objects.

The effect of standing desks on manual control in children and young adults.

PubMed

Britten, L; Shire, K; Coats, R O; Astill, S L

2016-07-01

The aim of the present study was to establish if and how the additional postural constraint of standing affects accuracy and precision of goal directed naturalistic actions. Forty participants, comprising 20 young adults aged 20-23 years and 20 children aged 9-10 years completed 3 manual dexterity tasks on a tablet laptop with a handheld stylus during two separate conditions (1) while standing and (2) while seated. The order of conditions was counterbalanced across both groups of participants. The tasks were (1) a tracking task, where the stylus tracked a dot in a figure of 8 at 3 speeds, (2) an aiming task where the stylus moved from dot to dot with individual movements creating the outline of a pentagram and (3) a tracing task, where participants had to move the stylus along a static pathway or maze. Root mean squared error (RMSE), movement time and path accuracy, respectively, were used to quantify the effect that postural condition had on manual control. Overall adults were quicker and more accurate than children when performing all 3 tasks, and where the task speed was manipulated accuracy was better at slower speeds for all participants. Surprisingly, children performed these tasks more quickly and more accurately when standing compared to when sitting. In conclusion, standing at a desk while performing goal directed tasks did not detrimentally affect children's manual control, and moreover offered a benefit. Copyright © 2016 Elsevier B.V. All rights reserved.

Analysis of Lagrangian stretching in turbulent channel flow using a database task-parallel particle tracking approach

NASA Astrophysics Data System (ADS)

Meneveau, Charles; Johnson, Perry; Hamilton, Stephen; Burns, Randal

2016-11-01

An intrinsic property of turbulent flows is the exponential deformation of fluid elements along Lagrangian paths. The production of enstrophy by vorticity stretching follows from a similar mechanism in the Lagrangian view, though the alignment statistics differ and viscosity prevents unbounded growth. In this paper, the stretching properties of fluid elements and vorticity along Lagrangian paths are studied in a channel flow at Reτ = 1000 and compared with prior, known results from isotropic turbulence. To track Lagrangian paths in a public database containing Direct Numerical Simulation (DNS) results, the task-parallel approach previously employed in the isotropic database is extended to the case of flow in a bounded domain. It is shown that above 100 viscous units from the wall, stretching statistics are equal to their isotropic values, in support of the local isotropy hypothesis. Normalized by dissipation rate, the stretching in the buffer layer and below is less efficient due to less favorable alignment statistics. The Cramér function characterizing cumulative Lagrangian stretching statistics shows that overall the channel flow has about half of the stretching per unit dissipation compared with isotropic turbulence. Supported by a National Science Foundation Graduate Research Fellowship Program under Grant No. DGE-1232825, and by National Science Foundation Grants CBET-1507469, ACI-1261715, OCI-1244820 and by JHU IDIES.

Training industrial robots with gesture recognition techniques

NASA Astrophysics Data System (ADS)

Piane, Jennifer; Raicu, Daniela; Furst, Jacob

2013-01-01

In this paper we propose to use gesture recognition approaches to track a human hand in 3D space and, without the use of special clothing or markers, be able to accurately generate code for training an industrial robot to perform the same motion. The proposed hand tracking component includes three methods: a color-thresholding model, naïve Bayes analysis and Support Vector Machine (SVM) to detect the human hand. Next, it performs stereo matching on the region where the hand was detected to find relative 3D coordinates. The list of coordinates returned is expectedly noisy due to the way the human hand can alter its apparent shape while moving, the inconsistencies in human motion and detection failures in the cluttered environment. Therefore, the system analyzes the list of coordinates to determine a path for the robot to move, by smoothing the data to reduce noise and looking for significant points used to determine the path the robot will ultimately take. The proposed system was applied to pairs of videos recording the motion of a human hand in a „real‟ environment to move the end-affector of a SCARA robot along the same path as the hand of the person in the video. The correctness of the robot motion was determined by observers indicating that motion of the robot appeared to match the motion of the video.

Geometric features of workspace and joint-space paths of 3D reaching movements.

PubMed

Klein Breteler, M D; Meulenbroek, R G; Gielen, S C

1998-11-01

The present study focuses on geometric features of workspace and joint-space paths of three-dimensional reaching movements. Twelve subjects repeatedly performed a three-segment, triangular-shaped movement pattern in an approximately 60 degrees tilted horizontal plane. Task variables elicited movement patterns that varied in position, rotational direction and speed. Trunk, arm, hand and finger-tip movements were recorded by means of a 3D motion-tracking system. Angular excursions of the shoulder and elbow joints were extracted from position data. Analyses of the shape of 3D workspace and joint-space paths focused on the extent to which the submovements were produced in a plane, and on the curvature of the central parts of the submovements. A systematic tendency to produce movements in a plane was found in addition to an increase of finger-tip path curvature with increasing speed. The findings are discussed in relation to the role of optimization principles in trajectory-formation models.

Computer Tomography 3-D Imaging of the Metal Deformation Flow Path in Friction Stir Welding

NASA Technical Reports Server (NTRS)

Schneider, Judy; Beshears, Ronald; Nunes, Arthur C., Jr.

2004-01-01

In friction stir welding, a rotating threaded pin tool is inserted into a weld seam and literally stirs the edges of the seam together. This solid-state technique has been successfully used in the joining of materials that are difficult to fusion weld such as aluminum alloys. To determine optimal processing parameters for producing a defect free weld, a better understanding of the resulting metal deformation flow path is required. Marker studies are the principal method of studying the metal deformation flow path around the FSW pin tool. In our study, we have used computed tomography (CT) scans to reveal the flow pattern of a lead wire embedded in a FSW weld seam. At the welding temperature of aluminum, the lead becomes molten and thus tracks the aluminum deformation flow paths in a unique 3-dimensional manner. CT scanning is a convenient and comprehensive way of collecting and displaying tracer data. It marks an advance over previous more tedious and ambiguous radiographic/metallographic data collection methods.

Electromagnetic tracking of flexible robotic catheters enables "assisted navigation" and brings automation to endovascular navigation in an in vitro study.

PubMed

Schwein, Adeline; Kramer, Benjamin; Chinnadurai, Ponraj; Virmani, Neha; Walker, Sean; O'Malley, Marcia; Lumsden, Alan B; Bismuth, Jean

2018-04-01

Combining three-dimensional (3D) catheter control with electromagnetic (EM) tracking-based navigation significantly reduced fluoroscopy time and improved robotic catheter movement quality in a previous in vitro pilot study. The aim of this study was to expound on previous results and to expand the value of EM tracking with a novel feature, assistednavigation, allowing automatic catheter orientation and semiautomatic vessel cannulation. Eighteen users navigated a robotic catheter in an aortic aneurysm phantom using an EM guidewire and a modified 9F robotic catheter with EM sensors at the tip of both leader and sheath. All users cannulated two targets, the left renal artery and posterior gate, using four visualization modes: (1) Standard fluoroscopy (control). (2) 2D biplane fluoroscopy showing real-time virtual catheter localization and orientation from EM tracking. (3) 2D biplane fluoroscopy with novel EM assisted navigation allowing the user to define the target vessel. The robotic catheter orients itself automatically toward the target; the user then only needs to advance the guidewire following this predefined optimized path to catheterize the vessel. Then, while advancing the catheter over the wire, the assisted navigation automatically modifies catheter bending and rotation in order to ensure smooth progression, avoiding loss of wire access. (4) Virtual 3D representation of the phantom showing real-time virtual catheter localization and orientation. Standard fluoroscopy was always available; cannulation and fluoroscopy times were noted for every mode and target cannulation. Quality of catheter movement was assessed by measuring the number of submovements of the catheter using the 3D coordinates of the EM sensors. A t-test was used to compare the standard fluoroscopy mode against EM tracking modes. EM tracking significantly reduced the mean fluoroscopy time (P < .001) and the number of submovements (P < .02) for both cannulation tasks. For the posterior gate, mean cannulation time was also significantly reduced when using EM tracking (P < .001). The use of novel EM assisted navigation feature (mode 3) showed further reduced cannulation time for the posterior gate (P = .002) and improved quality of catheter movement for the left renal artery cannulation (P = .021). These results confirmed the findings of a prior study that highlighted the value of combining 3D robotic catheter control and 3D navigation to improve safety and efficiency of endovascular procedures. The novel EM assisted navigation feature augments the robotic master/slave concept with automated catheter orientation toward the target and shows promising results in reducing procedure time and improving catheter motion quality. Copyright © 2017 Society for Vascular Surgery. Published by Elsevier Inc. All rights reserved.

A hydrogeologic approach to identify land uses that overlie ground-water flow paths, Broward County, Florida

USGS Publications Warehouse

Sonenshein, R.S.

1995-01-01

A hydrogeologic approach that integrates the use of hydrogeologic and spatial tools aids in the identification of land uses that overlie ground- water flow paths and permits a better understanding of ground-water flow systems. A mathematical model was used to simulate the ground-water flow system in Broward County, particle-tracking software was used to determine flow paths leading to the monitor wells in Broward County, and a Geographic Information System was used to identify which land uses overlie the flow paths. A procedure using a geographic information system to evaluate the output from a ground-water flow model has been documented. The ground-water flow model was used to represent steady-state conditions during selected wet- and dry-season months, and an advective flow particle- tracking program was used to simulate the direction of ground-water flow in the aquifer system. Digital spatial data layers were created from the particle pathlines that lead to the vicinity of the open interval of selected wells in the Broward County ground-water quality monitoring network. Buffer zone data layers were created, surrounding the particle pathlines to represent the area of contribution to the water sampled from the monitor wells. Spatial data layers, combined with a land-use data layer, were used to identify the land uses that overlie the ground-water flow paths leading to the monitor wells. The simulation analysis was performed on five Broward County wells with different hydraulic parameters to determine the source of ground-water stress, determine selected particle pathlines, and identify land use in buffer zones in the vicinity of the wells. The flow paths that lead to the grid cells containing wells G-2355, G-2373, and G-2373A did not vary between the wet- and dry-season conditions. Changes in the area of contribution for wells G-2345X and G-2369 were attributed to variations in rainfall patterns, well-field pumpage, and surface-water management practices. Additionally, using a different open interval at a site, such as for wells G-2373 and G-2373A, can result in a very different area that overlies the flow path leading to the monitor well.

Uncertainty in the modelling of spatial and temporal patterns of shallow groundwater flow paths: The role of geological and hydrological site information

NASA Astrophysics Data System (ADS)

Woodward, Simon J. R.; Wöhling, Thomas; Stenger, Roland

2016-03-01

Understanding the hydrological and hydrogeochemical responses of hillslopes and other small scale groundwater systems requires mapping the velocity and direction of groundwater flow relative to the controlling subsurface material features. Since point observations of subsurface materials and groundwater head are often the basis for modelling these complex, dynamic, three-dimensional systems, considerable uncertainties are inevitable, but are rarely assessed. This study explored whether piezometric head data measured at high spatial and temporal resolution over six years at a hillslope research site provided sufficient information to determine the flow paths that transfer nitrate leached from the soil zone through the shallow saturated zone into a nearby wetland and stream. Transient groundwater flow paths were modelled using MODFLOW and MODPATH, with spatial patterns of hydraulic conductivity in the three material layers at the site being estimated by regularised pilot point calibration using PEST, constrained by slug test estimates of saturated hydraulic conductivity at several locations. Subsequent Null Space Monte Carlo uncertainty analysis showed that this data was not sufficient to definitively determine the spatial pattern of hydraulic conductivity at the site, although modelled water table dynamics matched the measured heads with acceptable accuracy in space and time. Particle tracking analysis predicted that the saturated flow direction was similar throughout the year as the water table rose and fell, but was not aligned with either the ground surface or subsurface material contours; indeed the subsurface material layers, having relatively similar hydraulic properties, appeared to have little effect on saturated water flow at the site. Flow path uncertainty analysis showed that, while accurate flow path direction or velocity could not be determined on the basis of the available head and slug test data alone, the origin of well water samples relative to the material layers and site contour could still be broadly deduced. This study highlights both the challenge of collecting suitably informative field data with which to characterise subsurface hydrology, and the power of modern calibration and uncertainty modelling techniques to assess flow path uncertainty in hillslopes and other small scale systems.

Realtime speckle sensing and suppression with project 1640 at Palomar

NASA Astrophysics Data System (ADS)

Vasisht, Gautam; Cady, Eric; Zhai, Chengxing; Lockhart, Thomas; Oppenheimer, Ben

2014-08-01

Palomar's Project 1640 (P1640) is the first stellar coronagraph to regularly use active coronagraphic wavefront control (CWFC). For this it has a hierarchy of offset wavefront sensors (WFS), the most important of which is the higher-order WFS (called CAL), which tracks quasi-static modes between 2-35 cycles-per-aperture. The wavefront is measured in the coronagraph at 0.01 Hz rates, providing slope targets to the upstream Palm 3000 adaptive optics (AO) system. The CWFC handles all non-common path distortions up to the coronagraphic focal plane mask, but does not sense second order modes between the WFSs and the science integral field unit (IFU); these modes determine the system's current limit. We have two CWFC operating modes: (1) P-mode, where we only control phases, generating double-sided darkholes by correcting to the largest controllable spatial frequencies, and (2) E-mode, where we can control amplitudes and phases, generating single-sided dark-holes in specified regions-of-interest. We describe the performance and limitations of both these modes, and discuss the improvements we are considering going forward.

