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.

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.

Active feedforward noise control and signal tracking of headsets: Electroacoustic analysis and system implementation.

PubMed

Bai, Mingsian R; Pan, Weichi; Chen, Hungyu

2018-03-01

Active noise control (ANC) of headsets is revisited in this paper. An in-depth electroacoustic analysis of the combined loudspeaker-cavity headset system is conducted on the basis of electro-mechano-acoustical analogous circuits. Model matching of the primary path and the secondary path leads to a feedforward control architecture. The ideal controller sheds some light on the key parameters that affect the noise reduction performance. Filtered-X least-mean-squares algorithm is employed to implement the feedforward controller on a digital signal processor. Since the relative delay of the primary path and the secondary path is crucial to the noise reduction performance, multirate signal processing with polyphase implementation is utilized to minimize the effective analog-digital conversion delay in the secondary path. Ad hoc decimation and interpolation filters are designed in order not to introduce excessive phase delays at the cutoff. Real-time experiments are undertaken to validate the implemented ANC system. Listening tests are also conducted to compare the fixed controller and the adaptive controller in terms of noise reduction and signal tracking performance for three noise types. The results have demonstrated that the fixed feedforward controller achieved satisfactory noise reduction performance and signal tracking quality.

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.

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.

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.

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.

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.

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.

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.

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

NASA Technical Reports Server (NTRS)

Hueschen, Richard M.; Khong, Thuan H.

2013-01-01

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

Steering Angle Control of Car for Dubins Path-tracking Using Model Predictive Control

NASA Astrophysics Data System (ADS)

Kusuma Rahma Putri, Dian; Subchan; Asfihani, Tahiyatul

2018-03-01

Car as one of transportation is inseparable from technological developments. About ten years, there are a lot of research and development on lane keeping system(LKS) which is a system that automaticaly controls the steering to keep the vehicle especially car always on track. This system can be developed for unmanned cars. Unmanned system car requires navigation, guidance and control which is able to direct the vehicle to move toward the desired path. The guidance system is represented by using Dubins-Path that will be controlled by using Model Predictive Control. The control objective is to keep the car’s movement that represented by dinamic lateral motion model so car can move according to the path appropriately. The simulation control on the four types of trajectories that generate the value for steering angle and steering angle changes are at the specified interval.

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.

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...

Path-following in model predictive rollover prevention using front steering and braking

NASA Astrophysics Data System (ADS)

Ghazali, Mohammad; Durali, Mohammad; Salarieh, Hassan

2017-01-01

In this paper vehicle path-following in the presence of rollover risk is investigated. Vehicles with high centre of mass are prone to roll instability. Untripped rollover risk is increased in high centre of gravity vehicles and high-friction road condition. Researches introduce strategies to handle the short-duration rollover condition. In these researches, however, trajectory tracking is affected and not thoroughly investigated. This paper puts stress on tracking error from rollover prevention. A lower level model predictive front steering controller is adopted to deal with rollover and tracking error as a priority sequence. A brake control is included in lower level controller which directly obeys an upper level controller (ULC) command. The ULC manages vehicle speed regarding primarily tracking error. Simulation results show that the proposed control framework maintains roll stability while tracking error is confined to predefined error limit.

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.

77 FR 5294 - Petition for Waiver of Compliance

Federal Register 2010, 2011, 2012, 2013, 2014

2012-02-02

... automatic train supervision controls. This work initially includes certain tracks within PATH's Harrison... tracks, other yard tracks, and terminals as the Automatic Train Control (ATC, which is a type of PTC... the requirements of 49 CFR 235.5 to expedite successful installation of Positive Train Control (PTC...

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.

Trajectory specification for high capacity air traffic control

NASA Technical Reports Server (NTRS)

Paielli, Russell A. (Inventor)

2010-01-01

Method and system for analyzing and processing information on one or more aircraft flight paths, using a four-dimensional coordinate system including three Cartesian or equivalent coordinates (x, y, z) and a fourth coordinate .delta. that corresponds to a distance estimated along a reference flight path to a nearest reference path location corresponding to a present location of the aircraft. Use of the coordinate .delta., rather than elapsed time t, avoids coupling of along-track error into aircraft altitude and reduces effects of errors on an aircraft landing site. Along-track, cross-track and/or altitude errors are estimated and compared with a permitted error bounding space surrounding the reference flight path.

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.

Aerosol mass spectrometry systems and methods

DOEpatents

Fergenson, David P.; Gard, Eric E.

2013-08-20

A system according to one embodiment includes a particle accelerator that directs a succession of polydisperse aerosol particles along a predetermined particle path; multiple tracking lasers for generating beams of light across the particle path; an optical detector positioned adjacent the particle path for detecting impingement of the beams of light on individual particles; a desorption laser for generating a beam of desorbing light across the particle path about coaxial with a beam of light produced by one of the tracking lasers; and a controller, responsive to detection of a signal produced by the optical detector, that controls the desorption laser to generate the beam of desorbing light. Additional systems and methods are also disclosed.

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).

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

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.

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.

An iterative learning control method with application for CNC machine tools

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

Kim, D.I.; Kim, S.

1996-01-01

A proportional, integral, and derivative (PID) type iterative learning controller is proposed for precise tracking control of industrial robots and computer numerical controller (CNC) machine tools performing repetitive tasks. The convergence of the output error by the proposed learning controller is guaranteed under a certain condition even when the system parameters are not known exactly and unknown external disturbances exist. As the proposed learning controller is repeatedly applied to the industrial robot or the CNC machine tool with the path-dependent repetitive task, the distance difference between the desired path and the actual tracked or machined path, which is one ofmore » the most significant factors in the evaluation of control performance, is progressively reduced. The experimental results demonstrate that the proposed learning controller can improve machining accuracy when the CNC machine tool performs repetitive machining tasks.« less

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

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.

Improving the Flight Path Marker Symbol on Rotorcraft Synthetic Vision Displays

NASA Technical Reports Server (NTRS)

Szoboszlay, Zoltan P.; Hardy, Gordon H.; Welsh, Terence M.

2004-01-01

Two potential improvements to the flight path marker symbol were evaluated on a panel-mounted, synthetic vision, primary flight display in a rotorcraft simulation. One concept took advantage of the fact that synthetic vision systems have terrain height information available ahead of the aircraft. For this first concept, predicted altitude and ground track information was added to the flight path marker. In the second concept, multiple copies of the flight path marker were displayed at 3, 4, and 5 second prediction times as compared to a single prediction time of 3 seconds. Objective and subjective data were collected for eight rotorcraft pilots. The first concept produced significant improvements in pilot attitude control, ground track control, workload ratings, and preference ratings. The second concept did not produce significant differences in the objective or subjective measures.

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.

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.

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.

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.

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.

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.

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.

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.

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.

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

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.

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.

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.

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 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.

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.

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.

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.

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.

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.

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.

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.

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.

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.

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.

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

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.

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.

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.

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.

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.

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.

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.

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

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.

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

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.

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.

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.

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.

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.

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

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.

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.

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

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.

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

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.

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

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.

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

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.

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.

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.

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.

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.

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.

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

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.

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

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

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.

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.

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.

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…

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

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

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.

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.

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.

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.

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.

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.

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.

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.

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.

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.

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.

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.

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.

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.

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.

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.

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.

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

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.

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).

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

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.

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.

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.

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

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

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.

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

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.

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.

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.

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.

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).

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…

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.

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

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.

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.

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.

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)

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.

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.

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.

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.

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.

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

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.

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.

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.

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.

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.

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.

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.

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…

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.

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

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.

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.

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.

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.

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.

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.

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.

The course correction implementation of the inertial navigation system based on the information from the aircraft satellite navigation system before take-off

NASA Astrophysics Data System (ADS)

Markelov, V.; Shukalov, A.; Zharinov, I.; Kostishin, M.; Kniga, I.

2016-04-01

The use of the correction course option before aircraft take-off after inertial navigation system (INS) inaccurate alignment based on the platform attitude-and-heading reference system in azimuth is considered in the paper. A course correction is performed based on the track angle defined by the information received from the satellite navigation system (SNS). The course correction includes a calculated track error definition during ground taxiing along straight sections before take-off with its input in the onboard digital computational system like amendment for using in the current flight. The track error calculation is performed by the statistical evaluation of the track angle comparison defined by the SNS information with the current course measured by INS for a given number of measurements on the realizable time interval. The course correction testing results and recommendation application are given in the paper. The course correction based on the information from SNS can be used for improving accuracy characteristics for determining an aircraft path after making accelerated INS preparation concerning inaccurate initial azimuth alignment.

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

8. INTERIOR, CONTROL AND INSTRUMENTATION ROOM. Looking southwest toward entrance ...

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

8. INTERIOR, CONTROL AND INSTRUMENTATION ROOM. Looking southwest toward entrance and inner blast door. - Edwards Air Force Base, South Base Sled Track, Firing & Control Blockhouse for 10,000-foot Track, South of Sled Track at midpoint of 20,000-foot track, Lancaster, Los Angeles County, CA

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.

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.

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 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.

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.

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.

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.

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.

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.

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

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…

Adaptive DFT-Based Interferometer Fringe Tracking

NASA Astrophysics Data System (ADS)

Wilson, Edward; Pedretti, Ettore; Bregman, Jesse; Mah, Robert W.; Traub, Wesley A.

An automatic interferometer fringe tracking system has been developed, implemented, and tested at the Infrared Optical Telescope Array (IOTA) Observatory at Mount 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 offline 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. One example of such an application might be to the field of thin-film measurement by ellipsometry, using a broadband light source and a Fourier-transform spectrometer to detect the resulting fringe patterns.

Adaptive DFT-Based Interferometer Fringe Tracking

NASA Astrophysics Data System (ADS)

Wilson, Edward; Pedretti, Ettore; Bregman, Jesse; Mah, Robert W.; Traub, Wesley A.

2005-12-01

An automatic interferometer fringe tracking system has been developed, implemented, and tested at the Infrared Optical Telescope Array (IOTA) Observatory at Mount 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 offline data. Implemented in ANSI C on the 266 MHz PowerPC processor running the VxWorks real-time operating system, the algorithm runs in approximately [InlineEquation not available: see fulltext.] 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. One example of such an application might be to the field of thin-film measurement by ellipsometry, using a broadband light source and a Fourier-transform spectrometer to detect the resulting fringe patterns.

EVA: laparoscopic instrument tracking based on Endoscopic Video Analysis for psychomotor skills assessment.

PubMed

Oropesa, Ignacio; Sánchez-González, Patricia; Chmarra, Magdalena K; Lamata, Pablo; Fernández, Alvaro; Sánchez-Margallo, Juan A; Jansen, Frank Willem; Dankelman, Jenny; Sánchez-Margallo, Francisco M; Gómez, Enrique J

2013-03-01

The EVA (Endoscopic Video Analysis) tracking system is a new system for extracting motions of laparoscopic instruments based on nonobtrusive video tracking. The feasibility of using EVA in laparoscopic settings has been tested in a box trainer setup. EVA makes use of an algorithm that employs information of the laparoscopic instrument's shaft edges in the image, the instrument's insertion point, and the camera's optical center to track the three-dimensional position of the instrument tip. A validation study of EVA comprised a comparison of the measurements achieved with EVA and the TrEndo tracking system. To this end, 42 participants (16 novices, 22 residents, and 4 experts) were asked to perform a peg transfer task in a box trainer. Ten motion-based metrics were used to assess their performance. Construct validation of the EVA has been obtained for seven motion-based metrics. Concurrent validation revealed that there is a strong correlation between the results obtained by EVA and the TrEndo for metrics, such as path length (ρ = 0.97), average speed (ρ = 0.94), or economy of volume (ρ = 0.85), proving the viability of EVA. EVA has been successfully validated in a box trainer setup, showing the potential of endoscopic video analysis to assess laparoscopic psychomotor skills. The results encourage further implementation of video tracking in training setups and image-guided surgery.

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.

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.

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.

An Electroacoustic Hearing Protector Simulator That Accurately Predicts Pressure Levels in the Ear Based on Standard Performance Metrics

DTIC Science & Technology

2013-08-01

earplug and earmuff showing HPD simulator elements for energy flow paths...unprotected or protected ear traditionally start with analysis of energy flow through schematic diagrams based on electroacoustic (EA) analogies between...Schröter, 1983; Schröter and Pösselt, 1986; Shaw and Thiessen, 1958, 1962; Zwislocki, 1957). The analysis method tracks energy flow through fluid and

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

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.

Electromagnetic tracking for abdominal interventions in computer aided surgery

PubMed Central

Zhang, Hui; Banovac, Filip; Lin, Ralph; Glossop, Neil; Wood, Bradford J.; Lindisch, David; Levy, Elliot; Cleary, Kevin

2014-01-01

Electromagnetic tracking has great potential for assisting physicians in precision placement of instruments during minimally invasive interventions in the abdomen, since electromagnetic tracking is not limited by the line-of-sight restrictions of optical tracking. A new generation of electromagnetic tracking has recently become available, with sensors small enough to be included in the tips of instruments. To fully exploit the potential of this technology, our research group has been developing a computer aided, image-guided system that uses electromagnetic tracking for visualization of the internal anatomy during abdominal interventions. As registration is a critical component in developing an accurate image-guided system, we present three registration techniques: 1) enhanced paired-point registration (time-stamp match registration and dynamic registration); 2) orientation-based registration; and 3) needle shape-based registration. Respiration compensation is another important issue, particularly in the abdomen, where respiratory motion can make precise targeting difficult. To address this problem, we propose reference tracking and affine transformation methods. Finally, we present our prototype navigation system, which integrates the registration, segmentation, path-planning and navigation functions to provide real-time image guidance in the clinical environment. The methods presented here have been tested with a respiratory phantom specially designed by our group and in swine animal studies under approved protocols. Based on these tests, we conclude that our system can provide quick and accurate localization of tracked instruments in abdominal interventions, and that it offers a user friendly display for the physician. PMID:16829506

Adaptive DIT-Based Fringe Tracking and Prediction at IOTA

NASA Technical Reports Server (NTRS)

Wilson, Edward; Pedretti, Ettore; Bregman, Jesse; Mah, Robert W.; Traub, Wesley A.

2004-01-01

An automatic fringe tracking system has been developed and implemented at the Infrared Optical Telescope Array (IOTA). In testing during May 2002, the system successfully minimized the optical path differences (OPDs) for all three baselines 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. Preliminary analysis on an extension of this algorithm indicates a potential for predictive tracking, although at present, real-time implementation of this extension would require significantly more computational capacity.

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…

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.

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.

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

NASA Technical Reports Server (NTRS)

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

2010-01-01

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

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.

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.

Observer-based state tracking control of uncertain stochastic systems via repetitive controller

NASA Astrophysics Data System (ADS)

Sakthivel, R.; Susana Ramya, L.; Selvaraj, P.

2017-08-01

This paper develops the repetitive control scheme for state tracking control of uncertain stochastic time-varying delay systems via equivalent-input-disturbance approach. The main purpose of this work is to design a repetitive controller to guarantee the tracking performance under the effects of unknown disturbances with bounded frequency and parameter variations. Specifically, a new set of linear matrix inequality (LMI)-based conditions is derived based on the suitable Lyapunov-Krasovskii functional theory for designing a repetitive controller which guarantees stability and desired tracking performance. More precisely, an equivalent-input-disturbance estimator is incorporated into the control design to reduce the effect of the external disturbances. Simulation results are provided to demonstrate the desired control system stability and their tracking performance. A practical stream water quality preserving system is also provided to show the effectiveness and advantage of the proposed approach.

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.

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.

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.

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".

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.

Exploring viewing behavior data from whole slide images to predict correctness of students' answers during practical exams in oral pathology.

PubMed

Walkowski, Slawomir; Lundin, Mikael; Szymas, Janusz; Lundin, Johan

2015-01-01

The way of viewing whole slide images (WSI) can be tracked and analyzed. In particular, it can be useful to learn how medical students view WSIs during exams and how their viewing behavior is correlated with correctness of the answers they give. We used software-based view path tracking method that enabled gathering data about viewing behavior of multiple simultaneous WSI users. This approach was implemented and applied during two practical exams in oral pathology in 2012 (88 students) and 2013 (91 students), which were based on questions with attached WSIs. Gathered data were visualized and analyzed in multiple ways. As a part of extended analysis, we tried to use machine learning approaches to predict correctness of students' answers based on how they viewed WSIs. We compared the results of analyses for years 2012 and 2013 - done for a single question, for student groups, and for a set of questions. The overall patterns were generally consistent across these 3 years. Moreover, viewing behavior data appeared to have certain potential for predicting answers' correctness and some outcomes of machine learning approaches were in the right direction. However, general prediction results were not satisfactory in terms of precision and recall. Our work confirmed that the view path tracking method is useful for discovering viewing behavior of students analyzing WSIs. It provided multiple useful insights in this area, and general results of our analyses were consistent across two exams. On the other hand, predicting answers' correctness appeared to be a difficult task - students' answers seem to be often unpredictable.

Particle Filtering for Obstacle Tracking in UAS Sense and Avoid Applications

PubMed Central

Moccia, Antonio

2014-01-01

Obstacle detection and tracking is a key function for UAS sense and avoid applications. In fact, obstacles in the flight path must be detected and tracked in an accurate and timely manner in order to execute a collision avoidance maneuver in case of collision threat. The most important parameter for the assessment of a collision risk is the Distance at Closest Point of Approach, that is, the predicted minimum distance between own aircraft and intruder for assigned current position and speed. Since assessed methodologies can cause some loss of accuracy due to nonlinearities, advanced filtering methodologies, such as particle filters, can provide more accurate estimates of the target state in case of nonlinear problems, thus improving system performance in terms of collision risk estimation. The paper focuses on algorithm development and performance evaluation for an obstacle tracking system based on a particle filter. The particle filter algorithm was tested in off-line simulations based on data gathered during flight tests. In particular, radar-based tracking was considered in order to evaluate the impact of particle filtering in a single sensor framework. The analysis shows some accuracy improvements in the estimation of Distance at Closest Point of Approach, thus reducing the delay in collision detection. PMID:25105154

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.

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.

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.

Noise reduction in urban LRT networks by combining track based solutions.

PubMed

Vogiatzis, Konstantinos; Vanhonacker, Patrick

2016-10-15

The overall objective of the Quiet-Track project is to provide step-changing track based noise mitigation and maintenance schemes for railway rolling noise in LRT (Light Rail Transit) networks. WP 4 in particular focuses on the combination of existing track based solutions to yield a global performance of at least 6dB(A). The validation was carried out using a track section in the network of Athens Metro Line 1 with an existing outside concrete slab track (RHEDA track) where high airborne rolling noise was observed. The procedure for the selection of mitigation measures is based on numerical simulations, combining WRNOISE and IMMI software tools for noise prediction with experimental determination of the required track and vehicle parameters (e.g., rail and wheel roughness). The availability of a detailed rolling noise calculation procedure allows for detailed designing of measures and of ranking individual measures. It achieves this by including the modelling of the wheel/rail source intensity and of the noise propagation with the ability to evaluate the effect of modifications at source level (e.g., grinding, rail dampers, wheel dampers, change in resiliency of wheels and/or rail fixation) and of modifications in the propagation path (absorption at the track base, noise barriers, screening). A relevant combination of existing solutions was selected in the function of the simulation results. Three distinct existing solutions were designed in detail aiming at a high rolling noise attenuation and not affecting the normal operation of the metro system: Action 1: implementation of sound absorbing precast elements (panel type) on the track bed, Action 2: implementation of an absorbing noise barrier with a height of 1.10-1.20m above rail level, and Action 3: installation of rail dampers. The selected solutions were implemented on site and the global performance was measured step by step for comparison with simulations. Copyright © 2015 Elsevier B.V. All rights reserved.

Analog front-end design of the STS/MUCH-XYTER2—full size prototype ASIC for the CBM experiment

NASA Astrophysics Data System (ADS)

Kleczek, Rafal

2017-01-01

The design of the analog front-end of the STS/MUCH-XYTER2 ASIC, a full-size prototype chip for the Silicon Tracking System (STS, based on double-sided silicon strip sensors) and Muon Chamber (MUCH, based on gas sensors) detectors is presented. The ASIC contains 128 charge processing channels, each built of a charge sensitive amplifier, a polarity selection circuit and two pulse shaping amplifiers forming two parallel signal paths. The first path is used for timing measurement with a fast discriminator. The second path allows low-noise amplitude measurement with a 5-bit continuous-time flash ADC. Different operating conditions and constraints posed by two target detectors' applications require front-end electronics flexibility to meet extended system-wise requirements. The presented circuit implements switchable shaper peaking time, gain switching and trimming, input amplifier pulsed reset circuit, fail-safe measures. The power consumption is scalable (for the STS and the MUCH modes), but limited to 10 mW/channel.

Model-based control strategies for systems with constraints of the program type

NASA Astrophysics Data System (ADS)

Jarzębowska, Elżbieta

2006-08-01

The paper presents a model-based tracking control strategy for constrained mechanical systems. Constraints we consider can be material and non-material ones referred to as program constraints. The program constraint equations represent tasks put upon system motions and they can be differential equations of orders higher than one or two, and be non-integrable. The tracking control strategy relies upon two dynamic models: a reference model, which is a dynamic model of a system with arbitrary order differential constraints and a dynamic control model. The reference model serves as a motion planner, which generates inputs to the dynamic control model. It is based upon a generalized program motion equations (GPME) method. The method enables to combine material and program constraints and merge them both into the motion equations. Lagrange's equations with multipliers are the peculiar case of the GPME, since they can be applied to systems with constraints of first orders. Our tracking strategy referred to as a model reference program motion tracking control strategy enables tracking of any program motion predefined by the program constraints. It extends the "trajectory tracking" to the "program motion tracking". We also demonstrate that our tracking strategy can be extended to a hybrid program motion/force tracking.

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.

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.

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.

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.

Track Detection in Railway Sidings Based on MEMS Gyroscope Sensors

PubMed Central

Broquetas, Antoni; Comerón, Adolf; Gelonch, Antoni; Fuertes, Josep M.; Castro, J. Antonio; Felip, Damià; López, Miguel A.; Pulido, José A.

2012-01-01

The paper presents a two-step technique for real-time track detection in single-track railway sidings using low-cost MEMS gyroscopes. The objective is to reliably know the path the train has taken in a switch, diverted or main road, immediately after the train head leaves the switch. The signal delivered by the gyroscope is first processed by an adaptive low-pass filter that rejects noise and converts the temporal turn rate data in degree/second units into spatial turn rate data in degree/meter. The conversion is based on the travelled distance taken from odometer data. The filter is implemented to achieve a speed-dependent cut-off frequency to maximize the signal-to-noise ratio. Although direct comparison of the filtered turn rate signal with a predetermined threshold is possible, the paper shows that better detection performance can be achieved by processing the turn rate signal with a filter matched to the rail switch curvature parameters. Implementation aspects of the track detector have been optimized for real-time operation. The detector has been tested with both simulated data and real data acquired in railway campaigns. PMID:23443376

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…

Path Planning for Robot based on Chaotic Artificial Potential Field Method

NASA Astrophysics Data System (ADS)

Zhang, Cheng

2018-03-01

Robot path planning in unknown environments is one of the hot research topics in the field of robot control. Aiming at the shortcomings of traditional artificial potential field methods, we propose a new path planning for Robot based on chaotic artificial potential field method. The path planning adopts the potential function as the objective function and introduces the robot direction of movement as the control variables, which combines the improved artificial potential field method with chaotic optimization algorithm. Simulations have been carried out and the results demonstrate that the superior practicality and high efficiency of the proposed method.

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

Enhancement of tracking performance in electro-optical system based on servo control algorithm

NASA Astrophysics Data System (ADS)

Choi, WooJin; Kim, SungSu; Jung, DaeYoon; Seo, HyoungKyu

2017-10-01

Modern electro-optical surveillance and reconnaissance systems require tracking capability to get exact images of target or to accurately direct the line of sight to target which is moving or still. This leads to the tracking system composed of image based tracking algorithm and servo control algorithm. In this study, we focus on the servo control function to minimize the overshoot in the tracking motion and do not miss the target. The scheme is to limit acceleration and velocity parameters in the tracking controller, depending on the target state information in the image. We implement the proposed techniques by creating a system model of DIRCM and simulate the same environment, validate the performance on the actual equipment.

Final Programmatic Environmental Assessment for the 2011-2015 Integrated Natural Resources Management Plan for Vandenberg Air Force Base, California

DTIC Science & Technology

2011-08-16

UNIT NUMBER 7. PERFORMING ORGANIZATION NAME(S) AND ADDRESS(ES) Tetra Tech, Inc.,301 Mentor Drive, Suite A,Santa Barbara,CA,93111 8. PERFORMING ...Vandenberg AFB may not be known, base-wide surveys would be performed to document new populations.  Because rare species populations are dynamic and their...football/baseball/ softball fields, tennis courts, running tracks, picnic areas, and bicycle paths. Additional information regarding the outdoor

Quantifying Spatial Misclassification in Exposure to Noise Complaints Among Low-Income Housing Residents Across New York City Neighborhoods: A Global Positioning System (GPS) Study

PubMed Central

Duncan, Dustin T.; Tamura, Kosuke; Regan, Seann D.; Athens, Jessica; Elbel, Brian; Meline, Julie; Al-Ajlouni, Yazan A.; Chaix, Basile

2016-01-01

Purpose To examine if there was spatial misclassification in exposure to neighborhood noise complaints among a sample of low-income housing residents in New York City, comparing home-based spatial buffers and Global Positioning Systems (GPS) daily path buffers. Methods Data came from the community-based NYC Low-Income Housing, Neighborhoods and Health Study, where GPS tracking of the sample was conducted for a week (analytic n=102). We created a GPS daily path buffer (a buffering zone drawn around GPS tracks) of 200-meters and 400-meters. We also used home-based buffers of 200-meters and 400-meters. Using these “neighborhoods” (or exposure areas) we calculated neighborhood exposure to noisy events from 311 complaints data (analytic n=143,967). Friedman tests (to compare overall differences in neighborhood definitions) were applied. Results There were differences in neighborhood noise complaints according to the selected neighborhood definitions (p<0.05). For example, the mean neighborhood noise complaint count was 1196 per square kilometer for the 400-meter home-based and 812 per square kilometer for the 400-meter activity space buffer, illustrating how neighborhood definition influences the estimates of exposure to neighborhood noise complaints. Conclusions These analyses suggest that, whenever appropriate, GPS neighborhood definitions can be used in spatial epidemiology research in spatially mobile populations to understand people's lived experience. PMID:28063754

5. INTERIOR, INSTRUMENTATION AND CONTROL BUILDING ADDITION. Looking north. ...

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

5. INTERIOR, INSTRUMENTATION AND CONTROL BUILDING ADDITION. Looking north. - Edwards Air Force Base, South Base Sled Track, Instrumentation & Control Building, South of Sled Track, Station "50" area, Lancaster, Los Angeles County, CA

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.