Fast disk array for image storage

NASA Astrophysics Data System (ADS)

Feng, Dan; Zhu, Zhichun; Jin, Hai; Zhang, Jiangling

1997-01-01

A fast disk array is designed for the large continuous image storage. It includes a high speed data architecture and the technology of data striping and organization on the disk array. The high speed data path which is constructed by two dual port RAM and some control circuit is configured to transfer data between a host system and a plurality of disk drives. The bandwidth can be more than 100 MB/s if the data path based on PCI (peripheral component interconnect). The organization of data stored on the disk array is similar to RAID 4. Data are striped on a plurality of disk, and each striping unit is equal to a track. I/O instructions are performed in parallel on the disk drives. An independent disk is used to store the parity information in the fast disk array architecture. By placing the parity generation circuit directly on the SCSI (or SCSI 2) bus, the parity information can be generated on the fly. It will affect little on the data writing in parallel on the other disks. The fast disk array architecture designed in the paper can meet the demands of the image storage.

Motion-compensated hand-held common-path Fourier-domain optical coherence tomography probe for image-guided intervention

NASA Astrophysics Data System (ADS)

Huang, Yong; Song, Cheol; Liu, Xuan; Kang, Jin U.

2013-03-01

A motion-compensated hand-held common-path Fourier-domain optical coherence tomography imaging probe has been developed for image guided intervention during microsurgery. A hand-held prototype instrument was designed and fabricated by integrating an imaging fiber probe inside a stainless steel needle which is attached to the ceramic shaft of a piezoelectric motor housed in an aluminum handle. The fiber probe obtains A-scan images. The distance information was extracted from the A-scans to track the sample surface distance and a fixed distance was maintained by a feedback motor control which effectively compensated hand tremor and target movements in the axial direction. Graphical user interface, real-time data processing, and visualization based on a CPU-GPU hybrid programming architecture were developed and used in the implantation of this system. To validate the system, free-hand optical coherence tomography images using various samples were obtained. The system can be easily integrated into microsurgical tools and robotics for a wide range of clinical applications. Such tools could offer physicians the freedom to easily image sites of interest with reduced risk and higher image quality.

Shape Sensing Techniques for Continuum Robots in Minimally Invasive Surgery: A Survey.

PubMed

Shi, Chaoyang; Luo, Xiongbiao; Qi, Peng; Li, Tianliang; Song, Shuang; Najdovski, Zoran; Fukuda, Toshio; Ren, Hongliang

2017-08-01

Continuum robots provide inherent structural compliance with high dexterity to access the surgical target sites along tortuous anatomical paths under constrained environments and enable to perform complex and delicate operations through small incisions in minimally invasive surgery. These advantages enable their broad applications with minimal trauma and make challenging clinical procedures possible with miniaturized instrumentation and high curvilinear access capabilities. However, their inherent deformable designs make it difficult to realize 3-D intraoperative real-time shape sensing to accurately model their shape. Solutions to this limitation can lead themselves to further develop closely associated techniques of closed-loop control, path planning, human-robot interaction, and surgical manipulation safety concerns in minimally invasive surgery. Although extensive model-based research that relies on kinematics and mechanics has been performed, accurate shape sensing of continuum robots remains challenging, particularly in cases of unknown and dynamic payloads. This survey investigates the recent advances in alternative emerging techniques for 3-D shape sensing in this field and focuses on the following categories: fiber-optic-sensor-based, electromagnetic-tracking-based, and intraoperative imaging modality-based shape-reconstruction methods. The limitations of existing technologies and prospects of new technologies are also discussed.

Dynamic Speed Adaptation for Path Tracking Based on Curvature Information and Speed Limits.

PubMed

Gámez Serna, Citlalli; Ruichek, Yassine

2017-06-14

A critical concern of autonomous vehicles is safety. Different approaches have tried to enhance driving safety to reduce the number of fatal crashes and severe injuries. As an example, Intelligent Speed Adaptation (ISA) systems warn the driver when the vehicle exceeds the recommended speed limit. However, these systems only take into account fixed speed limits without considering factors like road geometry. In this paper, we consider road curvature with speed limits to automatically adjust vehicle's speed with the ideal one through our proposed Dynamic Speed Adaptation (DSA) method. Furthermore, 'curve analysis extraction' and 'speed limits database creation' are also part of our contribution. An algorithm that analyzes GPS information off-line identifies high curvature segments and estimates the speed for each curve. The speed limit database contains information about the different speed limit zones for each traveled path. Our DSA senses speed limits and curves of the road using GPS information and ensures smooth speed transitions between current and ideal speeds. Through experimental simulations with different control algorithms on real and simulated datasets, we prove that our method is able to significantly reduce lateral errors on sharp curves, to respect speed limits and consequently increase safety and comfort for the passenger.

Multi-access laser communications terminal

NASA Technical Reports Server (NTRS)

1992-01-01

The Optical Multi-Access (OMA) Terminal is capable of establishing up to six simultaneous high-data-rate communication links between low-Earth-orbit satellites and a host satellite at synchronous orbit with only one 16-inch-diameter antenna on the synchronous satellite. The advantage over equivalent RF systems in space weight, power, and swept volume is great when applied to NASA satellite communications networks. A photograph of the 3-channel prototype constructed under the present contract to demonstrate the feasibility of the concept is presented. The telescope has a 10-inch clear aperture and a 22 deg full field of view. It consists of 4 refractive elements to achieve a telecentric focus, i.e., the focused beam is normal to the focal plane at all field angles. This feature permits image pick-up optics in the focal plane to track satellite images without tilting their optic axes to accommodate field angle. The geometry of the imager-pick-up concept and the coordinate system of the swinging arm and disk mechanism for image pick-up are shown. Optics in the arm relay the telescope focus to a communications and tracking receiver and introduce the transmitted beacon beam on a path collinear with the receive path. The electronic circuits for the communications and tracking receivers are contained on the arm and disk assemblies and relay signals to an associated PC-based operator's console for control of the arm and disk motor drive through a flexible cable which permits +/- 240 deg travel for each arm and disk assembly. Power supplies and laser transmitters are mounted in the cradle for the telescope. A single-mode fiber in the cable is used to carry the laser transmitter signal to the arm optics. The promise of the optical multi-access terminal towards which the prototype effort worked is shown. The emphasis in the prototype development was the demonstration of the unique aspect of the concept, and where possible, cost avoidance compromises were implemented in areas already proven on other programs. The design details are described in section 2, the prototype test results in section 3, additional development required in section 4, and conclusions in section 5.

Flight-test evaluation of two electronic display formats for approach to landing under instrument conditions

NASA Technical Reports Server (NTRS)

Morello, S. A.; Knox, C. E.; Steinmetz, G. G.

1977-01-01

The results of a flight evaluation of two electronic display formats for the approach to landing under instrument conditions are presented. The evaluation was conducted for a base-line electronic display format and for the same format with runway symbology and track information added. The evaluation was conducted during 3 deg, manual straight-in approaches with and without initial localizer offsets. Flight path tracking performance data and pilot subjective comments were examined with regard to the pilot's ability to capture and maintain localizer and glide slope by using both display formats.

Limitations to maximum running speed on flat curves.

PubMed

Chang, Young-Hui; Kram, Rodger

2007-03-01

Why is maximal running speed reduced on curved paths? The leading explanation proposes that an increase in lateral ground reaction force necessitates a decrease in peak vertical ground reaction force, assuming that maximum leg extension force is the limiting factor. Yet, no studies have directly measured these forces or tested this critical assumption. We measured maximum sprint velocities and ground reaction forces for five male humans sprinting along a straight track and compared them to sprints along circular tracks of 1, 2, 3, 4 and 6 m radii. Circular track sprint trials were performed either with or without a tether that applied centripetal force to the center of mass. Sprinters generated significantly smaller peak resultant ground reaction forces during normal curve sprinting compared to straight sprinting. This provides direct evidence against the idea that maximum leg extension force is always achieved and is the limiting factor. Use of the tether increased sprint speed, but not to expected values. During curve sprinting, the inside leg consistently generated smaller peak forces compared to the outside leg. Several competing biomechanical constraints placed on the stance leg during curve sprinting likely make the inside leg particularly ineffective at generating the ground reaction forces necessary to attain maximum velocities comparable to straight path sprinting. The ability of quadrupeds to redistribute function across multiple stance legs and decouple these multiple constraints may provide a distinct advantage for turning performance.

Advanced symbology for general aviation approach to landing displays

NASA Technical Reports Server (NTRS)

Bryant, W. H.

1983-01-01

A set of flight tests designed to evaluate the relative utility of candidate displays with advanced symbology for general aviation terminal area instrument flight rules operations are discussed. The symbology was previously evaluated as part of the NASA Langley Research Center's Terminal Configured Vehicle Program for use in commercial airlines. The advanced symbology included vehicle track angle, flight path angle and a perspective representation of the runway. These symbols were selectively drawn on a cathode ray tube (CRT) display along with the roll attitude, pitch attitude, localizer deviation and glideslope deviation. In addition to the CRT display, the instrument panel contained standard turn and bank, altimeter, rate of climb, airspeed, heading, and engine instruments. The symbology was evaluated using tracking performance and pilot subjective ratings for an instrument landing system capture and tracking task.

A vision-based approach for tramway rail extraction

NASA Astrophysics Data System (ADS)

Zwemer, Matthijs H.; van de Wouw, Dennis W. J. M.; Jaspers, Egbert; Zinger, Sveta; de With, Peter H. N.

2015-03-01

The growing traffic density in cities fuels the desire for collision assessment systems on public transportation. For this application, video analysis is broadly accepted as a cornerstone. For trams, the localization of tramway tracks is an essential ingredient of such a system, in order to estimate a safety margin for crossing traffic participants. Tramway-track detection is a challenging task due to the urban environment with clutter, sharp curves and occlusions of the track. In this paper, we present a novel and generic system to detect the tramway track in advance of the tram position. The system incorporates an inverse perspective mapping and a-priori geometry knowledge of the rails to find possible track segments. The contribution of this paper involves the creation of a new track reconstruction algorithm which is based on graph theory. To this end, we define track segments as vertices in a graph, in which edges represent feasible connections. This graph is then converted to a max-cost arborescence graph, and the best path is selected according to its location and additional temporal information based on a maximum a-posteriori estimate. The proposed system clearly outperforms a railway-track detector. Furthermore, the system performance is validated on 3,600 manually annotated frames. The obtained results are promising, where straight tracks are found in more than 90% of the images and complete curves are still detected in 35% of the cases.

Neuromuscular control of the point to point and oscillatory movements of a sagittal arm with the actor-critic reinforcement learning method.

PubMed

Golkhou, Vahid; Parnianpour, Mohamad; Lucas, Caro

2005-04-01

In this study, we have used a single link system with a pair of muscles that are excited with alpha and gamma signals to achieve both point to point and oscillatory movements with variable amplitude and frequency.The system is highly nonlinear in all its physical and physiological attributes. The major physiological characteristics of this system are simultaneous activation of a pair of nonlinear muscle-like-actuators for control purposes, existence of nonlinear spindle-like sensors and Golgi tendon organ-like sensor, actions of gravity and external loading. Transmission delays are included in the afferent and efferent neural paths to account for a more accurate representation of the reflex loops.A reinforcement learning method with an actor-critic (AC) architecture instead of middle and low level of central nervous system (CNS), is used to track a desired trajectory. The actor in this structure is a two layer feedforward neural network and the critic is a model of the cerebellum. The critic is trained by state-action-reward-state-action (SARSA) method. The critic will train the actor by supervisory learning based on the prior experiences. Simulation studies of oscillatory movements based on the proposed algorithm demonstrate excellent tracking capability and after 280 epochs the RMS error for position and velocity profiles were 0.02, 0.04 rad and rad/s, respectively.

Inverted Apatite (U-Th)/He and Fission-track Dates from the Rae craton, Baffin Island, Canada and Implications for Apatite Radiation Damage-He Diffusivity Models

NASA Astrophysics Data System (ADS)

Ault, A. K.; Reiners, P. W.; Thomson, S. N.; Miller, G. H.

2015-12-01

Coupled apatite (U-Th)/He and fission-track (AFT) thermochronology data from the same sample can be used to decipher complex low temperature thermal histories and evaluate compatibility between these two methods. Existing apatite He damage-diffusivity models parameterize radiation damage annealing as fission-track annealing and yield inverted apatite He and AFT dates for samples with prolonged residence in the He partial retention zone. Apatite chemistry also impacts radiation damage and fission-track annealing, temperature sensitivity, and dates in both systems. We present inverted apatite He and AFT dates from the Rae craton, Baffin Island, Canada, that cannot be explained by apatite chemistry or existing damage-diffusivity and fission track models. Apatite He dates from 34 individual analyses from 6 samples range from 237 ± 44 Ma to 511 ± 25 Ma and collectively define a positive date-eU relationship. AFT dates from these same samples are 238 ± 15 Ma to 350 ± 20 Ma. These dates and associated track length data are inversely correlated and define the left segment of a boomerang diagram. Three of the six samples with 20-90 ppm eU apatite grains yield apatite He and AFT dates inverted by 300 million years. These samples have average apatite Cl chemistry of ≤0.02 wt.%, with no correlation between Cl content and Dpar. Thermal history simulations using geologic constraints, an apatite He radiation damage accumulation and annealing model, apatite He dates with the range of eU values, and AFT date and track length data, do not yield any viable time-temperature paths. Apatite He and AFT data modeled separately predict thermal histories with Paleozoic-Mesozoic peaks reheating temperatures differing by ≥15 °C. By modifying the parameter controlling damage annealing (Rmr0) from the canonical 0.83 to 0.5-0.6, forward models reproduce the apatite He date-eU correlation and AFT dates with a common thermal history. Results imply apatite radiation damage anneals at higher temperatures than fission-track damage and the impact on coupled apatite He and AFT dates is magnified for protracted cooling histories. Further experimental and field-based tests are important for refining radiation damage and fission-track annealing parameters for accurate interpretation of apatite He- and AFT-derived thermal histories.

Handling qualities effects of display latency

NASA Technical Reports Server (NTRS)

King, David W.

1993-01-01

Display latency is the time delay between aircraft response and the corresponding response of the cockpit displays. Currently, there is no explicit specification for allowable display lags to ensure acceptable aircraft handling qualities in instrument flight conditions. This paper examines the handling qualities effects of display latency between 70 and 400 milliseconds for precision instrument flight tasks of the V-22 Tiltrotor aircraft. Display delay effects on the pilot control loop are analytically predicted through a second order pilot crossover model of the V-22 lateral axis, and handling qualities trends are evaluated through a series of fixed-base piloted simulation tests. The results show that the effects of display latency for flight path tracking tasks are driven by the stability characteristics of the attitude control loop. The data indicate that the loss of control damping due to latency can be simply predicted from knowledge of the aircraft's stability margins, control system lags, and required control bandwidths. Based on the relationship between attitude control damping and handling qualities ratings, latency design guidelines are presented. In addition, this paper presents a design philosophy, supported by simulation data, for using flight director display augmentation to suppress the effects of display latency for delays up to 300 milliseconds.

Why Are Associate Professors so Unhappy?

ERIC Educational Resources Information Center

Wilson, Robin

2012-01-01

Life as an associate professor with tenure can be even more isolating and overwhelming than being an assistant professor on the tenure track. The path to achieving what amounts to higher education's golden ring is well marked and includes guidance from more-experienced peers. But once a professor earns tenure, that guidance disappears, the amount…

Web-Based Trainer for Electrical Circuit Analysis

ERIC Educational Resources Information Center

Weyten, L.; Rombouts, P.; De Maeyer, J.

2009-01-01

A Web-based system for training electric circuit analysis is presented in this paper. It is centered on symbolic analysis techniques and it not only verifies the student's final answer, but it also tracks and coaches him/her through all steps of his/her reasoning path. The system mimics homework assignments, enhanced by immediate personalized…

Optimal UAV Path Planning for Tracking a Moving Ground Vehicle with a Gimbaled Camera

DTIC Science & Technology

2014-03-27

micro SD card slot to record all video taken at 1080P resolution. This feature allows the team to record the high definition video taken by the...Inequality constraints 64 h=[]; %Equality constraints 104 Bibliography 1. “ DIY Drones: Official ArduPlane Repository”, 2013. URL https://code

The Effects of Parenthood during Graduate School on PhD Recipients' Paths to the Professoriate: A Focus on Motherhood

ERIC Educational Resources Information Center

Kulp, Amanda M.

2016-01-01

This chapter focuses on graduate students who are parents, the career-related resources they gather during graduate school, and the influence of those resources on PhD-earning mothers' attainment of tenure-track faculty jobs at U.S. higher-education institutions.

Tracking Planets around the Sun

ERIC Educational Resources Information Center

Riddle, Bob

2008-01-01

In earlier columns, the celestial coordinate system of hour circles of right ascension and degrees of declination was introduced along with the use of an equatorial star chart (see SFA Star Charts in Resources). This system shows the planets' motion relative to the ecliptic, the apparent path the Sun follows during the year. An alternate system,…

Do American and Korean Education Systems Converge? Tracking School Reform Policies and Outcomes in Korea and the USA

ERIC Educational Resources Information Center

Lee, Jaekyung; Park, Daekwon

2014-01-01

This study examines key school reform policies and outcomes of the USA and Korea over the past three decades from comparative perspectives. Since the two nations' unique educational problems brought divergent educational reform paths--standardization versus differentiation, high-stakes testing versus individualized assessment, and centralization…

DEVELOPMENT OF HOST-SPECIFIC METAGENOMIC MARKERS FOR MICROBIAL SOURCE TRACKING USING A NOVEL METAGENOMIC APPROACH

EPA Science Inventory

Fecal contamination of source water has always been an important issue to the drinking water industry. Improper disposal of animal waste, leaky septic tanks, storm runoff, and the abundance of wildlife in natural water systems can all be responsible for the spread of enteric path...

Simulator study of conventional general aviation instrument displays in path-following tasks with emphasis on pilot-induced oscillations

NASA Technical Reports Server (NTRS)

Adams, J. J.

1980-01-01

A study of the use of conventional general aviation instruments by general aviation pilots in a six degree of freedom, fixed base simulator was conducted. The tasks performed were tracking a VOR radial and making an ILS approach to landing. A special feature of the tests was that the sensitivity of the displacement indicating instruments (the RMI, CDI, and HSI) was kept constant at values corresponding to 5 n. mi. and 1.25 n. mi. from the station. Both statistical and pilot model analyses of the data were made. The results show that performance in path following improved with increases in display sensitivity up to the highest sensitivity tested. At this maximum test sensitivity, which corresponds to the sensitivity existing at 1.25 n. mi. for the ILS glide slope transmitter, tracking accuracy was no better than it was at 5 n. mi. from the station and the pilot aircraft system exhibited a marked reduction in damping. In some cases, a pilot induced, long period unstable oscillation occurred.

Simulation of ground-water flow and delineation of areas contributing recharge within the Mt. Simon-Hinckley Aquifer to well fields in the Prairie Island Indian Community, Minnesota

USGS Publications Warehouse

Ruhl, J.F.

2002-01-01

A steady state single layer, two-dimensional ground-water flow model constructed with the computer program MODFLOW,combined with the particle-tracking computer program MODPATH, was used to track water particles (upgradient) from the two well fields. A withdrawal rate of 625 m3/d was simulated for each well field. The ground-water flow paths delineated areas of contributing recharge that are 0.38 and 0.65 km2 based on 10- and 50-year travel times, respectively. The flow paths that define these areas extend for maximum distances of about 350 and 450 m, respectively, from the wells. At well field A the area of contributing recharge was delineated for each well as separate withdrawal points. At well field B the area of contributing recharge was delineated for the two wells as a single withdrawal point. Delineation of areas of contributing recharge to the well fields from land surface would require construction of a multi-layer ground-water flow model.

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

Lau, Sarah J.; Moore, David G.; Stair, Sarah L.

Ultrasonic analysis is being explored as a way to capture events during melting of highly dispersive wax. Typical events include temperature changes in the material, phase transition of the material, surface flows and reformations, and void filling as the material melts. Melt tests are performed with wax to evaluate the usefulness of different signal processing algorithms in capturing event data. Several algorithm paths are being pursued. The first looks at changes in the velocity of the signal through the material. This is only appropriate when the changes from one ultrasonic signal to the next can be represented by a linearmore » relationship, which is not always the case. The second tracks changes in the frequency content of the signal. The third algorithm tracks changes in the temporal moments of a signal over a full test. This method does not require that the changes in the signal be represented by a linear relationship, but attaching changes in the temporal moments to physical events can be difficult. This study describes the algorithm paths applied to experimental data from ultrasonic signals as wax melts and explores different ways to display the results.« less

[Analysis of the swimming pattern and the velocity of bacteria using video tracking method].

PubMed

Shigematsu, M

1997-04-01

The swimming patterns and the velocities of several flagellated bacteria were measured by a computer assisted video tracking method. The moving path of the individual bacterium revealed that the bacterium frequently changed its swimming direction and velocity. The velocity among bacterial strains varies widely. In low viscous environment. Campylobacter jejuni has characteristic swimming pattern with frequent changes in their swimming direction. As the viscosity increase, C. jejuni increases its velocity at a little higher viscosity of 3 centipoise (cP) and secondly increases at about 40 cP. Different from other flagellated bacteria, the swimming pattern of C. jejuni in these two velocity peaks were changed. C. jejuni exhibited continuously forward moving path in the first peak, but in the second it repeated back and forth swimming pattern. We thus assumed that C. jejuni may use a different swimming mode in high viscous media from the original mode mediated by the propelling force of the flagella. This method is useful for a detail analysis of bacterial movement and moving patterns in different environmental conditions.

Progenitor outgrowth from the niche in Drosophila trachea is guided by FGF from decaying branches.

PubMed

Chen, Feng; Krasnow, Mark A

2014-01-10

Although there has been progress identifying adult stem and progenitor cells and the signals that control their proliferation and differentiation, little is known about the substrates and signals that guide them out of their niche. By examining Drosophila tracheal outgrowth during metamorphosis, we show that progenitors follow a stereotyped path out of the niche, tracking along a subset of tracheal branches destined for destruction. The embryonic tracheal inducer branchless FGF (fibroblast growth factor) is expressed dynamically just ahead of progenitor outgrowth in decaying branches. Knockdown of branchless abrogates progenitor outgrowth, whereas misexpression redirects it. Thus, reactivation of an embryonic tracheal inducer in decaying branches directs outgrowth of progenitors that replace them. This explains how the structure of a newly generated tissue is coordinated with that of the old.

Study of a safety margin system for powered-lift STOL aircraft

NASA Technical Reports Server (NTRS)

Heffley, R. K.; Jewell, W. F.

1978-01-01

A study was conducted to explore the feasibility of a safety margin system for powered-lift aircraft which require a backside piloting technique. The objective of the safety margin system was to present multiple safety margin criteria as a single variable which could be tracked manually or automatically and which could be monitored for the purpose of deriving safety margin status. The study involved a pilot-in-the-loop analysis of several safety margin system concepts and a simulation experiment to evaluate those concepts which showed promise of providing a good solution. A system was ultimately configured which offered reasonable compromises in controllability, status information content, and the ability to regulate the safety margin at some expense of the allowable low speed flight path envelope.

Common-path low-coherence interferometry fiber-optic sensor guided microincision

NASA Astrophysics Data System (ADS)

Zhang, Kang; Kang, Jin U.

2011-09-01

We propose and demonstrate a common-path low-coherence interferometry (CP-LCI) fiber-optic sensor guided precise microincision. The method tracks the target surface and compensates the tool-to-surface relative motion with better than +/-5 μm resolution using a precision micromotor connected to the tool tip. A single-fiber distance probe integrated microdissector was used to perform an accurate 100 μm incision into the surface of an Intralipid phantom. The CP-LCI guided incision quality in terms of depth was evaluated afterwards using three-dimensional Fourier-domain optical coherence tomography imaging, which showed significant improvement of incision accuracy compared to free-hand-only operations.

An in-depth analysis and modelling of the Shuttle to MILA S-band telemetry link

NASA Technical Reports Server (NTRS)

Caroglanian, Armen; Pellerano, Fernando A.; Shama, Dale D.

1993-01-01

The S-Band radio frequency (RF) link between the Merritt Island (MILA) Tracking Station and the Space Shuttle launch pads is a critical communication path for prelaunch and launch operations. The proposed siting of the Center for Space Education (CSE) at the Visitor Center required a study to avoid RF line-of-sight blockage and reflection paths. The study revealed the trees near MILA's 9-meter (9-M) antennas are obstructing the optical line-of-sight. The studies found diffraction is the main propagation mechanism. This paper describes a link model based on the Geometric Theory of Diffraction.

Coupling Between Doppler Radar Signatures and Tornado Damage Tracks

NASA Technical Reports Server (NTRS)

Jedlovec, Gary J.; Molthan, Andrew L.; Carey, Lawrence; Carcione, Brian; Smith, Matthew; Schultz, Elise V.; Schultz, Christopher; Lafontaine, Frank

2011-01-01

On April 27, 2011, the southeastern United States was raked with several episodes of severe weather. Numerous tornadoes caused extensive damage, and tragically, the deaths of over 300 people. In Alabama alone, there were 61 confirmed tornados, 4 of them produced EF5 damage, and several were on the ground an hour or more with continuous damage tracks exceeding 80km. The use of Doppler radars covering the region provided reflectivity and velocity signatures that allowed forecasters to monitors the severe storms from beginning to end issuing hundreds of severe weather warnings throughout the day. Meteorologists from the the NWS performed extensive surveys to assess the intensity, duration, and ground track of tornadoes reported during the event. Survey activities included site visits to the affected locations, analysis of radar and satellite data, aerial surveys, and interviews with eyewitnesses. Satellite data from NASA's MODIS and ASTER instruments played a helpful role in determining the location of tornado damage paths and in the assessment. High resolution multispectral and temporal composites helped forecasters corroborate their damage assessments, determine starting and ending points for tornado touchdowns, and helped to provide forecasters with a better big-picture view of the damage region. The imagery also helped to separate damage from the April 27th tornados from severe weather that occurred earlier that month. In a post analysis of the outbreak, tornado damage path signatures observed in the NASA satellite data have been correlated to "debris ball" signatures in the NWS Doppler radars and a special ARMOR dual-polarization radar operated by the University of Alabama Huntsville during the event. The Doppler radar data indicates a circular enhanced reflectivity signal and rotational couplet in the radial velocity likely associated with the tornado that is spatially correlated with the damage tracks in the observed satellite data. An algorithm to detect and isolate the "debris ball" from precipitation signatures in the dual polarization radar data has been developed and verified using the NASA damage track data.

Does research participation make a difference in residency training?