Homography-based control scheme for mobile robots with nonholonomic and field-of-view constraints.

PubMed

López-Nicolás, Gonzalo; Gans, Nicholas R; Bhattacharya, Sourabh; Sagüés, Carlos; Guerrero, Josechu J; Hutchinson, Seth

2010-08-01

In this paper, we present a visual servo controller that effects optimal paths for a nonholonomic differential drive robot with field-of-view constraints imposed by the vision system. The control scheme relies on the computation of homographies between current and goal images, but unlike previous homography-based methods, it does not use the homography to compute estimates of pose parameters. Instead, the control laws are directly expressed in terms of individual entries in the homography matrix. In particular, we develop individual control laws for the three path classes that define the language of optimal paths: rotations, straight-line segments, and logarithmic spirals. These control laws, as well as the switching conditions that define how to sequence path segments, are defined in terms of the entries of homography matrices. The selection of the corresponding control law requires the homography decomposition before starting the navigation. We provide a controllability and stability analysis for our system and give experimental results.

Real-time plasma control in a dual-frequency, confined plasma etcher

NASA Astrophysics Data System (ADS)

Milosavljević, V.; Ellingboe, A. R.; Gaman, C.; Ringwood, J. V.

2008-04-01

The physics issues of developing model-based control of plasma etching are presented. A novel methodology for incorporating real-time model-based control of plasma processing systems is developed. The methodology is developed for control of two dependent variables (ion flux and chemical densities) by two independent controls (27 MHz power and O2 flow). A phenomenological physics model of the nonlinear coupling between the independent controls and the dependent variables of the plasma is presented. By using a design of experiment, the functional dependencies of the response surface are determined. In conjunction with the physical model, the dependencies are used to deconvolve the sensor signals onto the control inputs, allowing compensation of the interaction between control paths. The compensated sensor signals and compensated set-points are then used as inputs to proportional-integral-derivative controllers to adjust radio frequency power and oxygen flow to yield the desired ion flux and chemical density. To illustrate the methodology, model-based real-time control is realized in a commercial semiconductor dielectric etch chamber. The two radio frequency symmetric diode operates with typical commercial fluorocarbon feed-gas mixtures (Ar/O2/C4F8). Key parameters for dielectric etching are known to include ion flux to the surface and surface flux of oxygen containing species. Control is demonstrated using diagnostics of electrode-surface ion current, and chemical densities of O, O2, and CO measured by optical emission spectrometry and/or mass spectrometry. Using our model-based real-time control, the set-point tracking accuracy to changes in chemical species density and ion flux is enhanced.

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

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

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

NASA Astrophysics Data System (ADS)

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

2009-08-01

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

3. NORTH FRONT, BULLET GLASS OBSERVATION WINDOWS FACE SLED TRACK. ...

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

3. NORTH FRONT, BULLET GLASS OBSERVATION WINDOWS FACE SLED TRACK. - Edwards Air Force Base, South Base Sled Track, Instrumentation & Control Building, South of Sled Track, Station "50" area, Lancaster, Los Angeles County, CA

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.

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.

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.

Quantization-Based Adaptive Actor-Critic Tracking Control With Tracking Error Constraints.

PubMed

Fan, Quan-Yong; Yang, Guang-Hong; Ye, Dan

2018-04-01

In this paper, the problem of adaptive actor-critic (AC) tracking control is investigated for a class of continuous-time nonlinear systems with unknown nonlinearities and quantized inputs. Different from the existing results based on reinforcement learning, the tracking error constraints are considered and new critic functions are constructed to improve the performance further. To ensure that the tracking errors keep within the predefined time-varying boundaries, a tracking error transformation technique is used to constitute an augmented error system. Specific critic functions, rather than the long-term cost function, are introduced to supervise the tracking performance and tune the weights of the AC neural networks (NNs). A novel adaptive controller with a special structure is designed to reduce the effect of the NN reconstruction errors, input quantization, and disturbances. Based on the Lyapunov stability theory, the boundedness of the closed-loop signals and the desired tracking performance can be guaranteed. Finally, simulations on two connected inverted pendulums are given to illustrate the effectiveness of the proposed method.

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

Ridge-crossing mantle plumes and gaps in tracks

NASA Astrophysics Data System (ADS)

Sleep, Norman H.

2002-12-01

Hot spot tracks approach, cross, and leave ridge axes. The complications of this process make it difficult to determine the track followed by a plume and the evolution of its vigor. When a plume is sufficiently near the ridge axis, buoyant plume material flows along the base of the lithosphere toward the axis, forming an on-axis hot spot. The track of the on-axis hot spot is a symmetric V on both plates and an unreliable indication of the path followed by the plume. Aseismic ridges form more or less along flowlines from a plume to a ridge axis when channels form at the base of the lithosphere. A dynamic effect is that off-axis hot spots appear to shut off at the time that an on-axis hot spot becomes active along an axis-approaching track. This produces a gap in the obvious track and a jump of the hot spot to the ridge axis. The gap results from the effects of ponded plume material on intraplate (membrane) stress. Membrane tension lets dikes ascend efficiently to produce obvious tracks of edifices. An off-axis hot spot shuts down when the plume is sufficiently near the ridge axis that plume material flows there, putting the nearby lithosphere above the plume into compression, preventing dikes. In addition, the off-axis thickness of plume material, which produces membrane tension, decreases as the slope of the base of the lithosphere increases beneath young lithosphere. Slow spreading rates favor gaps produced in this way. Gaps are observed near both fast and slow ridges.

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.

Decoupled direct tracking control system based on use of a virtual track for multilayer disk with a separate guide layer

NASA Astrophysics Data System (ADS)

Tanaka, Yukinobu; Ogata, Takeshi; Imagawa, Seiji

2015-09-01

We developed a decoupled direct tracking control system for multilayer optical disk that uses a separate guide layer. Data marks are recorded on a recording layer immediately above the guide layer by using two spatially separated spots with different wavelengths. Accurate data mark recording requires that the relative positions of the corresponding spots on the recording layer and guide layer are maintained. However, a disk tilt can shift their relative positions and cause previously recorded data marks to be overwritten. Additionally, a two-input/two-output control system is susceptible to mutual interference phenomenon between the two outputs, which can destabilize tracking control. A tracking control system based on use of data marks previously recorded as a virtual track has been developed that prevents spot shifting and mutual interference even if the disk tilt reaches 0.7°, thereby preventing overwriting.

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.

Full-Carpet Design of a Low-Boom Demonstrator Concept

NASA Technical Reports Server (NTRS)

Ordaz, Irian; Wintzer, Mathias; Rallabhandi, Sriram K.

2015-01-01

The Cart3D adjoint-based design framework is used to mitigate the undesirable o -track sonic boom properties of a demonstrator concept designed for low-boom directly under the flight path. First, the requirements of a Cart3D design mesh are determined using a high-fidelity mesh adapted to minimize the discretization error of the CFD analysis. Low-boom equivalent area targets are then generated at the under-track and one off-track azimuthal position for the baseline configuration. The under-track target is generated using a trim- feasible low-boom target generation process, ensuring that the final design is not only low-boom, but also trimmed at the specified flight condition. The o -track equivalent area target is generated by minimizing the A-weighted loudness using an efficient adjoint-based approach. The configuration outer mold line is then parameterized and optimized to match the off-body pressure distributions prescribed by the low-boom targets. The numerical optimizer uses design gradients which are calculated using the Cart3D adjoint- based design capability. Optimization constraints are placed on the geometry to satisfy structural feasibility. The low-boom properties of the final design are verified using the adaptive meshing approach. This analysis quantifies the error associated with the CFD mesh that is used for design. Finally, an alternate mesh construction and target positioning approach offering greater computational efficiency is demonstrated and verified.

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.

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.

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.

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.

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.

Spatiotemporal Path-Matching for Comparisons Between Ground- Based and Satellite Lidar Measurements

NASA Technical Reports Server (NTRS)

Berkoff, Timothy A.; Valencia, Sandra; Welton, Ellsworth J.; Spinhirne, James D.

2005-01-01

The spatiotemporal sampling differences between ground-based and satellite lidar data can contribute to significant errors for direct measurement comparisons. Improvement in sample correspondence is examined by the use of radiosonde wind velocity to vary the time average in ground-based lidar data to spatially match coincident satellite lidar measurements. Results are shown for the 26 February 2004 GLAS/ICESat overflight of a ground-based lidar stationed at NASA GSFC. Statistical analysis indicates that improvement in signal correlation is expected under certain conditions, even when a ground-based observation is mismatched in directional orientation to the satellite track.

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.

Actor-critic-based optimal tracking for partially unknown nonlinear discrete-time systems.

PubMed

Kiumarsi, Bahare; Lewis, Frank L

2015-01-01

This paper presents a partially model-free adaptive optimal control solution to the deterministic nonlinear discrete-time (DT) tracking control problem in the presence of input constraints. The tracking error dynamics and reference trajectory dynamics are first combined to form an augmented system. Then, a new discounted performance function based on the augmented system is presented for the optimal nonlinear tracking problem. In contrast to the standard solution, which finds the feedforward and feedback terms of the control input separately, the minimization of the proposed discounted performance function gives both feedback and feedforward parts of the control input simultaneously. This enables us to encode the input constraints into the optimization problem using a nonquadratic performance function. The DT tracking Bellman equation and tracking Hamilton-Jacobi-Bellman (HJB) are derived. An actor-critic-based reinforcement learning algorithm is used to learn the solution to the tracking HJB equation online without requiring knowledge of the system drift dynamics. That is, two neural networks (NNs), namely, actor NN and critic NN, are tuned online and simultaneously to generate the optimal bounded control policy. A simulation example is given to show the effectiveness of the proposed method.

Robust H∞ output-feedback control for path following of autonomous ground vehicles

NASA Astrophysics Data System (ADS)

Hu, Chuan; Jing, Hui; Wang, Rongrong; Yan, Fengjun; Chadli, Mohammed

2016-03-01

This paper presents a robust H∞ output-feedback control strategy for the path following of autonomous ground vehicles (AGVs). Considering the vehicle lateral velocity is usually hard to measure with low cost sensor, a robust H∞ static output-feedback controller based on the mixed genetic algorithms (GA)/linear matrix inequality (LMI) approach is proposed to realize the path following without the information of the lateral velocity. The proposed controller is robust to the parametric uncertainties and external disturbances, with the parameters including the tire cornering stiffness, vehicle longitudinal velocity, yaw rate and road curvature. Simulation results based on CarSim-Simulink joint platform using a high-fidelity and full-car model have verified the effectiveness of the proposed control approach.

7. CONTROL AND EQUIPMENT ROOM INTERIOR. Looking to southwest corner ...

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

7. CONTROL AND EQUIPMENT ROOM INTERIOR. Looking to southwest corner and entrance to cable tunnel. - Edwards Air Force Base, South Base Sled Track, Firing Control Blockhouse, South of Sled Track at east end, Lancaster, Los Angeles County, CA

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

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.

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.

Physics conditions for robust control of tearing modes in a rotating tokamak plasma

NASA Astrophysics Data System (ADS)

Lazzaro, E.; Borgogno, D.; Brunetti, D.; Comisso, L.; Fevrier, O.; Grasso, D.; Lutjens, H.; Maget, P.; Nowak, S.; Sauter, O.; Sozzi, C.; the EUROfusion MST1 Team

2018-01-01

The disruptive collapse of the current sustained equilibrium of a tokamak is perhaps the single most serious obstacle on the path toward controlled thermonuclear fusion. The current disruption is generally too fast to be identified early enough and tamed efficiently, and may be associated with a variety of initial perturbing events. However, a common feature of all disruptive events is that they proceed through the onset of magnetohydrodynamic instabilities and field reconnection processes developing magnetic islands, which eventually destroy the magnetic configuration. Therefore the avoidance and control of magnetic reconnection instabilities is of foremost importance and great attention is focused on the promising stabilization techniques based on localized rf power absorption and current drive. Here a short review is proposed of the key aspects of high power rf control schemes (specifically electron cyclotron heating and current drive) for tearing modes, considering also some effects of plasma rotation. From first principles physics considerations, new conditions are presented and discussed to achieve control of the tearing perturbations by means of high power ({P}{{EC}}≥slant {P}{{ohm}}) in regimes where strong nonlinear instabilities may be driven, such as secondary island structures, which can blur the detection and limit the control of the instabilities. Here we consider recent work that has motivated the search for the improvement of some traditional control strategies, namely the feedback schemes based on strict phase tracking of the propagating magnetic islands.