PubMed

Macknin, Jonathan B; Brown, Amy; Marcus, Randall E

2014-01-01

The American Board of Orthopaedic Surgery requirements state that an orthopaedic residency must offer at least 5 years of clinical education and some exposure to research. To expose residents to basic research, some programs, including ours, have a research track that allows for 1 year of basic science research. The degree to which research productivity during residency-which may be something that can perhaps be influenced by interventions like research tracks during residency-affects residency graduates' future research contributions is unknown. Our research goals were to determine whether (1) residents who published in a peer-reviewed journal during residency were more likely to publish in their careers after graduation; (2) residents who participated in an elective research year were more likely to publish at least one paper in a peer-reviewed journal during residency; and (3) residents who participated in the research year were more likely to choose academic careers. Using questionnaires, online PubMed searches, and office contact, the career paths (academic versus private practice) and publications in peer-reviewed journals of all 122 Case Western Reserve University orthopaedics residents who completed training from 1987 to 2006 were analyzed. Seventy-five percent of residents who published peer-reviewed research during residency continued with peer-reviewed publications in their careers versus 55% of residents who did not publish during residency (p = 0.02). No difference in career paths was observed between the Case Western Reserve University research and traditional track-trained surgeons. During residency, however, research track-trained surgeons were more likely to publish in peer-reviewed journals (71% versus 41% of traditional track-trained surgeons, p < 0.01). Residents who publish in a peer-reviewed journal during residency are more likely to continue publishing in their future careers as orthopaedic surgeons. Future studies are needed to elucidate the causative factors in the association between publishing in a peer-reviewed journal during training and further contributions later in an orthopaedic surgeon's career.

Modeling and optimization of a time-resolved proton radiographic imaging system for proton cancer treatment

NASA Astrophysics Data System (ADS)

Han, Bin

This dissertation describes a research project to test the clinical utility of a time-resolved proton radiographic (TRPR) imaging system by performing comprehensive Monte Carlo simulations of a physical device coupled with realistic lung cancer patient anatomy defined by 4DCT for proton therapy. A time-resolved proton radiographic imaging system was modeled through Monte Carlo simulations. A particle-tracking feature was employed to evaluate the performance of the proton imaging system, especially in its ability to visualize and quantify proton range variations during respiration. The Most Likely Path (MLP) algorithm was developed to approximate the multiple Coulomb scattering paths of protons for the purpose of image reconstruction. Spatial resolution of ˜ 1 mm and range resolution of 1.3% of the total range were achieved using the MLP algorithm. Time-resolved proton radiographs of five patient cases were reconstructed to track tumor motion and to calculate water equivalent length variations. By comparing with direct 4DCT measurement, the accuracy of tumor tracking was found to be better than 2 mm in five patient cases. Utilizing tumor tracking information to reduce margins to the planning target volume, a gated treatment plan was compared with un-gated treatment plan. The equivalent uniform dose (EUD) and the normal tissue complication probability (NTCP) were used to quantify the gain in the quality of treatments. The EUD of the OARs was found to be reduced up to 11% and the corresponding NTCP of organs at risk (OARs) was found to be reduced up to 16.5%. These results suggest that, with image guidance by proton radiography, dose to OARs can be reduced and the corresponding NTCPs can be significantly reduced. The study concludes that the proton imaging system can accurately track the motion of the tumor and detect the WEL variations, leading to potential gains in using image-guided proton radiography for lung cancer treatments.

WE-H-BRA-08: A Monte Carlo Cell Nucleus Model for Assessing Cell Survival Probability Based On Particle Track Structure Analysis

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

Lee, B; Georgia Institute of Technology, Atlanta, GA; Wang, C

Purpose: To correlate the damage produced by particles of different types and qualities to cell survival on the basis of nanodosimetric analysis and advanced DNA structures in the cell nucleus. Methods: A Monte Carlo code was developed to simulate subnuclear DNA chromatin fibers (CFs) of 30nm utilizing a mean-free-path approach common to radiation transport. The cell nucleus was modeled as a spherical region containing 6000 chromatin-dense domains (CDs) of 400nm diameter, with additional CFs modeled in a sparser interchromatin region. The Geant4-DNA code was utilized to produce a particle track database representing various particles at different energies and dose quantities.more » These tracks were used to stochastically position the DNA structures based on their mean free path to interaction with CFs. Excitation and ionization events intersecting CFs were analyzed using the DBSCAN clustering algorithm for assessment of the likelihood of producing DSBs. Simulated DSBs were then assessed based on their proximity to one another for a probability of inducing cell death. Results: Variations in energy deposition to chromatin fibers match expectations based on differences in particle track structure. The quality of damage to CFs based on different particle types indicate more severe damage by high-LET radiation than low-LET radiation of identical particles. In addition, the model indicates more severe damage by protons than of alpha particles of same LET, which is consistent with differences in their track structure. Cell survival curves have been produced showing the L-Q behavior of sparsely ionizing radiation. Conclusion: Initial results indicate the feasibility of producing cell survival curves based on the Monte Carlo cell nucleus method. Accurate correlation between simulated DNA damage to cell survival on the basis of nanodosimetric analysis can provide insight into the biological responses to various radiation types. Current efforts are directed at producing cell survival curves for high-LET radiation.« less

Ecological scale and seasonal heterogeneity in the spatial behaviors of giant pandas.

PubMed

Zhang, Zejun; Sheppard, James K; Swaisgood, Ronald R; Wang, Guan; Nie, Yonggang; Wei, Wei; Zhao, Naxun; Wei, Fuwen

2014-01-01

We report on the first study to track the spatial behaviors of wild giant pandas (Ailuropoda melanoleuca) using high-resolution global positioning system (GPS) telemetry. Between 2008 and 2009, 4 pandas (2 male and 2 female) were tracked in Foping Reserve, China for an average of 305 days (± 54.8 SE). Panda home ranges were larger than those of previous very high frequency tracking studies, with a bimodal distribution of space-use and distinct winter and summer centers of activity. Home range sizes were larger in winter than in summer, although there was considerable individual variability. All tracked pandas exhibited individualistic, unoriented and multiphasic movement paths, with a high level of tortuosity within seasonal core habitats and directed, linear, large-scale movements between habitats. Pandas moved from low elevation winter habitats to high elevation (>2000 m) summer habitats in May, when temperatures averaged 17.5 °C (± 0.3 SE), and these large-scale movements took <1 month to complete. The peak in panda mean elevation occurred in Jul, after which they began slow, large-scale movements back to winter habitats that were completed in Nov. An adult female panda made 2 longdistance movements during the mating season. Pandas remain close to rivers and streams during winter, possibly reflecting the elevated water requirements to digest their high-fiber food. Panda movement path tortuosity and first-passage-time as a function of spatial scale indicated a mean peak in habitat search effort and patch use of approximately 700 m. Despite a high degree of spatial overlap between panda home ranges, particularly in winter, we detected neither avoidance nor attraction behavior between conspecifics. © 2012 Wiley Publishing Asia Pty Ltd, ISZS and IOZ/CAS.

Fellowship and career path preferences in residents of otolaryngology-head and neck surgery.

PubMed

Golub, Justin S; Ossoff, Robert H; Johns, Michael M

2011-04-01

Assess fellowship and academic/private practice career track preferences in residents of otolaryngology-head and neck surgery. Cross-sectional survey. A total of 1,364 U.S. otolaryngology residents were surveyed. Questions addressed demographics, work hours and sleep, fellowship preference, and career track preference (academic/private practice). Trends in fellowship and career track preference were analyzed by year of clinical otolaryngology training. Data were additionally analyzed after stratification by sex. The response rate was 50%. The desire to complete a fellowship declined from 62% (year 2) to 58% (year 5), whereas the desire to not complete a fellowship increased from 31% (year 2) to 41% (year 5). Fellowship interest increased for rhinology and head and neck surgery by training year, whereas interest declined for neurotology and facial plastics. Expectation of an academic path increased from 29% (year 2) to 38% (year 5), whereas expectation of private practice declined slightly from 59% (year 2) to 57% (year 5). Women were initially more interested in both completing a fellowship (69% women, 60% men) and academics (40% women, 27% men). At the end of training, these sex differences were eliminated or reversed (59% men, 54% women for fellowship; 39% men, 35% women for academics). Residents interested in pursuing fellowship or academics reported working 2 hr/week more than those interested in no fellowship or private practice, respectively (P < 0.01). Fellowship and career track preferences suggest trends that may be useful to residency/fellowship program directors and residents making career choices. Inequalities producing differences according to sex should be addressed. Copyright © 2011 The American Laryngological, Rhinological, and Otological Society, Inc.

New robust algorithm for tracking cells in videos of Drosophila morphogenesis based on finding an ideal path in segmented spatio-temporal cellular structures.

PubMed

Bellaïche, Yohanns; Bosveld, Floris; Graner, François; Mikula, Karol; Remesíková, Mariana; Smísek, Michal

2011-01-01

In this paper, we present a novel algorithm for tracking cells in time lapse confocal microscopy movie of a Drosophila epithelial tissue during pupal morphogenesis. We consider a 2D + time video as a 3D static image, where frames are stacked atop each other, and using a spatio-temporal segmentation algorithm we obtain information about spatio-temporal 3D tubes representing evolutions of cells. The main idea for tracking is the usage of two distance functions--first one from the cells in the initial frame and second one from segmented boundaries. We track the cells backwards in time. The first distance function attracts the subsequently constructed cell trajectories to the cells in the initial frame and the second one forces them to be close to centerlines of the segmented tubular structures. This makes our tracking algorithm robust against noise and missing spatio-temporal boundaries. This approach can be generalized to a 3D + time video analysis, where spatio-temporal tubes are 4D objects.

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.

An Experiment of GMPLS-Based Dispersion Compensation Control over In-Field Fibers

NASA Astrophysics Data System (ADS)

Seno, Shoichiro; Horiuchi, Eiichi; Yoshida, Sota; Sugihara, Takashi; Onohara, Kiyoshi; Kamei, Misato; Baba, Yoshimasa; Kubo, Kazuo; Mizuochi, Takashi

As ROADMs (Reconfigurable Optical Add/Drop Multiplexers) are becoming widely used in metro/core networks, distributed control of wavelength paths by extended GMPLS (Generalized MultiProtocol Label Switching) protocols has attracted much attention. For the automatic establishment of an arbitrary wavelength path satisfying dynamic traffic demands over a ROADM or WXC (Wavelength Cross Connect)-based network, precise determination of chromatic dispersion over the path and optimized assignment of dispersion compensation capabilities at related nodes are essential. This paper reports an experiment over in-field fibers where GMPLS-based control was applied for the automatic discovery of chromatic dispersion, path computation, and wavelength path establishment with dynamic adjustment of variable dispersion compensation. The GMPLS-based control scheme, which the authors called GMPLS-Plus, extended GMPLS's distributed control architecture with attributes for automatic discovery, advertisement, and signaling of chromatic dispersion. In this experiment, wavelength paths with distances of 24km and 360km were successfully established and error-free data transmission was verified. The experiment also confirmed path restoration with dynamic compensation adjustment upon fiber failure.

On the influence of pseudoelastic material behaviour in planar shape-memory tubular continuum structures

NASA Astrophysics Data System (ADS)

Greiner-Petter, Christoph; Sattel, Thomas

2017-12-01

For planar tubular continuum structures based on precurved shape memory alloy tubes a beam model with respect to the pseudoelastic material behaviour of NiTi is derived. Thereunto a constitutive material law respecting tension-compression asymmetry as well as hysteresis is used. The beam model is then employed to calculate equilibrium curvatures of concentric tube assemblies without clearance between the tubes. In a second step, the influence of clearance is approximated to account for non-concentric tube assemblies. These elastokinematic results are integrated into a purely kinematic model to describe the cannula path under the presence of material hysteresis and clearance. Finally a photogrammetric measurement system is used to track the path of an exemplary two-tube continuum structure to examine the accuracy of the proposed model. It is shown that material hysteresis leads to a hysteresis phenomena in the path of the tubular continuum structure.

Cooperative path following control of multiple nonholonomic mobile robots.

PubMed

Cao, Ke-Cai; Jiang, Bin; Yue, Dong

2017-11-01

Cooperative path following control problem of multiple nonholonomic mobile robots has been considered in this paper. Based on the framework of decomposition, the cooperative path following problem has been transformed into path following problem and cooperative control problem; Then cascaded theory of non-autonomous system has been employed in the design of controllers without resorting to feedback linearization. One time-varying coordinate transformation based on dilation has been introduced to solve the uncontrollable problem of nonholonomic robots when the whole group's reference converges to stationary point. Cooperative path following controllers for nonholonomic robots have been proposed under persistent reference or reference target that converges to stationary point respectively. Simulation results using Matlab have illustrated the effectiveness of the obtained theoretical results. Copyright © 2017 ISA. Published by Elsevier Ltd. All rights reserved.

Pitch attitude, flight path, and airspeed control during approach and landing of a powered lift STOL aircraft

NASA Technical Reports Server (NTRS)

Franklin, J. A.; Innis, R. C.

1972-01-01

Analytical investigations and piloted moving base simulator evaluations were conducted for manual control of pitch attitude, flight path, and airspeed for the approach and landing of a powered lift jet STOL aircraft. Flight path and speed response characteristics were described analytically and were evaluated for the simulation experiments which were carried out on a large motion simulator. The response characteristics were selected and evaluated for a specified path and speed control technique. These charcteristics were: (1) the initial pitch response and steady pitch rate sensitivity for control of attitude with a pitch rate command/ attitude hold system, (2) the initial flight path response, flight path overshoot, and flight path-airspeed coupling in response to a change in thrust, and (3) the sensitivity of airspeed to pitch attitude changes. Results are presented in the form of pilot opinion ratings and commentary, substantiated where appropriate by response time histories and aircraft states at the point of touchdown.

Universal photonic quantum gates assisted by ancilla diamond nitrogen-vacancy centers coupled to resonators

NASA Astrophysics Data System (ADS)

Wei, Hai-Rui; Long, Gui Lu

2015-03-01

We propose two compact, economic, and scalable schemes for implementing optical controlled-phase-flip and controlled-controlled-phase-flip gates by using the input-output process of a single-sided cavity strongly coupled to a single nitrogen-vacancy-center defect in diamond. Additional photonic qubits, necessary for procedures based on the parity-check measurement or controlled-path and merging gates, are not employed in our schemes. In the controlled-path gate, the paths of the target photon are conditionally controlled by the control photon, and these two paths can be merged back into one by using a merging gate. Only one half-wave plate is employed in our scheme for the controlled-phase-flip gate. Compared with the conventional synthesis procedures for constructing a controlled-controlled-phase-flip gate, the cost of which is two controlled-path gates and two merging gates, or six controlled-not gates, our scheme is more compact and simpler. Our schemes could be performed with a high fidelity and high efficiency with current achievable experimental techniques.

Visualization and Hierarchical Analysis of Flow in Discrete Fracture Network Models

NASA Astrophysics Data System (ADS)

Aldrich, G. A.; Gable, C. W.; Painter, S. L.; Makedonska, N.; Hamann, B.; Woodring, J.

2013-12-01

Flow and transport in low permeability fractured rock is primary in interconnected fracture networks. Prediction and characterization of flow and transport in fractured rock has important implications in underground repositories for hazardous materials (eg. nuclear and chemical waste), contaminant migration and remediation, groundwater resource management, and hydrocarbon extraction. We have developed methods to explicitly model flow in discrete fracture networks and track flow paths using passive particle tracking algorithms. Visualization and analysis of particle trajectory through the fracture network is important to understanding fracture connectivity, flow patterns, potential contaminant pathways and fast paths through the network. However, occlusion due to the large number of highly tessellated and intersecting fracture polygons preclude the effective use of traditional visualization methods. We would also like quantitative analysis methods to characterize the trajectory of a large number of particle paths. We have solved these problems by defining a hierarchal flow network representing the topology of particle flow through the fracture network. This approach allows us to analyses the flow and the dynamics of the system as a whole. We are able to easily query the flow network, and use paint-and-link style framework to filter the fracture geometry and particle traces based on the flow analytics. This allows us to greatly reduce occlusion while emphasizing salient features such as the principal transport pathways. Examples are shown that demonstrate the methodology and highlight how use of this new method allows quantitative analysis and characterization of flow and transport in a number of representative fracture networks.

TID measurement using oblique transmissions of HF pulses

NASA Astrophysics Data System (ADS)

Galkin, Ivan; Reinisch, Bodo; Huang, Xueqin; Paznukhov, Vadym; Hamel, Ryan; Kozlov, Alexander; Belehaki, Anna

2017-04-01

The Traveling Ionospheric Disturbance (TID), a wave-like signature of moving plasma density modulation in the ionosphere, is widely acknowledged for its utility in backtracking the anomalous events responsible for the TID generation, and as a major inconvenience to high-frequency (HF) operational systems because of its deleterious impact on the accuracy of navigation and geolocation. The pilot project "Net-TIDE" for the real-time detection and evaluation of TIDs began its operation in 2016 based on the remote-sensing data from synchronized, network-coordinated HF sounding between pairs of DPS4D ionosondes at five participating observatories in Europe. Measurement of all signal properties (Doppler frequency, angle of arrival, and time-of-flight from transmitter to receiver) proved to be instrumental in detecting the TID and deducing the TID parameters: amplitude, wavelength, phase velocity, and direction of propagation. Processing of the measured HF signal data required a specialized signal processing technique that is capable of consistently extracting different signals that have propagated along different ionospheric paths. The multi-path signal environment proved to be the greatest challenge for the reliable TID specification by Net-TIDE, demanding the development of an intelligent system for "signal tracking". The intelligent system is based on a neural network model of a pre-attentive vision capable of extracting continuous signal tracks from the multi-path signal ensemble. Specific examples of the Net-TIDE algorithm suite operation and its suitability for a fully automated TID warning service are discussed.

Altered Orientation and Flight Paths of Pigeons Reared on Gravity Anomalies: A GPS Tracking Study

PubMed Central

Blaser, Nicole; Guskov, Sergei I.; Meskenaite, Virginia; Kanevskyi, Valerii A.; Lipp, Hans-Peter

2013-01-01

The mechanisms of pigeon homing are still not understood, in particular how they determine their position at unfamiliar locations. The “gravity vector” theory holds that pigeons memorize the gravity vector at their home loft and deduct home direction and distance from the angular difference between memorized and actual gravity vector. However, the gravity vector is tilted by different densities in the earth crust leading to gravity anomalies. We predicted that pigeons reared on different gravity anomalies would show different initial orientation and also show changes in their flight path when crossing a gravity anomaly. We reared one group of pigeons in a strong gravity anomaly with a north-to-south gravity gradient, and the other group of pigeons in a normal area but on a spot with a strong local anomaly with a west-to-east gravity gradient. After training over shorter distances, pigeons were released from a gravitationally and geomagnetically normal site 50 km north in the same direction for both home lofts. As expected by the theory, the two groups of pigeons showed divergent initial orientation. In addition, some of the GPS-tracked pigeons also showed changes in their flight paths when crossing gravity anomalies. We conclude that even small local gravity anomalies at the birth place of pigeons may have the potential to bias the map sense of pigeons, while reactivity to gravity gradients during flight was variable and appeared to depend on individual navigational strategies and frequency of position updates. PMID:24194860

Altered orientation and flight paths of pigeons reared on gravity anomalies: a GPS tracking study.

PubMed

Blaser, Nicole; Guskov, Sergei I; Meskenaite, Virginia; Kanevskyi, Valerii A; Lipp, Hans-Peter

2013-01-01

The mechanisms of pigeon homing are still not understood, in particular how they determine their position at unfamiliar locations. The "gravity vector" theory holds that pigeons memorize the gravity vector at their home loft and deduct home direction and distance from the angular difference between memorized and actual gravity vector. However, the gravity vector is tilted by different densities in the earth crust leading to gravity anomalies. We predicted that pigeons reared on different gravity anomalies would show different initial orientation and also show changes in their flight path when crossing a gravity anomaly. We reared one group of pigeons in a strong gravity anomaly with a north-to-south gravity gradient, and the other group of pigeons in a normal area but on a spot with a strong local anomaly with a west-to-east gravity gradient. After training over shorter distances, pigeons were released from a gravitationally and geomagnetically normal site 50 km north in the same direction for both home lofts. As expected by the theory, the two groups of pigeons showed divergent initial orientation. In addition, some of the GPS-tracked pigeons also showed changes in their flight paths when crossing gravity anomalies. We conclude that even small local gravity anomalies at the birth place of pigeons may have the potential to bias the map sense of pigeons, while reactivity to gravity gradients during flight was variable and appeared to depend on individual navigational strategies and frequency of position updates.

A framework for activity detection in wide-area motion imagery

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

Porter, Reid B; Ruggiero, Christy E; Morrison, Jack D

2009-01-01

Wide-area persistent imaging systems are becoming increasingly cost effective and now large areas of the earth can be imaged at relatively high frame rates (1-2 fps). The efficient exploitation of the large geo-spatial-temporal datasets produced by these systems poses significant technical challenges for image and video analysis and data mining. In recent years there has been significant progress made on stabilization, moving object detection and tracking and automated systems now generate hundreds to thousands of vehicle tracks from raw data, with little human intervention. However, the tracking performance at this scale, is unreliable and average track length is much smallermore » than the average vehicle route. This is a limiting factor for applications which depend heavily on track identity, i.e. tracking vehicles from their points of origin to their final destination. In this paper we propose and investigate a framework for wide-area motion imagery (W AMI) exploitation that minimizes the dependence on track identity. In its current form this framework takes noisy, incomplete moving object detection tracks as input, and produces a small set of activities (e.g. multi-vehicle meetings) as output. The framework can be used to focus and direct human users and additional computation, and suggests a path towards high-level content extraction by learning from the human-in-the-loop.« less

Ureter tracking and segmentation in CT urography (CTU) using COMPASS

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

Hadjiiski, Lubomir, E-mail: lhadjisk@umich.edu; Zick, David; Chan, Heang-Ping

2014-12-15

Purpose: The authors are developing a computerized system for automated segmentation of ureters in CTU, referred to as combined model-guided path-finding analysis and segmentation system (COMPASS). Ureter segmentation is a critical component for computer-aided diagnosis of ureter cancer. Methods: COMPASS consists of three stages: (1) rule-based adaptive thresholding and region growing, (2) path-finding and propagation, and (3) edge profile extraction and feature analysis. With institutional review board approval, 79 CTU scans performed with intravenous (IV) contrast material enhancement were collected retrospectively from 79 patient files. One hundred twenty-four ureters were selected from the 79 CTU volumes. On average, the uretersmore » spanned 283 computed tomography slices (range: 116–399, median: 301). More than half of the ureters contained malignant or benign lesions and some had ureter wall thickening due to malignancy. A starting point for each of the 124 ureters was identified manually to initialize the tracking by COMPASS. In addition, the centerline of each ureter was manually marked and used as reference standard for evaluation of tracking performance. The performance of COMPASS was quantitatively assessed by estimating the percentage of the length that was successfully tracked and segmented for each ureter and by estimating the average distance and the average maximum distance between the computer and the manually tracked centerlines. Results: Of the 124 ureters, 120 (97%) were segmented completely (100%), 121 (98%) were segmented through at least 70%, and 123 (99%) were segmented through at least 50% of its length. In comparison, using our previous method, 85 (69%) ureters were segmented completely (100%), 100 (81%) were segmented through at least 70%, and 107 (86%) were segmented at least 50% of its length. With COMPASS, the average distance between the computer and the manually generated centerlines is 0.54 mm, and the average maximum distance is 2.02 mm. With our previous method, the average distance between the centerlines was 0.80 mm, and the average maximum distance was 3.38 mm. The improvements in the ureteral tracking length and both distance measures were statistically significant (p < 0.0001). Conclusions: COMPASS improved significantly the ureter tracking, including regions across ureter lesions, wall thickening, and the narrowing of the lumen.« less

CD24 tracks divergent pluripotent states in mouse and human cells

PubMed Central

Shakiba, Nika; White, Carl A.; Lipsitz, Yonatan Y.; Yachie-Kinoshita, Ayako; Tonge, Peter D; Hussein, Samer M. I.; Puri, Mira C.; Elbaz, Judith; Morrissey-Scoot, James; Li, Mira; Munoz, Javier; Benevento, Marco; Rogers, Ian M.; Hanna, Jacob H.; Heck, Albert J. R.; Wollscheid, Bernd; Nagy, Andras; Zandstra, Peter W

2015-01-01

Reprogramming is a dynamic process that can result in multiple pluripotent cell types emerging from divergent paths. Cell surface protein expression is a particularly desirable tool to categorize reprogramming and pluripotency as it enables robust quantification and enrichment of live cells. Here we use cell surface proteomics to interrogate mouse cell reprogramming dynamics and discover CD24 as a marker that tracks the emergence of reprogramming-responsive cells, while enabling the analysis and enrichment of transgene-dependent (F-class) and -independent (traditional) induced pluripotent stem cells (iPSCs) at later stages. Furthermore, CD24 can be used to delineate epiblast stem cells (EpiSCs) from embryonic stem cells (ESCs) in mouse pluripotent culture. Importantly, regulated CD24 expression is conserved in human pluripotent stem cells (PSCs), tracking the conversion of human ESCs to more naive-like PSC states. Thus, CD24 is a conserved marker for tracking divergent states in both reprogramming and standard pluripotent culture. PMID:26076835

Alternatives to an extended Kalman Filter for target image tracking

NASA Astrophysics Data System (ADS)

Leuthauser, P. R.

1981-12-01

Four alternative filters are compared to an extended Kalman filter (EKF) algorithm for tracking a distributed (elliptical) source target in a closed loop tracking problem, using outputs from a forward looking (FLIR) sensor as measurements. These were (1) an EKF with (second order) bias correction term, (2) a constant gain EKF, (3) a constant gain EKF with bias correction term, and (4) a statistically linearized filter. Estimates are made of both actual target motion and of apparent motion due to atmospheric jitter. These alternative designs are considered specifically to address some of the significant biases exhibited by an EKF due to initial acquisition difficulties, unmodelled maneuvering by the target, low signal-to-noise ratio, and real world conditions varying significantly from those assumed in the filter design (robustness). Filter performance was determined with a Monte Carlo study under both ideal and non ideal conditions for tracking targets on a constant velocity cross range path, and during constant acceleration turns of 5G, 10G, and 20G.

A general algorithm for peak-tracking in multi-dimensional NMR experiments.

PubMed

Ravel, P; Kister, G; Malliavin, T E; Delsuc, M A

2007-04-01

We present an algorithmic method allowing automatic tracking of NMR peaks in a series of spectra. It consists in a two phase analysis. The first phase is a local modeling of the peak displacement between two consecutive experiments using distance matrices. Then, from the coefficients of these matrices, a value graph containing the a priori set of possible paths used by these peaks is generated. On this set, the minimization under constraint of the target function by a heuristic approach provides a solution to the peak-tracking problem. This approach has been named GAPT, standing for General Algorithm for NMR Peak Tracking. It has been validated in numerous simulations resembling those encountered in NMR spectroscopy. We show the robustness and limits of the method for situations with many peak-picking errors, and presenting a high local density of peaks. It is then applied to the case of a temperature study of the NMR spectrum of the Lipid Transfer Protein (LTP).