IIR filtering based adaptive active vibration control methodology with online secondary path modeling using PZT actuators

NASA Astrophysics Data System (ADS)

Boz, Utku; Basdogan, Ipek

2015-12-01

Structural vibrations is a major cause for noise problems, discomfort and mechanical failures in aerospace, automotive and marine systems, which are mainly composed of plate-like structures. In order to reduce structural vibrations on these structures, active vibration control (AVC) is an effective approach. Adaptive filtering methodologies are preferred in AVC due to their ability to adjust themselves for varying dynamics of the structure during the operation. The filtered-X LMS (FXLMS) algorithm is a simple adaptive filtering algorithm widely implemented in active control applications. Proper implementation of FXLMS requires availability of a reference signal to mimic the disturbance and model of the dynamics between the control actuator and the error sensor, namely the secondary path. However, the controller output could interfere with the reference signal and the secondary path dynamics may change during the operation. This interference problem can be resolved by using an infinite impulse response (IIR) filter which considers feedback of the one or more previous control signals to the controller output and the changing secondary path dynamics can be updated using an online modeling technique. In this paper, IIR filtering based filtered-U LMS (FULMS) controller is combined with online secondary path modeling algorithm to suppress the vibrations of a plate-like structure. The results are validated through numerical and experimental studies. The results show that the FULMS with online secondary path modeling approach has more vibration rejection capabilities with higher convergence rate than the FXLMS counterpart.

Direct adaptive robust tracking control for 6 DOF industrial robot with enhanced accuracy.

PubMed

Yin, Xiuxing; Pan, Li

2018-01-01

A direct adaptive robust tracking control is proposed for trajectory tracking of 6 DOF industrial robot in the presence of parametric uncertainties, external disturbances and uncertain nonlinearities. The controller is designed based on the dynamic characteristics in the working space of the end-effector of the 6 DOF robot. The controller includes robust control term and model compensation term that is developed directly based on the input reference or desired motion trajectory. A projection-type parametric adaptation law is also designed to compensate for parametric estimation errors for the adaptive robust control. The feasibility and effectiveness of the proposed direct adaptive robust control law and the associated projection-type parametric adaptation law have been comparatively evaluated based on two 6 DOF industrial robots. The test results demonstrate that the proposed control can be employed to better maintain the desired trajectory tracking even in the presence of large parametric uncertainties and external disturbances as compared with PD controller and nonlinear controller. The parametric estimates also eventually converge to the real values along with the convergence of tracking errors, which further validate the effectiveness of the proposed parametric adaption law. Copyright © 2017 ISA. Published by Elsevier Ltd. All rights reserved.

The use of virtual reality-based therapy to augment poststroke upper limb recovery.

PubMed

Samuel, Geoffrey S; Choo, Min; Chan, Wai Yin; Kok, Stanley; Ng, Yee Sien

2015-07-01

Stroke remains one of the major causes of disability worldwide. This case report illustrates the complementary use of biomechanical and kinematic in-game markers, in addition to standard clinical outcomes, to comprehensively assess and track a patient's disabilities. A 65-year-old patient was admitted for right-sided weakness and clinically diagnosed with acute ischaemic stroke. She participated in a short trial of standard stroke occupational therapy and physiotherapy with additional daily virtual reality (VR)-based therapy. Outcomes were tracked using kinematic data and conventional clinical assessments. Her Functional Independence Measure score improved from 87 to 113 and Fugl-Meyer motor score improved from 56 to 62, denoting clinically significant improvement. Corresponding kinematic analysis revealed improved hand path ratios and a decrease in velocity peaks. Further research is being undertaken to elucidate the optimal type, timing, setting and duration of VR-based therapy, as well as the use of neuropharmacological adjuncts.

The use of virtual reality-based therapy to augment poststroke upper limb recovery

PubMed Central

Samuel, Geoffrey S; Choo, Min; Chan, Wai Yin; Kok, Stanley; Ng, Yee Sien

2015-01-01

Stroke remains one of the major causes of disability worldwide. This case report illustrates the complementary use of biomechanical and kinematic in-game markers, in addition to standard clinical outcomes, to comprehensively assess and track a patient’s disabilities. A 65-year-old patient was admitted for right-sided weakness and clinically diagnosed with acute ischaemic stroke. She participated in a short trial of standard stroke occupational therapy and physiotherapy with additional daily virtual reality (VR)-based therapy. Outcomes were tracked using kinematic data and conventional clinical assessments. Her Functional Independence Measure score improved from 87 to 113 and Fugl-Meyer motor score improved from 56 to 62, denoting clinically significant improvement. Corresponding kinematic analysis revealed improved hand path ratios and a decrease in velocity peaks. Further research is being undertaken to elucidate the optimal type, timing, setting and duration of VR-based therapy, as well as the use of neuropharmacological adjuncts. PMID:26243983

Welding technology transfer task/laser based weld joint tracking system for compressor girth welds

NASA Technical Reports Server (NTRS)

Looney, Alan

1991-01-01

Sensors to control and monitor welding operations are currently being developed at Marshall Space Flight Center. The laser based weld bead profiler/torch rotation sensor was modified to provide a weld joint tracking system for compressor girth welds. The tracking system features a precision laser based vision sensor, automated two-axis machine motion, and an industrial PC controller. The system benefits are elimination of weld repairs caused by joint tracking errors which reduces manufacturing costs and increases production output, simplification of tooling, and free costly manufacturing floor space.

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.

A computer simulation approach to measurement of human control strategy

NASA Technical Reports Server (NTRS)

Green, J.; Davenport, E. L.; Engler, H. F.; Sears, W. E., III

1982-01-01

Human control strategy is measured through use of a psychologically-based computer simulation which reflects a broader theory of control behavior. The simulation is called the human operator performance emulator, or HOPE. HOPE was designed to emulate control learning in a one-dimensional preview tracking task and to measure control strategy in that setting. When given a numerical representation of a track and information about current position in relation to that track, HOPE generates positions for a stick controlling the cursor to be moved along the track. In other words, HOPE generates control stick behavior corresponding to that which might be used by a person learning preview tracking.

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.

Neural dynamics for landmark orientation and angular path integration

PubMed Central

Seelig, Johannes D.; Jayaraman, Vivek

2015-01-01

Summary Many animals navigate using a combination of visual landmarks and path integration. In mammalian brains, head direction cells integrate these two streams of information by representing an animal's heading relative to landmarks, yet maintaining their directional tuning in darkness based on self-motion cues. Here we use two-photon calcium imaging in head-fixed flies walking on a ball in a virtual reality arena to demonstrate that landmark-based orientation and angular path integration are combined in the population responses of neurons whose dendrites tile the ellipsoid body — a toroidal structure in the center of the fly brain. The population encodes the fly's azimuth relative to its environment, tracking visual landmarks when available and relying on self-motion cues in darkness. When both visual and self-motion cues are absent, a representation of the animal's orientation is maintained in this network through persistent activity — a potential substrate for short-term memory. Several features of the population dynamics of these neurons and their circular anatomical arrangement are suggestive of ring attractors — network structures proposed to support the function of navigational brain circuits. PMID:25971509

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.

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

A Novel Hybrid Mental Spelling Application Based on Eye Tracking and SSVEP-Based BCI

PubMed Central

Stawicki, Piotr; Gembler, Felix; Rezeika, Aya; Volosyak, Ivan

2017-01-01

Steady state visual evoked potentials (SSVEPs)-based Brain-Computer interfaces (BCIs), as well as eyetracking devices, provide a pathway for re-establishing communication for people with severe disabilities. We fused these control techniques into a novel eyetracking/SSVEP hybrid system, which utilizes eye tracking for initial rough selection and the SSVEP technology for fine target activation. Based on our previous studies, only four stimuli were used for the SSVEP aspect, granting sufficient control for most BCI users. As Eye tracking data is not used for activation of letters, false positives due to inappropriate dwell times are avoided. This novel approach combines the high speed of eye tracking systems and the high classification accuracies of low target SSVEP-based BCIs, leading to an optimal combination of both methods. We evaluated accuracy and speed of the proposed hybrid system with a 30-target spelling application implementing all three control approaches (pure eye tracking, SSVEP and the hybrid system) with 32 participants. Although the highest information transfer rates (ITRs) were achieved with pure eye tracking, a considerable amount of subjects was not able to gain sufficient control over the stand-alone eye-tracking device or the pure SSVEP system (78.13% and 75% of the participants reached reliable control, respectively). In this respect, the proposed hybrid was most universal (over 90% of users achieved reliable control), and outperformed the pure SSVEP system in terms of speed and user friendliness. The presented hybrid system might offer communication to a wider range of users in comparison to the standard techniques. PMID:28379187

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

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.

2. WEST REAR, WITH PORTHOLE ESCAPE HATCH ABOVE ENTRY DOOR. ...

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

2. WEST REAR, WITH PORTHOLE ESCAPE HATCH ABOVE ENTRY DOOR. - Edwards Air Force Base, South Base Sled Track, Firing & Control Blockhouse for 10,000-foot Track, South of Sled Track at midpoint of 20,000-foot track, Lancaster, Los Angeles County, CA

7. BULLET GLASS OBSERVATION WINDOW AT GROUND LEVEL ON WEST ...

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

7. BULLET GLASS OBSERVATION WINDOW AT GROUND LEVEL ON WEST REAR. - Edwards Air Force Base, South Base Sled Track, Firing & Control Blockhouse for 10,000-foot Track, South of Sled Track at midpoint of 20,000-foot track, Lancaster, Los Angeles County, CA

Quantifying spatial misclassification in exposure to noise complaints among low-income housing residents across New York City neighborhoods: a Global Positioning System (GPS) study.

PubMed

Duncan, Dustin T; Tamura, Kosuke; Regan, Seann D; Athens, Jessica; Elbel, Brian; Meline, Julie; Al-Ajlouni, Yazan A; Chaix, Basile

2017-01-01

To examine if there was spatial misclassification in exposure to neighborhood noise complaints among a sample of low-income housing residents in New York City, comparing home-based spatial buffers and Global Positioning System (GPS) daily path buffers. Data came from the community-based NYC Low-Income Housing, Neighborhoods and Health Study, where GPS tracking of the sample was conducted for a week (analytic n = 102). We created a GPS daily path buffer (a buffering zone drawn around GPS tracks) of 200 m and 400 m. We also used home-based buffers of 200 m and 400 m. Using these "neighborhoods" (or exposure areas), we calculated neighborhood exposure to noisy events from 311 complaints data (analytic n = 143,967). Friedman tests (to compare overall differences in neighborhood definitions) were applied. There were differences in neighborhood noise complaints according to the selected neighborhood definitions (P < .05). For example, the mean neighborhood noise complaint count was 1196 per square kilometer for the 400-m home-based and 812 per square kilometer for the 400-m activity space buffer, illustrating how neighborhood definition influences the estimates of exposure to neighborhood noise complaints. These analyses suggest that, whenever appropriate, GPS neighborhood definitions can be used in spatial epidemiology research in spatially mobile populations to understand people's lived experience. Copyright © 2016 Elsevier Inc. All rights reserved.

Interior Noise

NASA Technical Reports Server (NTRS)

Mixson, John S.; Wilby, John F.

1991-01-01

The generation and control of flight vehicle interior noise is discussed. Emphasis is placed on the mechanisms of transmission through airborne and structure-borne paths and the control of cabin noise by path modification. Techniques for identifying the relative contributions of the various source-path combinations are also discussed along with methods for the prediction of aircraft interior noise such as those based on the general modal theory and statistical energy analysis.

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

NASA Astrophysics Data System (ADS)

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

2014-07-01

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

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.

High-performance object tracking and fixation with an online neural estimator.

PubMed

Kumarawadu, Sisil; Watanabe, Keigo; Lee, Tsu-Tian

2007-02-01

Vision-based target tracking and fixation to keep objects that move in three dimensions in view is important for many tasks in several fields including intelligent transportation systems and robotics. Much of the visual control literature has focused on the kinematics of visual control and ignored a number of significant dynamic control issues that limit performance. In line with this, this paper presents a neural network (NN)-based binocular tracking scheme for high-performance target tracking and fixation with minimum sensory information. The procedure allows the designer to take into account the physical (Lagrangian dynamics) properties of the vision system in the control law. The design objective is to synthesize a binocular tracking controller that explicitly takes the systems dynamics into account, yet needs no knowledge of dynamic nonlinearities and joint velocity sensory information. The combined neurocontroller-observer scheme can guarantee the uniform ultimate bounds of the tracking, observer, and NN weight estimation errors under fairly general conditions on the controller-observer gains. The controller is tested and verified via simulation tests in the presence of severe target motion changes.

Video-Based Method of Quantifying Performance and Instrument Motion During Simulated Phonosurgery

PubMed Central

Conroy, Ellen; Surender, Ketan; Geng, Zhixian; Chen, Ting; Dailey, Seth; Jiang, Jack

2015-01-01

Objectives/Hypothesis To investigate the use of the Video-Based Phonomicrosurgery Instrument Tracking System to collect instrument position data during simulated phonomicrosurgery and calculate motion metrics using these data. We used this system to determine if novice subject motion metrics improved over 1 week of training. Study Design Prospective cohort study. Methods Ten subjects performed simulated surgical tasks once per day for 5 days. Instrument position data were collected and used to compute motion metrics (path length, depth perception, and motion smoothness). Data were analyzed to determine if motion metrics improved with practice time. Task outcome was also determined each day, and relationships between task outcome and motion metrics were used to evaluate the validity of motion metrics as indicators of surgical performance. Results Significant decreases over time were observed for path length (P <.001), depth perception (P <.001), and task outcome (P <.001). No significant change was observed for motion smoothness. Significant relationships were observed between task outcome and path length (P <.001), depth perception (P <.001), and motion smoothness (P <.001). Conclusions Our system can estimate instrument trajectory and provide quantitative descriptions of surgical performance. It may be useful for evaluating phonomicrosurgery performance. Path length and depth perception may be particularly useful indicators. PMID:24737286

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.