Attitude guidance and tracking for spacecraft with two reaction wheels

NASA Astrophysics Data System (ADS)

Biggs, James D.; Bai, Yuliang; Henninger, Helen

2018-04-01

This paper addresses the guidance and tracking problem for a rigid-spacecraft using two reaction wheels (RWs). The guidance problem is formulated as an optimal control problem on the special orthogonal group SO(3). The optimal motion is solved analytically as a function of time and is used to reduce the original guidance problem to one of computing the minimum of a nonlinear function. A tracking control using two RWs is developed that extends previous singular quaternion stabilisation controls to tracking controls on the rotation group. The controller is proved to locally asymptotically track the generated reference motions using Lyapunov's direct method. Simulations of a 3U CubeSat demonstrate that this tracking control is robust to initial rotation errors and angular velocity errors in the controlled axis. For initial angular velocity errors in the uncontrolled axis and under significant disturbances the control fails to track. However, the singular tracking control is combined with a nano-magnetic torquer which simply damps the angular velocity in the uncontrolled axis and is shown to provide a practical control method for tracking in the presence of disturbances and initial condition errors.

Near-Optimal Tracking Control of Mobile Robots Via Receding-Horizon Dual Heuristic Programming.

PubMed

Lian, Chuanqiang; Xu, Xin; Chen, Hong; He, Haibo

2016-11-01

Trajectory tracking control of wheeled mobile robots (WMRs) has been an important research topic in control theory and robotics. Although various tracking control methods with stability have been developed for WMRs, it is still difficult to design optimal or near-optimal tracking controller under uncertainties and disturbances. In this paper, a near-optimal tracking control method is presented for WMRs based on receding-horizon dual heuristic programming (RHDHP). In the proposed method, a backstepping kinematic controller is designed to generate desired velocity profiles and the receding horizon strategy is used to decompose the infinite-horizon optimal control problem into a series of finite-horizon optimal control problems. In each horizon, a closed-loop tracking control policy is successively updated using a class of approximate dynamic programming algorithms called finite-horizon dual heuristic programming (DHP). The convergence property of the proposed method is analyzed and it is shown that the tracking control system based on RHDHP is asymptotically stable by using the Lyapunov approach. Simulation results on three tracking control problems demonstrate that the proposed method has improved control performance when compared with conventional model predictive control (MPC) and DHP. It is also illustrated that the proposed method has lower computational burden than conventional MPC, which is very beneficial for real-time tracking control.

78 FR 46676 - Environmental Impact Statement; Los Angeles and San Bernardino Counties, California; Notice of...

Federal Register 2010, 2011, 2012, 2013, 2014

2013-08-01

..., including the type of train technology (electric vs. diesel-electric), its location in relation to the HDC... of green energy technologies and a bike path along the alternative will also be considered. Four... would utilize proven steel wheel on steel track technology and have a maximum operating speed of 180...

76 FR 13143 - Striving Readers Comprehensive Literacy Grant Program; Office of Elementary and Secondary...

Federal Register 2010, 2011, 2012, 2013, 2014

2011-03-10

... increase student engagement and achievement or increase teacher effectiveness. Program Requirements... below grade level or who are not on track to becoming college- or career-ready by graduation, who have... path that the SEA will take to achieve these goals with the support of its LEAs (8 points). (iii) How...

Dave Moore: Taking Roundabout Path to Perovskite Fast Track | News | NREL

Science.gov Websites

energy of academia is awesome and contagious. It keeps you young to hang around young people and keep learning." Although he'd had a checkered high school academic career prior to stepping on the college ," Moore said. "That's where I first learned about the energy crisis." And that's when he

Determining soil erosion from roads in coastal plain of Alabama

Treesearch

McFero Grace; W.J. Elliot

2008-01-01

This paper reports soil losses and observed sediment deposition for 16 randomly selected forest road sections in the National Forests of Alabama. Visible sediment deposition zones were tracked along the stormwater flow path to the most remote location as a means of quantifying soil loss from road sections. Volumes of sediment in deposition zones were determined by...

Tribochemical Studies of Hard Carbon Films as a Function of Load and Environment

DTIC Science & Technology

2010-08-13

the wear tracks on the flat as well as the wear scar on the sphere. The BNL imaging apparatus uses a magnetic field to guide the photoemitted...from the sample surface, and the electron optics, which can filter electrons with the wrong path or energy. The BNL imaging chamber is not able to

Digital-Difference Processing For Collision Avoidance.

NASA Technical Reports Server (NTRS)

Shores, Paul; Lichtenberg, Chris; Kobayashi, Herbert S.; Cunningham, Allen R.

1988-01-01

Digital system for automotive crash avoidance measures and displays difference in frequency between two sinusoidal input signals of slightly different frequencies. Designed for use with Doppler radars. Characterized as digital mixer coupled to frequency counter measuring difference frequency in mixer output. Technique determines target path mathematically. Used for tracking cars, missiles, bullets, baseballs, and other fast-moving objects.

Reversing Course: The Troubled State of Academic Staffing and a Path Forward

ERIC Educational Resources Information Center

American Federation of Teachers (NJ), 2008

2008-01-01

Over the last generation, the instructional staffing system in American higher education has experienced a significant reduction in the proportion of jobs for full-time tenured and tenure-track faculty members and a dramatic growth in fixed-term full- and part-time instructional jobs without tenure. About 70 percent of the people teaching in…

Analyzing Upper Secondary Education Dropout in Latin America through a Cohort Approach

ERIC Educational Resources Information Center

Kattan, Raja Bentaouet; Székely, Miguel

2017-01-01

This study examines recent trends and factors in school dropout at the upper secondary education level across Latin America. The methodology employs repeated cross sections of data to track the life cycle path of cohorts of individuals in 18 countries. A key finding is that while upper secondary enrollment rates increased in the region, dropout…

Faculty Productivity Barriers and Supports at a School of Education

ERIC Educational Resources Information Center

Santo, Susan A.; Engstrom, Mary E.; Reetz, Linda; Schweinle, William E.; Reed, Kristine

2009-01-01

All programs in a midwestern university recently embarked on a path to help increase the scholarly productivity of faculty. The effort to develop a research emphasis within the School of Education required determining the needs of tenure-track faculty regarding meeting the new requirements. The purposes of our study were to investigate these needs…

Measurement and Characterization of Helicopter Noise in Steady-State and Maneuvering Flight

NASA Technical Reports Server (NTRS)

Schmitz, Fredric H.; Greenwood, Eric; Sickenberger, Richard D.; Gopalan, Gaurav; Sim, Ben Well-C; Conner, David; Moralez, Ernesto; Decker, William A.

2007-01-01

A special acoustic flight test program was performed on the Bell 206B helicopter outfitted with an in-flight microphone boom/array attached to the helicopter while simultaneous acoustic measurements were made using a linear ground array of microphones arranged to be perpendicular to the flight path. Air and ground noise measurements were made in steady-state longitudinal and steady turning flight, and during selected dynamic maneuvers. Special instrumentation, including direct measurement of the helicopter s longitudinal tip-path-plane (TPP) angle, Differential Global Positioning System (DGPS) and Inertial Navigation Unit (INU) measurements, and a pursuit guidance display were used to measure important noise controlling parameters and to make the task of flying precise operating conditions and flight track easier for the pilot. Special care was also made to test only in very low winds. The resulting acoustic data is of relatively high quality and shows the value of carefully monitoring and controlling the helicopter s performance state. This paper has shown experimentally, that microphones close to the helicopter can be used to estimate the specific noise sources that radiate to the far field, if the microphones are positioned correctly relative to the noise source. Directivity patterns for steady, turning flight were also developed, for the first time, and connected to the turning performance of the helicopter. Some of the acoustic benefits of combining normally separated flight segments (i.e. an accelerated segment and a descending segment) were also demonstrated.

The calculation of radial dose from heavy ions: predictions of biological action cross sections

NASA Technical Reports Server (NTRS)

Katz, R.; Cucinotta, F. A.; Zhang, C. X.; Wilson, J. W. (Principal Investigator)

1996-01-01

The track structure model of heavy ion cross sections was developed by Katz and co-workers in the 1960s. In this model the action cross section is evaluated by mapping the dose-response of a detector to gamma rays (modeled from biological target theory) onto the radial dose distribution from delta rays about the path of the ion. This is taken to yield the radial distribution of probability for a "hit" (an interaction leading to an observable end-point). Radial integration of the probability yields the cross section. When different response from ions of different Z having the same stopping power is observed this model may be indicated. Since the 1960s there have been several developments in the computation of the radial dose distribution, in the measurement of these distributions, and in new radiobiological data against which to test the model. The earliest model, by Butts and Katz made use of simplified delta ray distribution functions, of simplified electron range-energy relations, and neglected angular distributions. Nevertheless it made possible the calculation of cross sections for the inactivation of enzymes and viruses, and allowed extension to tracks in nuclear emulsions and other detectors and to biological cells. It set the pattern for models of observable effects in the matter through which the ion passed. Here we outline subsequent calculations of radial dose which make use of improved knowledge of the electron emission spectrum, the electron range-energy relation, the angular distribution, and some considerations of molecular excitation, of particular interest both close to the path of the ion and the outer limits of electron penetration. These are applied to the modeling of action cross sections for the inactivation of several strains of E-coli and B. subtilis spores where extensive measurements in the "thin-down" region have been made with heavy ion beams. Such calculations serve to test the radial dose calculations at the outer limit of electron penetration. We lack data from which to test these calculations in regions close to the path of the ion aside from our earliest work on latent tracks in plastics, though it appears that the criterion then suggested for the threshold of track formation, of a minimal dose at a minimal distance (of about 20 angstroms, in plastics), remains valid.

Metering Wheel-Wire Track Wire Boom Deployment Mechanism

NASA Technical Reports Server (NTRS)

Granoff, Mark S.

2014-01-01

The NASA MMS Spin Plane Double Probe (SDP) Deployer utilizes a helical path, rotating Metering Wheel and a spring loaded Wire "Holding" Track to pay out a "fixed end" 57 meter x 1.5 mm diameter Wire Boom stored between concentric storage cylinders. Unlike rotating spool type storage devices, the storage cylinders remain stationary, and the boom wire is uncoiled along the length of the cylinder via the rotation of the Metering Wheel. This uncoiling action avoids the need for slip-ring contacts since the ends of the wire can remain stationary. Conventional fixed electrical connectors (Micro-D type) are used to terminate to operational electronics.

Navigation of autonomous vehicles for oil spill cleaning in dynamic and uncertain environments

NASA Astrophysics Data System (ADS)

Jin, Xin; Ray, Asok

2014-04-01

In the context of oil spill cleaning by autonomous vehicles in dynamic and uncertain environments, this paper presents a multi-resolution algorithm that seamlessly integrates the concepts of local navigation and global navigation based on the sensory information; the objective here is to enable adaptive decision making and online replanning of vehicle paths. The proposed algorithm provides a complete coverage of the search area for clean-up of the oil spills and does not suffer from the problem of having local minima, which is commonly encountered in potential-field-based methods. The efficacy of the algorithm is tested on a high-fidelity player/stage simulator for oil spill cleaning in a harbour, where the underlying oil weathering process is modelled as 2D random-walk particle tracking. A preliminary version of this paper was presented by X. Jin and A. Ray as 'Coverage Control of Autonomous Vehicles for Oil Spill Cleaning in Dynamic and Uncertain Environments', Proceedings of the American Control Conference, Washington, DC, June 2013, pp. 2600-2605.

The Fourier-Kelvin Stellar Interferometer (FKSI) Nulling Testbed II: Closed-loop Path Length Metrology And Control Subsystem

NASA Technical Reports Server (NTRS)

Frey, B. J.; Barry, R. K.; Danchi, W. C.; Hyde, T. T.; Lee, K. Y.; Martino, A. J.; Zuray, M. S.

2006-01-01

The Fourier-Kelvin Stellar Interferometer (FKSI) is a mission concept for an imaging and nulling interferometer in the near to mid-infrared spectral region (3-8 microns), and will be a scientific and technological pathfinder for upcoming missions including TPF-I/DARWIN, SPECS, and SPIRIT. At NASA's Goddard Space Flight Center, we have constructed a symmetric Mach-Zehnder nulling testbed to demonstrate techniques and algorithms that can be used to establish and maintain the 10(exp 4) null depth that will be required for such a mission. Among the challenges inherent in such a system is the ability to acquire and track the null fringe to the desired depth for timescales on the order of hours in a laboratory environment. In addition, it is desirable to achieve this stability without using conventional dithering techniques. We describe recent testbed metrology and control system developments necessary to achieve these goals and present our preliminary results.

Avoiding the Health Hazard of People from Construction Vehicles: A Strategy for Controlling the Vibration of a Wheel Loader

PubMed Central

Chi, Feng; Zhou, Jun; Zhang, Qi; Wang, Yong; Huang, Panling

2017-01-01

The vibration control of a construction vehicle must be carried out in order to meet the aims of sustainable environmental development and to avoid the potential human health hazards. In this paper, based on market feedback, the driver seat vibration of a type of wheel loader in the left and right direction, is found to be significant over a certain speed range. In order to find abnormal vibration components, the order tracking technique (OTT) and transmission path analysis (TPA) were used to analyze the vibration sources of the wheel loader. Through this analysis, it can be seen that the abnormal vibration comes from the interaction between the tire tread and the road, and this is because the vibration was amplified by the cab mount, which was eventually transmitted to the cab seat. Finally, the seat vibration amplitudes were decreased by up to 50.8%, after implementing the vibration reduction strategy. PMID:28282849

Autonomous Navigation for Deep Space Missions

NASA Technical Reports Server (NTRS)

Bhaskaran, Shyam

2012-01-01

Navigation (determining where the spacecraft is at any given time, controlling its path to achieve desired targets), performed using ground-in- the-loop techniques: (1) Data includes 2-way radiometric (Doppler, range), interferometric (Delta- Differential One-way Range), and optical (images of natural bodies taken by onboard camera) (2) Data received on the ground, processed to determine orbit, commands sent to execute maneuvers to control orbit. A self-contained, onboard, autonomous navigation system can: (1) Eliminate delays due to round-trip light time (2) Eliminate the human factors in ground-based processing (3) Reduce turnaround time from navigation update to minutes, down to seconds (4) React to late-breaking data. At JPL, we have developed the framework and computational elements of an autonomous navigation system, called AutoNav. It was originally developed as one of the technologies for the Deep Space 1 mission, launched in 1998; subsequently used on three other spacecraft, for four different missions. The primary use has been on comet missions to track comets during flybys, and impact one comet.