Kinect-based posture tracking for correcting positions during exercise.

PubMed

Guerrero, Cesar; Uribe-Quevedo, Alvaro

2013-01-01

The Kinect sensor has opened the path for developing numerous applications in several different areas. Medical and health applications are benefiting from the Kinect as it allows non-invasive body motion capture that can be used in motor rehabilitation and phobia treatment. A major advantage of the Kinect is that allows developing solutions that can be used at home or even the office thus, expanding the user freedom for interacting with complementary solutions to its physical activities without requiring any traveling. This paper present a Kinect-based posture tracking software for assisting the user in successfully match postures required in some exercises for strengthen body muscles. Unlike several video games available, this tool offers a user interface for customizing posture parameters, so it can be enhanced by healthcare professionals or by their guidance through the user.

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.

Fuzzy observer-based control for maximum power-point tracking of a photovoltaic system

NASA Astrophysics Data System (ADS)

Allouche, M.; Dahech, K.; Chaabane, M.; Mehdi, D.

2018-04-01

This paper presents a novel fuzzy control design method for maximum power-point tracking (MPPT) via a Takagi and Sugeno (TS) fuzzy model-based approach. A knowledge-dynamic model of the PV system is first developed leading to a TS representation by a simple convex polytopic transformation. Then, based on this exact fuzzy representation, a H∞ observer-based fuzzy controller is proposed to achieve MPPT even when we consider varying climatic conditions. A specified TS reference model is designed to generate the optimum trajectory which must be tracked to ensure maximum power operation. The controller and observer gains are obtained in a one-step procedure by solving a set of linear matrix inequalities (LMIs). The proposed method has been compared with some classical MPPT techniques taking into account convergence speed and tracking accuracy. Finally, various simulation and experimental tests have been carried out to illustrate the effectiveness of the proposed TS fuzzy MPPT strategy.

Disturbance observer-based fuzzy control for flexible spacecraft combined attitude & sun tracking system

NASA Astrophysics Data System (ADS)

Chak, Yew-Chung; Varatharajoo, Renuganth; Razoumny, Yury

2017-04-01

This paper investigates the combined attitude and sun-tracking control problem in the presence of external disturbances and internal disturbances, caused by flexible appendages. A new method based on Pythagorean trigonometric identity is proposed to drive the solar arrays. Using the control input and attitude output, a disturbance observer is developed to estimate the lumped disturbances consisting of the external and internal disturbances, and then compensated by the disturbance observer-based controller via a feed-forward control. The stability analysis demonstrates that the desired attitude trajectories are followed even in the presence of external disturbance and internal flexible modes. The main features of the proposed control scheme are that it can be designed separately and incorporated into the baseline controller to form the observer-based control system, and the combined attitude and sun-tracking control is achieved without the conventional attitude actuators. The attitude and sun-tracking performance using the proposed strategy is evaluated and validated through numerical simulations. The proposed control solution can serve as a fail-safe measure in case of failure of the conventional attitude actuator, which triggered by automatic reconfiguration of the attitude control components.

Meteor tracking via local pattern clustering in spatio-temporal domain

NASA Astrophysics Data System (ADS)

Kukal, Jaromír.; Klimt, Martin; Švihlík, Jan; Fliegel, Karel

2016-09-01

Reliable meteor detection is one of the crucial disciplines in astronomy. A variety of imaging systems is used for meteor path reconstruction. The traditional approach is based on analysis of 2D image sequences obtained from a double station video observation system. Precise localization of meteor path is difficult due to atmospheric turbulence and other factors causing spatio-temporal fluctuations of the image background. The proposed technique performs non-linear preprocessing of image intensity using Box-Cox transform as recommended in our previous work. Both symmetric and asymmetric spatio-temporal differences are designed to be robust in the statistical sense. Resulting local patterns are processed by data whitening technique and obtained vectors are classified via cluster analysis and Self-Organized Map (SOM).

Micro-tomography based Geometry Modeling of Three-Dimensional Braided Composites

NASA Astrophysics Data System (ADS)

Fang, Guodong; Chen, Chenghua; Yuan, Shenggang; Meng, Songhe; Liang, Jun

2018-06-01

A tracking and recognizing algorithm is proposed to automatically generate irregular cross-sections and central path of braid yarn within the 3D braided composites by using sets of high resolution tomography images. Only the initial cross-sections of braid yarns in a tomography image after treatment are required to be calibrated manually as searching cross-section template. The virtual geometry of 3D braided composites including some detailed geometry information, such as the braid yarn squeezing deformation, braid yarn distortion and braid yarn path deviation etc., can be reconstructed. The reconstructed geometry model can reflect the change of braid configurations during solidification process. The geometry configurations and mechanical properties of the braided composites are analyzed by using the reconstructed geometry model.

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.

NASA/USRA advanced space design program: The laser powered interorbital vehicle

NASA Technical Reports Server (NTRS)

1989-01-01

A preliminary design is presented for a low-thrust Laser Powered Interorbital Vehicle (LPIV) intended for cargo transportation between an earth space station and a lunar base. The LPIV receives its power from two iodide laser stations, one orbiting the earth and the other located on the surface of the moon. The selected mission utilizes a spiral trajectory, characteristic of a low-thrust spacecraft, requiring 8 days for a lunar rendezvous and an additional 9 days for return. The ship's configuration consists primarily of an optical train, two hydrogen plasma engines, a 37.1 m box beam truss, a payload module, and fuel tanks. The total mass of the vehicle fully loaded is 63300 kg. A single plasma, regeneratively cooled engine design is incorporated into the two 500 N engines. These are connected to the spacecraft by turntables which allow the vehicle to thrust tangentially to the flight path. Proper collection and transmission of the laser beam to the thrust chambers is provided through the optical train. This system consists of the 23 m diameter primary mirror, a convex parabolic secondary mirror, a beam splitter and two concave parabolic tertiary mirrors. The payload bay is capable of carrying 18000 kg of cargo. The module is located opposite the primary mirror on the main truss. Fuel tanks carrying a maximum of 35000 kg of liquid hydrogen are fastened to tracks which allow the tanks to be moved perpendicular to the main truss. This capability is required to prevent the center of mass from moving out of the thrust vector line. The laser beam is located and tracked by means of an acquisition, pointing and tracking system which can be locked onto the space-based laser station. Correct orientation of the spacecraft with the laser beam is maintained by control moment gyros and reaction control rockets. Additionally an aerobrake configuration was designed to provide the option of using the atmospheric drag in place of propulsion for a return trajectory.

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

NASA Astrophysics Data System (ADS)

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

2017-12-01

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

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.

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.

Minimally invasive positioning robot system of femoral neck hollow screw implants based on x-ray error correction

NASA Astrophysics Data System (ADS)

Zou, Yunpeng; Xu, Ying; Hu, Lei; Guo, Na; Wang, Lifeng

2017-01-01

Aiming the high failure rate, the high radiation quantity and the poor positioning accuracy of femoral neck traditional surgery, this article develops a set of new positioning robot system of femoral neck hollow screw implants based on X-rays error correction, which bases on the study of x-rays perspective principle and the Motion Principle of 6 DOF(degree of freedom) series robot UR(Universal Robots). Compared with Computer Assisted Navigation System, this system owns better positioning accuracy and more simple operation. In addition, without extra Equipment of Visual Tracking, this system can reduce a lot of cost. During the surgery, Doctor can plan the operation path and the pose of mark needle according to the positive and lateral X-rays images of patients. Then they can calculate the pixel ratio according to the ratio of the actual length of mark line and the length on image. After that, they can calculate the amount of exercise of UR Robot according to the relative position between operation path and guide pin and the fixed relationship between guide pin and UR robot. Then, they can control UR to drive the positioning guide pin to the operation path. At this point, check the positioning guide pin and the planning path is coincident, if not, repeat the previous steps, until the positioning guide pin and the planning path coincide which will eventually complete the positioning operation. Moreover, to verify the positioning accuracy, this paper make an errors analysis aiming to thirty cases of the experimental model of bone. The result shows that the motion accuracy of the UR Robot is 0.15mm and the Integral error precision is within 0.8mm. To verify the clinical feasibility of this system, this article analysis on three cases of the clinical experiment. In the whole process of positioning, the X-rays irradiation time is 2-3s, the number of perspective is 3-5 and the whole positioning time is 7-10min. The result shows that this system can complete accurately femoral neck positioning surgery. Meanwhile, it can greatly reduce the X-rays radiation of medical staff and patients. To summarize, it has a significant value in clinical application.

Arrival Time Tracking of Partially Resolved Acoustic Rays with Application to Ocean Acoustic Tomography

DTIC Science & Technology

1991-03-01

ocean acoustic tomography. A straightforward method of arrival time estimation, based on locating the maximum value of an interpolated arrival, was...used with limited success for analysis of data from the December 1988 Monterey Bay Tomography Experiment. Close examination of the data revealed multiple...estimation of arrival times along an ocean acoustic ray path is an important component of ocean acoustic tomography. A straightforward method of arrival time

Sub-μrad laser beam tracking

NASA Astrophysics Data System (ADS)

Buske, Ivo; Riede, Wolfgang

2006-09-01

We compare active optical elements based on different technologies to accomplish the requirements of a 2-dim. fine tracking control system. A cascaded optically and electrically addressable spatial light modulator (OASLM) based on liquid crystals (LC) is used for refractive beam steering. Spatial light modulators provide a controllable phase wedge to generate a beam deflection. Additionally, a tip/tilt mirror approach operating with piezo-electric actuators is investigated. A digital PID controller is implemented for closed-loop control. Beam tracking with a root-mean-squared accuracy of Δα=30 nrad has been laboratory-confirmed.

The impact of missing sensor information on surgical workflow management.

PubMed

Liebmann, Philipp; Meixensberger, Jürgen; Wiedemann, Peter; Neumuth, Thomas

2013-09-01

Sensor systems in the operating room may encounter intermittent data losses that reduce the performance of surgical workflow management systems (SWFMS). Sensor data loss could impact SWFMS-based decision support, device parameterization, and information presentation. The purpose of this study was to understand the robustness of surgical process models when sensor information is partially missing. SWFMS changes caused by wrong or no data from the sensor system which tracks the progress of a surgical intervention were tested. The individual surgical process models (iSPMs) from 100 different cataract procedures of 3 ophthalmologic surgeons were used to select a randomized subset and create a generalized surgical process model (gSPM). A disjoint subset was selected from the iSPMs and used to simulate the surgical process against the gSPM. The loss of sensor data was simulated by removing some information from one task in the iSPM. The effect of missing sensor data was measured using several metrics: (a) successful relocation of the path in the gSPM, (b) the number of steps to find the converging point, and (c) the perspective with the highest occurrence of unsuccessful path findings. A gSPM built using 30% of the iSPMs successfully found the correct path in 90% of the cases. The most critical sensor data were the information regarding the instrument used by the surgeon. We found that use of a gSPM to provide input data for a SWFMS is robust and can be accurate despite missing sensor data. A surgical workflow management system can provide the surgeon with workflow guidance in the OR for most cases. Sensor systems for surgical process tracking can be evaluated based on the stability and accuracy of functional and spatial operative results.

Research on regional intrusion prevention and control system based on target tracking

NASA Astrophysics Data System (ADS)

Liu, Yanfei; Wang, Jieling; Jiang, Ke; He, Yanhui; Wu, Zhilin

2017-08-01

In view of the fact that China’s border is very long and the border prevention and control measures are single, we designed a regional intrusion prevention and control system which based on target-tracking. The system consists of four parts: solar panel, radar, electro-optical equipment, unmanned aerial vehicle and intelligent tracking platform. The solar panel provides independent power for the entire system. The radar detects the target in real time and realizes the high precision positioning of suspicious targets, then through the linkage of electro-optical equipment, it can achieve full-time automatic precise tracking of targets. When the target appears within the range of detection, the drone will be launched to continue the tracking. The system is mainly to realize the full time, full coverage, whole process integration and active realtime control of the border area.

A Graph Summarization Algorithm Based on RFID Logistics

NASA Astrophysics Data System (ADS)

Sun, Yan; Hu, Kongfa; Lu, Zhipeng; Zhao, Li; Chen, Ling

Radio Frequency Identification (RFID) applications are set to play an essential role in object tracking and supply chain management systems. The volume of data generated by a typical RFID application will be enormous as each item will generate a complete history of all the individual locations that it occupied at every point in time. The movement trails of such RFID data form gigantic commodity flowgraph representing the locations and durations of the path stages traversed by each item. In this paper, we use graph to construct a warehouse of RFID commodity flows, and introduce a database-style operation to summarize graphs, which produces a summary graph by grouping nodes based on user-selected node attributes, further allows users to control the hierarchy of summaries. It can cut down the size of graphs, and provide convenience for users to study just on the shrunk graph which they interested. Through extensive experiments, we demonstrate the effectiveness and efficiency of the proposed method.

Total energy based flight control system

NASA Technical Reports Server (NTRS)

Lambregts, Antonius A. (Inventor)

1985-01-01

An integrated aircraft longitudinal flight control system uses a generalized thrust and elevator command computation (38), which accepts flight path angle, longitudinal acceleration command signals, along with associated feedback signals, to form energy rate error (20) and energy rate distribution error (18) signals. The engine thrust command is developed (22) as a function of the energy rate distribution error and the elevator position command is developed (26) as a function of the energy distribution error. For any vertical flight path and speed mode the outerloop errors are normalized (30, 34) to produce flight path angle and longitudinal acceleration commands. The system provides decoupled flight path and speed control for all control modes previously provided by the longitudinal autopilot, autothrottle and flight management systems.

Image reconstruction of muon tomographic data using a density-based clustering method

NASA Astrophysics Data System (ADS)

Perry, Kimberly B.

Muons are subatomic particles capable of reaching the Earth's surface before decaying. When these particles collide with an object that has a high atomic number (Z), their path of travel changes substantially. Tracking muon movement through shielded containers can indicate what types of materials lie inside. This thesis proposes using a density-based clustering algorithm called OPTICS to perform image reconstructions using muon tomographic data. The results show that this method is capable of detecting high-Z materials quickly, and can also produce detailed reconstructions with large amounts of data.

Coal slurry fuel supply and purge system

DOEpatents

McDowell, Robert E.; Basic, Steven L.; Smith, Russel M.

1994-01-01

A coal slurry fuel supply and purge system for a locomotive engines is disclosed which includes a slurry recirculation path, a stand-by path for circulating slurry during idle or states of the engine when slurry fuel in not required by the engine, and an engine header fluid path connected to the stand-by path, for supplying and purging slurry fuel to and from fuel injectors. A controller controls the actuation of valves to facilitate supply and purge of slurry to and from the fuel injectors. A method for supplying and purging coal slurry in a compression ignition engine is disclosed which includes controlling fluid flow devices and valves in a plurality of fluid paths to facilitate continuous slurry recirculation and supply and purge of or slurry based on the operating state of the engine.

An experimental demonstration of a new type of proton computed tomography using a novel silicon tracking detector.

PubMed

Taylor, J T; Poludniowski, G; Price, T; Waltham, C; Allport, P P; Casse, G L; Esposito, M; Evans, P M; Green, S; Manger, S; Manolopoulos, S; Nieto-Camero, J; Parker, D J; Symons, J; Allinson, N M

2016-11-01

Radiography and tomography using proton beams promise benefit to image guidance and treatment planning for proton therapy. A novel proton tracking detector is described and experimental demonstrations at a therapy facility are reported. A new type of proton CT reconstructing relative "scattering power" rather than "stopping power" is also demonstrated. Notably, this new type of imaging does not require the measurement of the residual energies of the protons. A large area, silicon microstrip tracker with high spatial and temporal resolution has been developed by the Proton Radiotherapy Verification and Dosimetry Applications consortium and commissioned using beams of protons at iThemba LABS, Medical Radiation Department, South Africa. The tracker comprises twelve planes of silicon developed using technology from high energy physics with each plane having an active area of ∼10 × 10 cm segmented into 2048 microstrips. The tracker is organized into four separate units each containing three detectors at 60° to one another creating an x-u-v coordinate system. Pairs of tracking units are used to reconstruct vertices for protons entering and exiting a phantom containing tissue equivalent inserts. By measuring the position and direction of each proton before and after the phantom, the nonlinear path for each proton through an object can be reconstructed. Experimental results are reported for tracking the path of protons with initial energies of 125 and 191 MeV. A spherical phantom of 75 mm diameter was imaged by positioning it between the entrance and exit detectors of the tracker. Positions and directions of individual protons were used to create angular distributions and 2D fluence maps of the beam. These results were acquired for 36 equally spaced projections spanning 180°, allowing, for the first time, an experimental CT image based upon the relative scattering power of protons to be reconstructed. Successful tracking of protons through a thick target (phantom) has demonstrated that the tracker discussed in this paper can provide the precise directional information needed to perform proton radiography and tomography. When synchronized with a range telescope, this could enable the reconstruction of proton CT images of stopping power. Furthermore, by measuring the deflection of many protons through a phantom, it was demonstrated that it is possible to reconstruct a new kind of CT image (scattering power) based upon this tracking information alone.

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

PubMed

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

2017-05-09

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

Feedforward Tracking Control of Flat Recurrent Fuzzy Systems

NASA Astrophysics Data System (ADS)

Gering, Stefan; Adamy, Jürgen

2014-12-01

Flatness based feedforward control has proven to be a feasible solution for the problem of tracking control, which may be applied to a broad class of nonlinear systems. If a flat output of the system is known, the control is often based on a feedforward controller generating a nominal input in combination with a linear controller stabilizing the linearized error dynamics around the trajectory. We show in this paper that the very same idea may be incorporated for tracking control of MIMO recurrent fuzzy systems. Their dynamics is given by means of linguistic differential equations but may be converted into a hybrid system representation, which then serves as the basis for controller synthesis.

6. INTERIOR, ORIGINAL BLOCKHOUSE SECTION OF BUILDING 0512, NORTH WALL ...

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

6. INTERIOR, ORIGINAL BLOCKHOUSE SECTION OF BUILDING 0512, NORTH WALL FACING TEST TRACK. - Edwards Air Force Base, South Base Sled Track, Instrumentation & Control Building, South of Sled Track, Station "50" area, Lancaster, Los Angeles County, CA

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

PubMed

Chen, Gang; Song, Yongduan; Guan, Yanfeng

2018-03-01

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

A Numerical Process Control Method for Circular-Tube Hydroforming Prediction

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

Johnson, Kenneth I.; Nguyen, Ba Nghiep; Davies, Richard W.

2004-03-01

This paper describes the development of a solution control method that tracks the stresses, strains and mechanical behavior of a tube during hydroforming to estimate the proper axial feed (end-feed) and internal pressure loads through time. The analysis uses the deformation theory of plasticity and Hill?s criterion to describe the plastic flow. Before yielding, the pressure and end-feed increments are estimated based on the initial tube geometry, elastic properties and yield stress. After yielding, the pressure increment is calculated based on the tube geometry at the previous solution increment and the current hoop stress increment. The end-feed increment is computedmore » from the increment of the axial plastic strain. Limiting conditions such as column buckling (of long tubes), local axi-symmetric wrinkling of shorter tubes, and bursting due to localized wall thinning are considered. The process control method has been implemented in the Marc finite element code. Hydroforming simulations using this process control method were conducted to predict the load histories for controlled expansion of 6061-T4 aluminum tubes within a conical die shape and under free hydroforming conditions. The predicted loading paths were transferred to the hydroforming equipment to form the conical and free-formed tube shapes. The model predictions and experimental results are compared for deformed shape, strains and the extent of forming at rupture.« less

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

A discrete time-varying internal model-based approach for high precision tracking of a multi-axis servo gantry.

PubMed

Zhang, Zhen; Yan, Peng; Jiang, Huan; Ye, Peiqing

2014-09-01

In this paper, we consider the discrete time-varying internal model-based control design for high precision tracking of complicated reference trajectories generated by time-varying systems. Based on a novel parallel time-varying internal model structure, asymptotic tracking conditions for the design of internal model units are developed, and a low order robust time-varying stabilizer is further synthesized. In a discrete time setting, the high precision tracking control architecture is deployed on a Voice Coil Motor (VCM) actuated servo gantry system, where numerical simulations and real time experimental results are provided, achieving the tracking errors around 3.5‰ for frequency-varying signals. Copyright © 2014 ISA. Published by Elsevier Ltd. All rights reserved.

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.

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.

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.

Non-invasive, transdermal, path-selective and specific glucose monitoring via a graphene-based platform

NASA Astrophysics Data System (ADS)

Lipani, Luca; Dupont, Bertrand G. R.; Doungmene, Floriant; Marken, Frank; Tyrrell, Rex M.; Guy, Richard H.; Ilie, Adelina

2018-06-01

Currently, there is no available needle-free approach for diabetics to monitor glucose levels in the interstitial fluid. Here, we report a path-selective, non-invasive, transdermal glucose monitoring system based on a miniaturized pixel array platform (realized either by graphene-based thin-film technology, or screen-printing). The system samples glucose from the interstitial fluid via electroosmotic extraction through individual, privileged, follicular pathways in the skin, accessible via the pixels of the array. A proof of principle using mammalian skin ex vivo is demonstrated for specific and `quantized' glucose extraction/detection via follicular pathways, and across the hypo- to hyper-glycaemic range in humans. Furthermore, the quantification of follicular and non-follicular glucose extraction fluxes is clearly shown. In vivo continuous monitoring of interstitial fluid-borne glucose with the pixel array was able to track blood sugar in healthy human subjects. This approach paves the way to clinically relevant glucose detection in diabetics without the need for invasive, finger-stick blood sampling.

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…

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

Graph-based geometric-iconic guide-wire tracking.

PubMed

Honnorat, Nicolas; Vaillant, Régis; Paragios, Nikos

2011-01-01

In this paper we introduce a novel hybrid graph-based approach for Guide-wire tracking. The image support is captured by steerable filters and improved through tensor voting. Then, a graphical model is considered that represents guide-wire extraction/tracking through a B-spline control-point model. Points with strong geometric interest (landmarks) are automatically determined and anchored to such a representation. Tracking is then performed through discrete MRFs that optimize the spatio-temporal positions of the control points while establishing landmark temporal correspondences. Promising results demonstrate the potentials of our method.

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.

Conceptual design of an aircraft automated coating removal system

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

Baker, J.E.; Draper, J.V.; Pin, F.G.

1996-05-01

Paint stripping of the U.S. Air Force`s large transport aircrafts is currently a labor-intensive, manual process. Significant reductions in costs, personnel and turnaround time can be accomplished by the judicious use of automation in some process tasks. This paper presents the conceptual design of a coating removal systems for the tail surfaces of the C-5 plane. Emphasis is placed on the technology selection to optimize human-automation synergy with respect to overall costs, throughput, quality, safety, and reliability. Trade- offs between field-proven vs. research-requiring technologies, and between expected gain vs. cost and complexity, have led to a conceptual design which ismore » semi-autonomous (relying on the human for task specification and disturbance handling) yet incorporates sensor- based automation (for sweep path generation and tracking, surface following, stripping quality control and tape/breach handling).« less

Integration of altitude and airspeed information into a primary flight display via moving-tape formats: Evaluation during random tracking task

NASA Technical Reports Server (NTRS)

Abbott, Terence S.; Nataupsky, Mark; Steinmetz, George G.

1987-01-01

A ground-based aircraft simulation study was conducted to determine the effects on pilot preference and performance of integrating airspeed and altitude information into an advanced electronic primary flight display via moving-tape (linear moving scale) formats. Several key issues relating to the implementation of moving-tape formats were examined in this study: tape centering, tape orientation, and trend information. The factor of centering refers to whether the tape was centered about the actual airspeed or altitude or about some other defined reference value. Tape orientation refers to whether the represented values are arranged in descending or ascending order. Two pilots participated in this study, with each performing 32 runs along seemingly random, previously unknown flight profiles. The data taken, analyzed, and presented consisted of path performance parameters, pilot-control inputs, and electrical brain response measurements.

Single-Molecule Tracking and Its Application in Biomolecular Binding Detection.

PubMed

Liu, Cong; Liu, Yen-Liang; Perillo, Evan P; Dunn, Andrew K; Yeh, Hsin-Chih

2016-01-01

In the past two decades significant advances have been made in single-molecule detection, which enables the direct observation of single biomolecules at work in real time and under physiological conditions. In particular, the development of single-molecule tracking (SMT) microscopy allows us to monitor the motion paths of individual biomolecules in living systems, unveiling the localization dynamics and transport modalities of the biomolecules that support the development of life. Beyond the capabilities of traditional camera-based tracking techniques, state-of-the-art SMT microscopies developed in recent years can record fluorescence lifetime while tracking a single molecule in the 3D space. This multiparameter detection capability can open the door to a wide range of investigations at the cellular or tissue level, including identification of molecular interaction hotspots and characterization of association/dissociation kinetics between molecules. In this review, we discuss various SMT techniques developed to date, with an emphasis on our recent development of the next generation 3D tracking system that not only achieves ultrahigh spatiotemporal resolution but also provides sufficient working depth suitable for live animal imaging. We also discuss the challenges that current SMT techniques are facing and the potential strategies to tackle those challenges.

Single-Molecule Tracking and Its Application in Biomolecular Binding Detection

PubMed Central

Liu, Cong; Liu, Yen-Liang; Perillo, Evan P.; Dunn, Andrew K.; Yeh, Hsin-Chih

2016-01-01

In the past two decades significant advances have been made in single-molecule detection, which enables the direct observation of single biomolecules at work in real time and under physiological conditions. In particular, the development of single-molecule tracking (SMT) microscopy allows us to monitor the motion paths of individual biomolecules in living systems, unveiling the localization dynamics and transport modalities of the biomolecules that support the development of life. Beyond the capabilities of traditional camera-based tracking techniques, state-of-the-art SMT microscopies developed in recent years can record fluorescence lifetime while tracking a single molecule in the 3D space. This multiparameter detection capability can open the door to a wide range of investigations at the cellular or tissue level, including identification of molecular interaction hotspots and characterization of association/dissociation kinetics between molecules. In this review, we discuss various SMT techniques developed to date, with an emphasis on our recent development of the next generation 3D tracking system that not only achieves ultrahigh spatiotemporal resolution but also provides sufficient working depth suitable for live animal imaging. We also discuss the challenges that current SMT techniques are facing and the potential strategies to tackle those challenges. PMID:27660404

Safe Maritime Autonomous Path Planning in a High Sea State

NASA Technical Reports Server (NTRS)

Ono, Masahiro; Quadrelli, Marco; Huntsberger, Terrance L.