Avoiding the Health Hazard of People from Construction Vehicles: A Strategy for Controlling the Vibration of a Wheel Loader.

PubMed

Chi, Feng; Zhou, Jun; Zhang, Qi; Wang, Yong; Huang, Panling

2017-03-08

The vibration control of a construction vehicle must be carried out in order to meet the aims of sustainable environmental development and to avoid the potential human health hazards. In this paper, based on market feedback, the driver seat vibration of a type of wheel loader in the left and right direction, is found to be significant over a certain speed range. In order to find abnormal vibration components, the order tracking technique (OTT) and transmission path analysis (TPA) were used to analyze the vibration sources of the wheel loader. Through this analysis, it can be seen that the abnormal vibration comes from the interaction between the tire tread and the road, and this is because the vibration was amplified by the cab mount, which was eventually transmitted to the cab seat. Finally, the seat vibration amplitudes were decreased by up to 50.8%, after implementing the vibration reduction strategy.

Object permanence in young infants: further evidence.

PubMed

Baillargeon, R; DeVos, J

1991-12-01

Recent evidence suggests that 4.5- and even 3.5-month-old infants realize that objects continue to exist when hidden. The goal of the present experiments was to obtain converging evidence of object permanence in young infants. Experiments were conducted using paradigms previously used to demonstrate object permanence in 5.5-month-old infants and 6.5-month-old infants. In one experiment, 3.5-month-old infants watched a short or a tall carrot slide along a track. The track's center was hidden by a screen with a large window in its upper half. The short carrot was shorter than the window's lower edge and so did not appear in the window when passing behind the screen; the tall carrot was taller than the window's lower edge and hence should have appeared in the window but did not. The infants looked reliably longer at the tall than at the short carrot event, suggesting that they (a) represented the existence, height, and trajectory of each carrot behind the screen and (b) expected the tall carrot to appear in the screen window and were surprised that it did not. Control trials supported this interpretation. In another experiment, 4.0-month-old infants saw a toy car roll along a track that was partly hidden by a screen. A large toy mouse was placed behind the screen, either on top or in back of the track. The female infants looked reliably longer when the mouse stood on top as opposed to in back of the track, suggesting that they (a) represented the existence and trajectory of the car behind the screen, (b) represented the existence and location of the mouse behind the screen, and (c) were surprised to see the car reappear from behind the screen when the mouse stood in its path. A second experiment supported this interpretation. The results of these experiments provide further evidence that infants aged 3.5 months and older are able to represent and to reason about hidden objects.

Path homogeneity along a horizontal line-of-sight path during the FESTER experiment: first results

NASA Astrophysics Data System (ADS)

Gunter, W. H.; Maritz, B.; Koago, M.; Wainman, C. K.; Gardener, M. E.; February, F.; van Eijk, A. M. J.

2016-10-01

The First European South African Experiment (FESTER) was conducted over about a 10 month period at the Institute of Maritime Technology (IMT) in False Bay, South Africa. One of the important goals was the establishment of the air-sea temperature difference (ASTD) homogeneity along the main propagation link atmospheric path since it is a basic assumption for most of the atmospheric turbulence models (caused by refractive index variations). The ASTD was measured from a small scientific work boat (called Sea Lab) moving along a straight in- and outbound track along the main propagation link path. The air temperature on-board was measured using standard weather sensors, while the sea surface temperature was measured using a long wavelength infrared radiometer, which was compared to the bulk sea temperature half a meter below the sea surface. This was obtained by an under water temperature sensor mounted on a `surfboard' that was towed alongside Sea Lab. Vertical water temperature profiles were also measured along the main propagation path in order to determine the depth of the surface mixed layer and thermocline using a Conductivity Temperature Depth profiler (CTD). First results investigated the ASTD variation along the horizontal line-of-sight path used by the principal electro-optic transmission link monitoring equipment (i.e. scintillometer and multi-spectral radiometer-transmissometer system).

Ted Irving and the Precambrian continental drift of (within?) the Canadian Shield

NASA Astrophysics Data System (ADS)

Hoffman, P. F.

2014-12-01

Ted Irving was no stranger to the Precambrian when he began paleomagnetic studies in the Canadian Shield (CS) that would dominate his research in the early and mid-1970's. Twenty years before, his graduate work on billion-year-old strata in Scotland established paleomagnetic methodologies applicable to sedimentary rocks generally. In 1958, he and Ronald Green presented an 'Upper Proterozoic' APW path from Australia as evidence for pre-Carboniferous drift relative to Europe and North America (the poles actually range in age from 1.2 to 2.7 Ga). His first published CS poles were obtained from the Franklin LIP of the Arctic platform and demonstrate igneous emplacement across the paleoequator. Characteristically, his 1971 poles are statistically indistinguishable from the most recent grand mean paleopole of 2009. His main focus, however, was on the question of Precambrian continental drift. He compared APW paths with respect to Laurentia with those obtained from other Precambrian shields, and he compared APW paths from different tectonic provinces within the CS. He was consistently antagonistic to the concept of a single long-lived Proterozoic supercontinent, but he was on less certain ground regarding motions within the CS due to inadequate geochronology. With Ron Emslie, he boldly proposed rapid convergence between parts of the Grenville Province and Interior Laurentia (IL) ~1.0 Ga. This was controversial given the uncertain ages of multiple magnetic components in high-grade metamorphic rocks. With John McGlynn and John Park, he developed a Paleoproterozoic APW path for the Slave Province from mafic dikes and red clastics, encompassing the time of consolidation of IL during 2.0-1.8 Ga orogenesis. Before 1980, he constructed Paleoproterozoic APW paths for IL as a whole, finding little evidence for significant internal displacement. He recognized that the Laurentian APW path describes a series of straight tracks linked by hairpins, the latter corresponding in age to major orogenic events. He did not ascribe any hairpin to collisional orogenesis within IL, outward facing margins excluded, nor any track to true polar wander. After 1980, however, he argued that existing poles were too poorly dated to rule out interior plate motions. Irving was a strict empiricist who fearlessly went where his data led him, and no farther.

Motion-Base Simulator Evaluation of an Aircraft Using an External Vision System

NASA Technical Reports Server (NTRS)

Kramer, Lynda J.; Williams, Steven P.; Arthur, J. J.; Rehfeld, Sherri A.; Harrison, Stephanie

2012-01-01

Twelve air transport-rated pilots participated as subjects in a motion-base simulation experiment to evaluate the use of eXternal Vision Systems (XVS) as enabling technologies for future supersonic aircraft without forward facing windows. Three head-up flight display concepts were evaluated -a monochromatic, collimated Head-up Display (HUD) and a color, non-collimated XVS display with a field-of-view (FOV) equal to and also, one significantly larger than the collimated HUD. Approach, landing, departure, and surface operations were conducted. Additionally, the apparent angle-of-attack (AOA) was varied (high/low) to investigate the vertical field-of-view display requirements and peripheral, side window visibility was experimentally varied. The data showed that lateral approach tracking performance and lateral landing position were excellent regardless of AOA, display FOV, display collimation or whether peripheral cues were present. However, the data showed glide slope approach tracking appears to be affected by display size (i.e., FOV) and collimation. The monochrome, collimated HUD and color, uncollimated XVS with Full FOV display had (statistically equivalent) glide path performance improvements over the XVS with HUD FOV display. Approach path performance results indicated that collimation may not be a requirement for an XVS display if the XVS display is large enough and employs color. Subjective assessments of mental workload and situation awareness also indicated that an uncollimated XVS display may be feasible. Motion cueing appears to have improved localizer tracking and touchdown sink rate across all displays.

Photonic-powered cable assembly

DOEpatents

Sanderson, Stephen N.; Appel, Titus James; Wrye, IV, Walter C.

2013-01-22

A photonic-cable assembly includes a power source cable connector ("PSCC") coupled to a power receive cable connector ("PRCC") via a fiber cable. The PSCC electrically connects to a first electronic device and houses a photonic power source and an optical data transmitter. The fiber cable includes an optical transmit data path coupled to the optical data transmitter, an optical power path coupled to the photonic power source, and an optical feedback path coupled to provide feedback control to the photonic power source. The PRCC electrically connects to a second electronic device and houses an optical data receiver coupled to the optical transmit data path, a feedback controller coupled to the optical feedback path to control the photonic power source, and a photonic power converter coupled to the optical power path to convert photonic energy received over the optical power path to electrical energy to power components of the PRCC.

Photonic-powered cable assembly

DOEpatents

Sanderson, Stephen N; Appel, Titus James; Wrye, IV, Walter C

2014-06-24

A photonic-cable assembly includes a power source cable connector ("PSCC") coupled to a power receive cable connector ("PRCC") via a fiber cable. The PSCC electrically connects to a first electronic device and houses a photonic power source and an optical data transmitter. The fiber cable includes an optical transmit data path coupled to the optical data transmitter, an optical power path coupled to the photonic power source, and an optical feedback path coupled to provide feedback control to the photonic power source. The PRCC electrically connects to a second electronic device and houses an optical data receiver coupled to the optical transmit data path, a feedback controller coupled to the optical feedback path to control the photonic power source, and a photonic power converter coupled to the optical power path to convert photonic energy received over the optical power path to electrical energy to power components of the PRCC.

Lizard movement tracks: variation in path re-use behaviour is consistent with a scent-marking function

PubMed Central

Jackson, Grant; Roddick, John F.; Bull, C. Michael

2016-01-01

Individual movement influences the spatial and social structuring of a population. Animals regularly use the same paths to move efficiently to familiar places, or to patrol and mark home ranges. We found that Australian sleepy lizards (Tiliqua rugosa), a monogamous species with stable pair-bonds, repeatedly used the same paths within their home ranges and investigated whether path re-use functions as a scent-marking behaviour, or whether it is influenced by site familiarity. Lizards can leave scent trails on the substrate when moving through the environment and have a well-developed vomeronasal system to detect and respond to those scents. Path re-use would allow sleepy lizards to concentrate scent marks along these well-used trails, advertising their presence. Hypotheses of mate attraction and mating competition predict that sleepy lizard males, which experience greater intra-sexual competition, mark more strongly. Consistent with those hypotheses, males re-used their paths more than females, and lizards that showed pairing behaviour with individuals of the opposite sex re-used paths more than unpaired lizards, particularly among females. Hinterland marking is most economic when home ranges are large and mobility is low, as is the case in the sleepy lizard. Consistent with this strategy, re-used paths were predominantly located in the inner 50% home range areas. Together, our detailed movement analyses suggest that path re-use is a scent marking behaviour in the sleepy lizard. We also investigated but found less support for alternative explanations of path re-use behaviour, such as site familiarity and spatial knowledge. Lizards established the same number of paths, and used them as often, whether they had occupied their home ranges for one or for more years. We discuss our findings in relation to maintenance of the monogamous mating system of this species, and the spatial and social structuring of the population. PMID:27019790

Lizard movement tracks: variation in path re-use behaviour is consistent with a scent-marking function.

PubMed

Leu, Stephan T; Jackson, Grant; Roddick, John F; Bull, C Michael

2016-01-01

Individual movement influences the spatial and social structuring of a population. Animals regularly use the same paths to move efficiently to familiar places, or to patrol and mark home ranges. We found that Australian sleepy lizards (Tiliqua rugosa), a monogamous species with stable pair-bonds, repeatedly used the same paths within their home ranges and investigated whether path re-use functions as a scent-marking behaviour, or whether it is influenced by site familiarity. Lizards can leave scent trails on the substrate when moving through the environment and have a well-developed vomeronasal system to detect and respond to those scents. Path re-use would allow sleepy lizards to concentrate scent marks along these well-used trails, advertising their presence. Hypotheses of mate attraction and mating competition predict that sleepy lizard males, which experience greater intra-sexual competition, mark more strongly. Consistent with those hypotheses, males re-used their paths more than females, and lizards that showed pairing behaviour with individuals of the opposite sex re-used paths more than unpaired lizards, particularly among females. Hinterland marking is most economic when home ranges are large and mobility is low, as is the case in the sleepy lizard. Consistent with this strategy, re-used paths were predominantly located in the inner 50% home range areas. Together, our detailed movement analyses suggest that path re-use is a scent marking behaviour in the sleepy lizard. We also investigated but found less support for alternative explanations of path re-use behaviour, such as site familiarity and spatial knowledge. Lizards established the same number of paths, and used them as often, whether they had occupied their home ranges for one or for more years. We discuss our findings in relation to maintenance of the monogamous mating system of this species, and the spatial and social structuring of the population.