2014-01-01

This paper presents a path planning method for sea surface vehicles that prevents capsizing and bow-diving in a high sea-state. A key idea is to use response amplitude operators (RAOs) or, in control terminology, the transfer functions from a sea state to a vessel's motion, in order to find a set of speeds and headings that results in excessive pitch and roll oscillations. This information is translated to arithmetic constraints on the ship's velocity, which are passed to a model predictive control (MPC)-based path planner to find a safe and optimal path that achieves specified goals. An obstacle avoidance capability is also added to the path planner. The proposed method is demonstrated by simulations.

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.

Refractive Index Compensation in Over-Determined Interferometric Systems

PubMed Central

Lazar, Josef; Holá, Miroslava; Číp, Ondřej; Čížek, Martin; Hrabina, Jan; Buchta, Zdeněk

2012-01-01

We present an interferometric technique based on a differential interferometry setup for measurement under atmospheric conditions. The key limiting factor in any interferometric dimensional measurement are fluctuations of the refractive index of air representing a dominating source of uncertainty when evaluated indirectly from the physical parameters of the atmosphere. Our proposal is based on the concept of an over-determined interferometric setup where a reference length is derived from a mechanical frame made from a material with a very low thermal coefficient. The technique allows one to track the variations of the refractive index of air on-line directly in the line of the measuring beam and to compensate for the fluctuations. The optical setup consists of three interferometers sharing the same beam path where two measure differentially the displacement while the third evaluates the changes in the measuring range, acting as a tracking refractometer. The principle is demonstrated in an experimental setup. PMID:23202037

Fiber tracking of brain white matter based on graph theory.

PubMed

Lu, Meng

2015-01-01

Brain white matter tractography is reconstructed via diffusion-weighted magnetic resonance images. Due to the complex structure of brain white matter fiber bundles, fiber crossing and fiber branching are abundant in human brain. And regular methods with diffusion tensor imaging (DTI) can't accurately handle this problem. the biggest problems of the brain tractography. Therefore, this paper presented a novel brain white matter tractography method based on graph theory, so the fiber tracking between two voxels is transformed into locating the shortest path in a graph. Besides, the presented method uses Q-ball imaging (QBI) as the source data instead of DTI, because QBI can provide accurate information about multiple fiber crossing and branching in one voxel using orientation distribution function (ODF). Experiments showed that the presented method can accurately handle the problem of brain white matter fiber crossing and branching, and reconstruct brain tractograhpy both in phantom data and real brain data.

Refractive index compensation in over-determined interferometric systems.

PubMed

Lazar, Josef; Holá, Miroslava; Číp, Ondřej; Čížek, Martin; Hrabina, Jan; Buchta, Zdeněk

2012-10-19

We present an interferometric technique based on a differential interferometry setup for measurement under atmospheric conditions. The key limiting factor in any interferometric dimensional measurement are fluctuations of the refractive index of air representing a dominating source of uncertainty when evaluated indirectly from the physical parameters of the atmosphere. Our proposal is based on the concept of an over-determined interferometric setup where a reference length is derived from a mechanical frame made from a material with a very low thermal coefficient. The technique allows one to track the variations of the refractive index of air on-line directly in the line of the measuring beam and to compensate for the fluctuations. The optical setup consists of three interferometers sharing the same beam path where two measure differentially the displacement while the third evaluates the changes in the measuring range, acting as a tracking refractometer. The principle is demonstrated in an experimental setup.

Optical Manipulation along Optical Axis with Polarization Sensitive Meta-lens.

PubMed

Markovich, Hen; Shishkin, Ivan; Hendler, Netta; Ginzburg, Pavel

2018-06-27

The ability to manipulate small objects with focused laser beams opens a broad spectrum of opportunities in fundamental and applied studies, where a precise control over mechanical path and stability is required. While conventional optical tweezers are based on bulky diffractive optical elements, developing compact integrable within a fluid cell trapping devices is highly demanded. Here, plasmonic polarization sensitive metasurface-based lens, embedded within a fluid, is demonstrated to provide several stable trapping centers along the optical axis. The position of a particle is controlled with the polarization of the incident light, interacting with plasmonic nanoscale patch antennas, organized within overlapping Fresnel zones of the lens. While standard diffractive optical elements face challenges to trap objects in lateral direction outside the depth of focus, bi-focal Fresnel meta-lens demonstrates the capability to manipulate a bead along 4 micrometers line. Additional fluorescent module, incorporated within the optical trapping setup, was implemented and enabled accurate mapping of optical potential via a particle tracking algorithm. Auxiliary micro- and nano- structures, integrated within fluidic devices, provide numerous opportunities to achieve flexible optomechanical manipulation, including, transport, trapping and sorting, which are highly demanded in lab-on-a-chip applications and many others.

Objective assessment based on motion-related metrics and technical performance in laparoscopic suturing.

PubMed

Sánchez-Margallo, Juan A; Sánchez-Margallo, Francisco M; Oropesa, Ignacio; Enciso, Silvia; Gómez, Enrique J

2017-02-01

The aim of this study is to present the construct and concurrent validity of a motion-tracking method of laparoscopic instruments based on an optical pose tracker and determine its feasibility as an objective assessment tool of psychomotor skills during laparoscopic suturing. A group of novice ([Formula: see text] laparoscopic procedures), intermediate (11-100 laparoscopic procedures) and experienced ([Formula: see text] laparoscopic procedures) surgeons performed three intracorporeal sutures on an ex vivo porcine stomach. Motion analysis metrics were recorded using the proposed tracking method, which employs an optical pose tracker to determine the laparoscopic instruments' position. Construct validation was measured for all 10 metrics across the three groups and between pairs of groups. Concurrent validation was measured against a previously validated suturing checklist. Checklists were completed by two independent surgeons over blinded video recordings of the task. Eighteen novices, 15 intermediates and 11 experienced surgeons took part in this study. Execution time and path length travelled by the laparoscopic dissector presented construct validity. Experienced surgeons required significantly less time ([Formula: see text]), travelled less distance using both laparoscopic instruments ([Formula: see text]) and made more efficient use of the work space ([Formula: see text]) compared with novice and intermediate surgeons. Concurrent validation showed strong correlation between both the execution time and path length and the checklist score ([Formula: see text] and [Formula: see text], [Formula: see text]). The suturing performance was successfully assessed by the motion analysis method. Construct and concurrent validity of the motion-based assessment method has been demonstrated for the execution time and path length metrics. This study demonstrates the efficacy of the presented method for objective evaluation of psychomotor skills in laparoscopic suturing. However, this method does not take into account the quality of the suture. Thus, future works will focus on developing new methods combining motion analysis and qualitative outcome evaluation to provide a complete performance assessment to trainees.

Design of integrated eye tracker-display device for head mounted systems

NASA Astrophysics Data System (ADS)

David, Y.; Apter, B.; Thirer, N.; Baal-Zedaka, I.; Efron, U.

2009-08-01

We propose an Eye Tracker/Display system, based on a novel, dual function device termed ETD, which allows sharing the optical paths of the Eye tracker and the display and on-chip processing. The proposed ETD design is based on a CMOS chip combining a Liquid-Crystal-on-Silicon (LCoS) micro-display technology with near infrared (NIR) Active Pixel Sensor imager. The ET operation allows capturing the Near IR (NIR) light, back-reflected from the eye's retina. The retinal image is then used for the detection of the current direction of eye's gaze. The design of the eye tracking imager is based on the "deep p-well" pixel technology, providing low crosstalk while shielding the active pixel circuitry, which serves the imaging and the display drivers, from the photo charges generated in the substrate. The use of the ETD in the HMD Design enables a very compact design suitable for Smart Goggle applications. A preliminary optical, electronic and digital design of the goggle and its associated ETD chip and digital control, are presented.

Dynamic Speed Adaptation for Path Tracking Based on Curvature Information and Speed Limits †

PubMed Central

Gámez Serna, Citlalli; Ruichek, Yassine

2017-01-01

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. PMID:28613251

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.

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.

Neural network robust tracking control with adaptive critic framework for uncertain nonlinear systems.

PubMed

Wang, Ding; Liu, Derong; Zhang, Yun; Li, Hongyi

2018-01-01

In this paper, we aim to tackle the neural robust tracking control problem for a class of nonlinear systems using the adaptive critic technique. The main contribution is that a neural-network-based robust tracking control scheme is established for nonlinear systems involving matched uncertainties. The augmented system considering the tracking error and the reference trajectory is formulated and then addressed under adaptive critic optimal control formulation, where the initial stabilizing controller is not needed. The approximate control law is derived via solving the Hamilton-Jacobi-Bellman equation related to the nominal augmented system, followed by closed-loop stability analysis. The robust tracking control performance is guaranteed theoretically via Lyapunov approach and also verified through simulation illustration. Copyright © 2017 Elsevier Ltd. All rights reserved.

An Empirical Human Controller Model for Preview Tracking Tasks.

PubMed

van der El, Kasper; Pool, Daan M; Damveld, Herman J; van Paassen, Marinus Rene M; Mulder, Max

2016-11-01

Real-life tracking tasks often show preview information to the human controller about the future track to follow. The effect of preview on manual control behavior is still relatively unknown. This paper proposes a generic operator model for preview tracking, empirically derived from experimental measurements. Conditions included pursuit tracking, i.e., without preview information, and tracking with 1 s of preview. Controlled element dynamics varied between gain, single integrator, and double integrator. The model is derived in the frequency domain, after application of a black-box system identification method based on Fourier coefficients. Parameter estimates are obtained to assess the validity of the model in both the time domain and frequency domain. Measured behavior in all evaluated conditions can be captured with the commonly used quasi-linear operator model for compensatory tracking, extended with two viewpoints of the previewed target. The derived model provides new insights into how human operators use preview information in tracking tasks.

Path Finding on High-Dimensional Free Energy Landscapes

NASA Astrophysics Data System (ADS)

Díaz Leines, Grisell; Ensing, Bernd

2012-07-01

We present a method for determining the average transition path and the free energy along this path in the space of selected collective variables. The formalism is based upon a history-dependent bias along a flexible path variable within the metadynamics framework but with a trivial scaling of the cost with the number of collective variables. Controlling the sampling of the orthogonal modes recovers the average path and the minimum free energy path as the limiting cases. The method is applied to resolve the path and the free energy of a conformational transition in alanine dipeptide.

Agent-based modeling of physical activity behavior and environmental correlations: an introduction and illustration.

PubMed

Zhu, Weimo; Nedovic-Budic, Zorica; Olshansky, Robert B; Marti, Jed; Gao, Yong; Park, Youngsik; McAuley, Edward; Chodzko-Zajko, Wojciech

2013-03-01

To introduce Agent-Based Model (ABM) to physical activity (PA) research and, using data from a study of neighborhood walkability and walking behavior, to illustrate parameters for an ABM of walking behavior. The concept, brief history, mechanism, major components, key steps, advantages, and limitations of ABM were first introduced. For illustration, 10 participants (age in years: mean = 68, SD = 8) were recruited from a walkable and a nonwalkable neighborhood. They wore AMP 331 triaxial accelerometers and GeoLogger GPA tracking devices for 21 days. Data were analyzed using conventional statistics and highresolution geographic image analysis, which focused on a) path length, b) path duration, c) number of GPS reporting points, and d) interaction between distances and time. Average steps by subjects ranged from 1810-10,453 steps per day (mean = 6899, SD = 3823). No statistical difference in walking behavior was found between neighborhoods (Walkable = 6710 ± 2781, Nonwalkable = 7096 ± 4674). Three environment parameters (ie, sidewalk, crosswalk, and path) were identified for future ABM simulation. ABM should provide a better understanding of PA behavior's interaction with the environment, as illustrated using a real-life example. PA field should take advantage of ABM in future research.

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…

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.

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.

Adaptive control of space-based robot manipulators

NASA Technical Reports Server (NTRS)

Walker, Michael W.; Wee, Liang-Boon

1991-01-01

A control method is presented that achieves globally stable trajectory tracking in the presence of uncertainties in the inertial parameters of the system. The 15-DOF system dynamics are divided into two components: a 9-DOF invertible portion and 6-DOF noninvertible portion. A controller is then designed to achieve trajectory tracking of the invertible portion of the system, which consists of the manipulator-joint positions and the orientation of the base. The motion of the noninvertible portion is bounded but otherwise unspecified. This portion of the system consists of the position of the robot's base and the position of the reaction wheels. A simulation is presented to demonstrate the effectiveness of the controller. A quadratic polynomial is used to generate the desired trajectory to illustrate the trajectory-tracking capability of the controller.

Internal Model-Based Robust Tracking Control Design for the MEMS Electromagnetic Micromirror.