Robust control of dielectric elastomer diaphragm actuator for human pulse signal tracking

NASA Astrophysics Data System (ADS)

Ye, Zhihang; Chen, Zheng; Asmatulu, Ramazan; Chan, Hoyin

2017-08-01

Human pulse signal tracking is an emerging technology that is needed in traditional Chinese medicine. However, soft actuation with multi-frequency tracking capability is needed for tracking human pulse signal. Dielectric elastomer (DE) is one type of soft actuating that has great potential in human pulse signal tracking. In this paper, a DE diaphragm actuator was designed and fabricated to track human pulse pressure signal. A physics-based and control-oriented model has been developed to capture the dynamic behavior of DE diaphragm actuator. Using the physical model, an H-infinity robust control was designed for the actuator to reject high-frequency sensing noises and disturbances. The robust control was then implemented in real-time to track a multi-frequency signal, which verified the tracking capability and robustness of the control system. In the human pulse signal tracking test, a human pulse signal was measured at the City University of Hong Kong and then was tracked using DE actuator at Wichita State University in the US. Experimental results have verified that the DE actuator with its robust control is capable of tracking human pulse signal.

Tonopah Test Range - Index

Science.gov Websites

Capabilities Test Operations Center Test Director Range Control Track Control Communications Tracking Radars Us Range Videos/Photos Range Capabilities Test Operations Center Test Director Range Control Track Control Communications Tracking Radars Optical Systems Cinetheodolites Telescopes R&D Telescopes

Probing the liquid crystal alignment interface and switching dynamics in a slab waveguide architecture

NASA Astrophysics Data System (ADS)

Gotjen, Henry G.; Kolacz, Jakub; Myers, Jason D.; Frantz, Jesse A.; Bekele, Robel Y.; Naciri, Jawad; Spillmann, Christopher M.

2018-02-01

A non-mechanical refractive laser beam steering device has been developed to provide continuous, two-dimensional steering of infrared beams. The technology implements a dielectric slab waveguide architecture with a liquid crystal (LC) cladding. With voltage control, the birefringence of the LC can be leveraged to tune the effective index of the waveguide under an electrode. With a clever prism electrode design a beam coupled into the waveguide can be deflected continuously in two dimensions as it is coupled out into free space. The optical interaction with LC in this beamsteerer is unique from typical LC applications: only the thin layer of LC (100s of nm) near the alignment interface interacts with the beam's evanescent field. Whereas most LC interactions take place over short path lengths (microns) in the bulk of the material, here we can interrogate the behavior of LC near the alignment interface over long path lengths (centimeters). In this work the beamsteerer is leveraged as a tool to study the behavior of LC near the alignment layer in contrast to the bulk material. We find that scattering is substantially decreased near the alignment interface due to the influence of the surface anchoring energy to suppress thermal fluctuations. By tracking the position of the deflected beam with a high speed camera, we measure response times of the LC near the interface in off-to-on switching ( ms) and on-to-off switching ( 100ms). Combined, this work will provide a path for improved alignment techniques, greater optical throughput, and faster response times in this unique approach to non-mechanical beamsteering.

The Effect of Illustration on Improving Text Comprehension in Dyslexic Adults

PubMed Central

Wennås Brante, Eva; Nyström, Marcus

2016-01-01

This study analyses the effect of pictures in reading materials on the viewing patterns of dyslexic adults. By analysing viewing patterns using eye‐tracking, we captured differences in eye movements between young adults with dyslexia and controls based on the influence of reading skill as a continuous variable of the total sample. Both types of participants were assigned randomly to view either text‐only or a text + picture stimuli. The results show that the controls made an early global overview of the material and (when a picture was present) rapid transitions between text and picture. Having text illustrated with a picture decreased scores on questions about the learning material among participants with dyslexia. Controls spent 1.7% and dyslexic participants 1% of their time on the picture. Controls had 24% fewer total fixations; however, 29% more of the control group's fixations than the dyslexic group's fixations were on the picture. We also looked for effects of different types of pictures. Dyslexic subjects exhibited a comparable viewing pattern to controls when scenes were complex, but fewer fixations when scenes were neutral/simple. Individual scan paths are presented as examples of atypical viewing patterns for individuals with dyslexia as compared with controls. © 2016 The Authors. Dyslexia published by John Wiley & Sons Ltd. PMID:27892641

Common-path low-coherence interferometry fiber-optic sensor guided microincision

PubMed Central

Zhang, Kang; Kang, Jin U.

2011-01-01

We propose and demonstrate a common-path low-coherence interferometry (CP-LCI) fiber-optic sensor guided precise microincision. The method tracks the target surface and compensates the tool-to-surface relative motion with better than ±5 μm resolution using a precision micromotor connected to the tool tip. A single-fiber distance probe integrated microdissector was used to perform an accurate 100 μm incision into the surface of an Intralipid phantom. The CP-LCI guided incision quality in terms of depth was evaluated afterwards using three-dimensional Fourier-domain optical coherence tomography imaging, which showed significant improvement of incision accuracy compared to free-hand-only operations. PMID:21950912

Path-following control of wheeled planetary exploration robots moving on deformable rough terrain.

PubMed

Ding, Liang; Gao, Hai-bo; Deng, Zong-quan; Li, Zhijun; Xia, Ke-rui; Duan, Guang-ren

2014-01-01

The control of planetary rovers, which are high performance mobile robots that move on deformable rough terrain, is a challenging problem. Taking lateral skid into account, this paper presents a rough terrain model and nonholonomic kinematics model for planetary rovers. An approach is proposed in which the reference path is generated according to the planned path by combining look-ahead distance and path updating distance on the basis of the carrot following method. A path-following strategy for wheeled planetary exploration robots incorporating slip compensation is designed. Simulation results of a four-wheeled robot on deformable rough terrain verify that it can be controlled to follow a planned path with good precision, despite the fact that the wheels will obviously skid and slip.

Path-Following Control of Wheeled Planetary Exploration Robots Moving on Deformable Rough Terrain

PubMed Central

Ding, Liang; Gao, Hai-bo; Deng, Zong-quan; Li, Zhijun; Xia, Ke-rui; Duan, Guang-ren

2014-01-01

The control of planetary rovers, which are high performance mobile robots that move on deformable rough terrain, is a challenging problem. Taking lateral skid into account, this paper presents a rough terrain model and nonholonomic kinematics model for planetary rovers. An approach is proposed in which the reference path is generated according to the planned path by combining look-ahead distance and path updating distance on the basis of the carrot following method. A path-following strategy for wheeled planetary exploration robots incorporating slip compensation is designed. Simulation results of a four-wheeled robot on deformable rough terrain verify that it can be controlled to follow a planned path with good precision, despite the fact that the wheels will obviously skid and slip. PMID:24790582

UAV path planning using artificial potential field method updated by optimal control theory

NASA Astrophysics Data System (ADS)

Chen, Yong-bo; Luo, Guan-chen; Mei, Yue-song; Yu, Jian-qiao; Su, Xiao-long

2016-04-01

The unmanned aerial vehicle (UAV) path planning problem is an important assignment in the UAV mission planning. Based on the artificial potential field (APF) UAV path planning method, it is reconstructed into the constrained optimisation problem by introducing an additional control force. The constrained optimisation problem is translated into the unconstrained optimisation problem with the help of slack variables in this paper. The functional optimisation method is applied to reform this problem into an optimal control problem. The whole transformation process is deduced in detail, based on a discrete UAV dynamic model. Then, the path planning problem is solved with the help of the optimal control method. The path following process based on the six degrees of freedom simulation model of the quadrotor helicopters is introduced to verify the practicability of this method. Finally, the simulation results show that the improved method is more effective in planning path. In the planning space, the length of the calculated path is shorter and smoother than that using traditional APF method. In addition, the improved method can solve the dead point problem effectively.

Homing of invasive Burmese pythons in South Florida: evidence for map and compass senses in snakes

PubMed Central

Pittman, Shannon E.; Hart, Kristen M.; Cherkiss, Michael S.; Snow, Ray W.; Fujisaki, Ikuko; Smith, Brian J.; Mazzotti, Frank J.; Dorcas, Michael E.

2014-01-01

Navigational ability is a critical component of an animal's spatial ecology and may influence the invasive potential of species. Burmese pythons (Python molurus bivittatus) are apex predators invasive to South Florida. We tracked the movements of 12 adult Burmese pythons in Everglades National Park, six of which were translocated 21–36 km from their capture locations. Translocated snakes oriented movement homeward relative to the capture location, and five of six snakes returned to within 5 km of the original capture location. Translocated snakes moved straighter and faster than control snakes and displayed movement path structure indicative of oriented movement. This study provides evidence that Burmese pythons have navigational map and compass senses and has implications for predictions of spatial spread and impacts as well as our understanding of reptile cognitive abilities. PMID:24647727

Homing of invasive Burmese pythons in South Florida: evidence for map and compass senses in snakes

USGS Publications Warehouse

Pittman, Shannon E.; Hart, Kristen M.; Cherkiss, Michael S.; Snow, Ray W.; Fujisaki, Ikuko; Mazzotti, Frank J.; Dorcas, Michael E.

2014-01-01

Navigational ability is a critical component of an animal's spatial ecology and may influence the invasive potential of species. Burmese pythons (Python molurus bivittatus) are apex predators invasive to South Florida. We tracked the movements of 12 adult Burmese pythons in Everglades National Park, six of which were translocated 21–36 km from their capture locations. Translocated snakes oriented movement homeward relative to the capture location, and five of six snakes returned to within 5 km of the original capture location. Translocated snakes moved straighter and faster than control snakes and displayed movement path structure indicative of oriented movement. This study provides evidence that Burmese pythons have navigational map and compass senses and has implications for predictions of spatial spread and impacts as well as our understanding of reptile cognitive abilities.

Progenitor Outgrowth from the Niche in Drosophila Trachea Is Guided by FGF from Decaying Branches

PubMed Central

Chen, Feng; Krasnow, Mark A.

2014-01-01

Although there has been progress identifying adult stem and progenitor cells and the signals that control their proliferation and differentiation, little is known about the substrates and signals that guide them out of their niche. By examining Drosophila tracheal outgrowth during metamorphosis, we show that progenitors follow a stereotyped path out of the niche, tracking along a subset of tracheal branches destined for destruction. The embryonic tracheal inducer branchless FGF (fibroblast growth factor) is expressed dynamically just ahead of progenitor outgrowth in decaying branches. Knockdown of branchless abrogates progenitor outgrowth, whereas misexpression redirects it. Thus, reactivation of an embryonic tracheal inducer in decaying branches directs outgrowth of progenitors that replace them. This explains how the structure of a newly generated tissue is coordinated with that of the old. PMID:24408434

A real-time guidance algorithm for aerospace plane optimal ascent to low earth orbit

NASA Technical Reports Server (NTRS)

Calise, A. J.; Flandro, G. A.; Corban, J. E.

1989-01-01

Problems of onboard trajectory optimization and synthesis of suitable guidance laws for ascent to low Earth orbit of an air-breathing, single-stage-to-orbit vehicle are addressed. A multimode propulsion system is assumed which incorporates turbojet, ramjet, Scramjet, and rocket engines. An algorithm for generating fuel-optimal climb profiles is presented. This algorithm results from the application of the minimum principle to a low-order dynamic model that includes angle-of-attack effects and the normal component of thrust. Maximum dynamic pressure and maximum aerodynamic heating rate constraints are considered. Switching conditions are derived which, under appropriate assumptions, govern optimal transition from one propulsion mode to another. A nonlinear transformation technique is employed to derived a feedback controller for tracking the computed trajectory. Numerical results illustrate the nature of the resulting fuel-optimal climb paths.

EuPathDB: the eukaryotic pathogen genomics database resource

PubMed Central

Aurrecoechea, Cristina; Barreto, Ana; Basenko, Evelina Y.; Brestelli, John; Brunk, Brian P.; Cade, Shon; Crouch, Kathryn; Doherty, Ryan; Falke, Dave; Fischer, Steve; Gajria, Bindu; Harb, Omar S.; Heiges, Mark; Hertz-Fowler, Christiane; Hu, Sufen; Iodice, John; Kissinger, Jessica C.; Lawrence, Cris; Li, Wei; Pinney, Deborah F.; Pulman, Jane A.; Roos, David S.; Shanmugasundram, Achchuthan; Silva-Franco, Fatima; Steinbiss, Sascha; Stoeckert, Christian J.; Spruill, Drew; Wang, Haiming; Warrenfeltz, Susanne; Zheng, Jie

2017-01-01

The Eukaryotic Pathogen Genomics Database Resource (EuPathDB, http://eupathdb.org) is a collection of databases covering 170+ eukaryotic pathogens (protists & fungi), along with relevant free-living and non-pathogenic species, and select pathogen hosts. To facilitate the discovery of meaningful biological relationships, the databases couple preconfigured searches with visualization and analysis tools for comprehensive data mining via intuitive graphical interfaces and APIs. All data are analyzed with the same workflows, including creation of gene orthology profiles, so data are easily compared across data sets, data types and organisms. EuPathDB is updated with numerous new analysis tools, features, data sets and data types. New tools include GO, metabolic pathway and word enrichment analyses plus an online workspace for analysis of personal, non-public, large-scale data. Expanded data content is mostly genomic and functional genomic data while new data types include protein microarray, metabolic pathways, compounds, quantitative proteomics, copy number variation, and polysomal transcriptomics. New features include consistent categorization of searches, data sets and genome browser tracks; redesigned gene pages; effective integration of alternative transcripts; and a EuPathDB Galaxy instance for private analyses of a user's data. Forthcoming upgrades include user workspaces for private integration of data with existing EuPathDB data and improved integration and presentation of host–pathogen interactions. PMID:27903906