PubMed

Tan, Jiazheng; Sun, Weijie; Yeow, John T W

2017-05-26

The micromirror based on micro-electro-mechanical systems (MEMS) technology is widely employed in different areas, such as scanning, imaging and optical switching. This paper studies the MEMS electromagnetic micromirror for scanning or imaging application. In these application scenarios, the micromirror is required to track the command sinusoidal signal, which can be converted to an output regulation problem theoretically. In this paper, based on the internal model principle, the output regulation problem is solved by designing a robust controller that is able to force the micromirror to track the command signal accurately. The proposed controller relies little on the accuracy of the model. Further, the proposed controller is implemented, and its effectiveness is examined by experiments. The experimental results demonstrate that the performance of the proposed controller is satisfying.

Internal Model-Based Robust Tracking Control Design for the MEMS Electromagnetic Micromirror

PubMed Central

Tan, Jiazheng; Sun, Weijie; Yeow, John T. W.

2017-01-01

The micromirror based on micro-electro-mechanical systems (MEMS) technology is widely employed in different areas, such as scanning, imaging and optical switching. This paper studies the MEMS electromagnetic micromirror for scanning or imaging application. In these application scenarios, the micromirror is required to track the command sinusoidal signal, which can be converted to an output regulation problem theoretically. In this paper, based on the internal model principle, the output regulation problem is solved by designing a robust controller that is able to force the micromirror to track the command signal accurately. The proposed controller relies little on the accuracy of the model. Further, the proposed controller is implemented, and its effectiveness is examined by experiments. The experimental results demonstrate that the performance of the proposed controller is satisfying. PMID:28587105

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.

Solving the detour problem in navigation: a model of prefrontal and hippocampal interactions.

PubMed

Spiers, Hugo J; Gilbert, Sam J

2015-01-01

Adapting behavior to accommodate changes in the environment is an important function of the nervous system. A universal problem for motile animals is the discovery that a learned route is blocked and a detour is required. Given the substantial neuroscience research on spatial navigation and decision-making it is surprising that so little is known about how the brain solves the detour problem. Here we review the limited number of relevant functional neuroimaging, single unit recording and lesion studies. We find that while the prefrontal cortex (PFC) consistently responds to detours, the hippocampus does not. Recent evidence suggests the hippocampus tracks information about the future path distance to the goal. Based on this evidence we postulate a conceptual model in which: Lateral PFC provides a prediction error signal about the change in the path, frontopolar and superior PFC support the re-formulation of the route plan as a novel subgoal and the hippocampus simulates the new path. More data will be required to validate this model and understand (1) how the system processes the different options; and (2) deals with situations where a new path becomes available (i.e., shortcuts).

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.

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.

Inverse kinematic-based robot control

NASA Technical Reports Server (NTRS)

Wolovich, W. A.; Flueckiger, K. F.

1987-01-01

A fundamental problem which must be resolved in virtually all non-trivial robotic operations is the well-known inverse kinematic question. More specifically, most of the tasks which robots are called upon to perform are specified in Cartesian (x,y,z) space, such as simple tracking along one or more straight line paths or following a specified surfacer with compliant force sensors and/or visual feedback. In all cases, control is actually implemented through coordinated motion of the various links which comprise the manipulator; i.e., in link space. As a consequence, the control computer of every sophisticated anthropomorphic robot must contain provisions for solving the inverse kinematic problem which, in the case of simple, non-redundant position control, involves the determination of the first three link angles, theta sub 1, theta sub 2, and theta sub 3, which produce a desired wrist origin position P sub xw, P sub yw, and P sub zw at the end of link 3 relative to some fixed base frame. Researchers outline a new inverse kinematic solution and demonstrate its potential via some recent computer simulations. They also compare it to current inverse kinematic methods and outline some of the remaining problems which will be addressed in order to render it fully operational. Also discussed are a number of practical consequences of this technique beyond its obvious use in solving the inverse kinematic question.

Bidirectional quantum teleportation of unknown photons using path-polarization intra-particle hybrid entanglement and controlled-unitary gates via cross-Kerr nonlinearity

NASA Astrophysics Data System (ADS)

Heo, Jino; Hong, Chang-Ho; Lim, Jong-In; Yang, Hyung-Jin

2015-05-01

We propose an arbitrary controlled-unitary (CU) gate and a bidirectional quantum teleportation (BQTP) scheme. The proposed CU gate utilizes photonic qubits (photons) with cross-Kerr nonlinearities (XKNLs), X-homodyne detectors, and linear optical elements, and consists of the consecutive operation of a controlled-path (C-path) gate and a gathering-path (G-path) gate. It is almost deterministic and feasible with current technology when a strong coherent state and weak XKNLs are employed. Based on the CU gate, we present a BQTP scheme that simultaneously teleports two unknown photons between distant users by transmitting only one photon in a path-polarization intra-particle hybrid entangled state. Consequently, it is possible to experimentally implement BQTP with a certain success probability using the proposed CU gate. Project supported by the Ministry of Science, ICT&Future Planning, Korea, under the C-ITRC (Convergence Information Technology Research Center) Support program (NIPA-2013-H0301-13-3007) supervised by the National IT Industry Promotion Agency.

Photovoltaic Cells Mppt Algorithm and Design of Controller Monitoring System

NASA Astrophysics Data System (ADS)

Meng, X. Z.; Feng, H. B.

2017-10-01

This paper combined the advantages of each maximum power point tracking (MPPT) algorithm, put forward a kind of algorithm with higher speed and higher precision, based on this algorithm designed a maximum power point tracking controller with ARM. The controller, communication technology and PC software formed a control system. Results of the simulation and experiment showed that the process of maximum power tracking was effective, and the system was stable.

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

Planar maneuvering control of underwater snake robots using virtual holonomic constraints.

PubMed

Kohl, Anna M; Kelasidi, Eleni; Mohammadi, Alireza; Maggiore, Manfredi; Pettersen, Kristin Y

2016-11-24

This paper investigates the problem of planar maneuvering control for bio-inspired underwater snake robots that are exposed to unknown ocean currents. The control objective is to make a neutrally buoyant snake robot which is subject to hydrodynamic forces and ocean currents converge to a desired planar path and traverse the path with a desired velocity. The proposed feedback control strategy enforces virtual constraints which encode biologically inspired gaits on the snake robot configuration. The virtual constraints, parametrized by states of dynamic compensators, are used to regulate the orientation and forward speed of the snake robot. A two-state ocean current observer based on relative velocity sensors is proposed. It enables the robot to follow the path in the presence of unknown constant ocean currents. The efficacy of the proposed control algorithm for several biologically inspired gaits is verified both in simulations for different path geometries and in experiments.

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.

Flow-rate control for managing communications in tracking and surveillance networks

NASA Astrophysics Data System (ADS)

Miller, Scott A.; Chong, Edwin K. P.

2007-09-01

This paper describes a primal-dual distributed algorithm for managing communications in a bandwidth-limited sensor network for tracking and surveillance. The algorithm possesses some scale-invariance properties and adaptive gains that make it more practical for applications such as tracking where the conditions change over time. A simulation study comparing this algorithm with a priority-queue-based approach in a network tracking scenario shows significant improvement in the resulting track quality when using flow control to manage communications.

Model-Free Primitive-Based Iterative Learning Control Approach to Trajectory Tracking of MIMO Systems With Experimental Validation.

PubMed

Radac, Mircea-Bogdan; Precup, Radu-Emil; Petriu, Emil M

2015-11-01

This paper proposes a novel model-free trajectory tracking of multiple-input multiple-output (MIMO) systems by the combination of iterative learning control (ILC) and primitives. The optimal trajectory tracking solution is obtained in terms of previously learned solutions to simple tasks called primitives. The library of primitives that are stored in memory consists of pairs of reference input/controlled output signals. The reference input primitives are optimized in a model-free ILC framework without using knowledge of the controlled process. The guaranteed convergence of the learning scheme is built upon a model-free virtual reference feedback tuning design of the feedback decoupling controller. Each new complex trajectory to be tracked is decomposed into the output primitives regarded as basis functions. The optimal reference input for the control system to track the desired trajectory is next recomposed from the reference input primitives. This is advantageous because the optimal reference input is computed straightforward without the need to learn from repeated executions of the tracking task. In addition, the optimization problem specific to trajectory tracking of square MIMO systems is decomposed in a set of optimization problems assigned to each separate single-input single-output control channel that ensures a convenient model-free decoupling. The new model-free primitive-based ILC approach is capable of planning, reasoning, and learning. A case study dealing with the model-free control tuning for a nonlinear aerodynamic system is included to validate the new approach. The experimental results are given.

13. WALKWAY FROM LAUNCHING PAD TO CABLE TUNNEL STAIRWELL, ALSO ...

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

13. WALKWAY FROM LAUNCHING PAD TO CABLE TUNNEL STAIRWELL, ALSO SHOWING A PROTECTIVE BERM AT TOP LEFT, AND FIRING CONTROL BLOCKHOUSE 0545 AT TOP RIGHT. - Edwards Air Force Base, South Base Sled Track, Firing Control Blockhouse, South of Sled Track at east end, Lancaster, Los Angeles County, CA

10. ENTRY STAIRWELL TO CABLE TUNNEL, ABOUT THREE QUARTERS THE ...

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

10. ENTRY STAIRWELL TO CABLE TUNNEL, ABOUT THREE QUARTERS THE DISTANCE TO THE SLED LAUNCHING PAD FROM THE FIRING CONTROL BLOCKHOUSE 0545. Looking west northwest. - Edwards Air Force Base, South Base Sled Track, Firing Control Blockhouse, South of Sled Track at east end, Lancaster, Los Angeles County, CA

Design and control of the precise tracking bed based on complex electromechanical design theory

NASA Astrophysics Data System (ADS)

Ren, Changzhi; Liu, Zhao; Wu, Liao; Chen, Ken

2010-05-01

The precise tracking technology is wide used in astronomical instruments, satellite tracking and aeronautic test bed. However, the precise ultra low speed tracking drive system is one high integrated electromechanical system, which one complexly electromechanical design method is adopted to improve the efficiency, reliability and quality of the system during the design and manufacture circle. The precise Tracking Bed is one ultra-exact, ultra-low speed, high precision and huge inertial instrument, which some kind of mechanism and environment of the ultra low speed is different from general technology. This paper explores the design process based on complex electromechanical optimizing design theory, one non-PID with a CMAC forward feedback control method is used in the servo system of the precise tracking bed and some simulation results are discussed.

Minimal-Approximation-Based Distributed Consensus Tracking of a Class of Uncertain Nonlinear Multiagent Systems With Unknown Control Directions.

PubMed

Choi, Yun Ho; Yoo, Sung Jin

2017-03-28

A minimal-approximation-based distributed adaptive consensus tracking approach is presented for strict-feedback multiagent systems with unknown heterogeneous nonlinearities and control directions under a directed network. Existing approximation-based consensus results for uncertain nonlinear multiagent systems in lower-triangular form have used multiple function approximators in each local controller to approximate unmatched nonlinearities of each follower. Thus, as the follower's order increases, the number of the approximators used in its local controller increases. However, the proposed approach employs only one function approximator to construct the local controller of each follower regardless of the order of the follower. The recursive design methodology using a new error transformation is derived for the proposed minimal-approximation-based design. Furthermore, a bounding lemma on parameters of Nussbaum functions is presented to handle the unknown control direction problem in the minimal-approximation-based distributed consensus tracking framework and the stability of the overall closed-loop system is rigorously analyzed in the Lyapunov sense.

Energy management and attitude control for spacecraft

NASA Astrophysics Data System (ADS)

Costic, Bret Thomas

2001-07-01

This PhD dissertation describes the design and implementation of various control strategies centered around spacecraft applications: (i) an attitude control system for spacecraft, (ii) flywheels used for combined attitude and energy tracking, and (iii) an adaptive autobalancing control algorithm. The theory found in each of these sections is demonstrated through simulation or experimental results. An introduction to each of these three primary chapters can be found in chapter one. The main problem addressed in the second chapter is the quaternion-based, attitude tracking control of rigid spacecraft without angular velocity measurements and in the presence of an unknown inertia matrix. As a stepping-stone, an adaptive, full-state feedback controller that compensates for parametric uncertainty while ensuring asymptotic attitude tracking errors is designed. The adaptive, full-state feedback controller is then redesigned such that the need for angular velocity measurements is eliminated. The proposed adaptive, output feedback controller ensures asymptotic attitude tracking. This work uses a four-parameter representation of the spacecraft attitude that does not exhibit singular orientations as in the case of the previous three-parameter representation-based results. To the best of my knowledge, this represents the first solution to the adaptive, output feedback, attitude tracking control problem for the quaternion representation. Simulation results are included to illustrate the performance of the proposed output feedback control strategy. The third chapter is devoted to the use of multiple flywheels that integrate the energy storage and attitude control functions in space vehicles. This concept, which is referred to as an Integrated Energy Management and Attitude Control (IEMAC) system, reduces the space vehicle bus mass, volume, cost, and maintenance requirements while maintaining or improving the space vehicle performance. To this end, two nonlinear IEMAC strategies (model-based and adaptive) that simultaneously track a desired attitude trajectory and desired energy/power profile are presented. Both strategies ensure asymptotic tracking while the adaptive controller compensates for uncertain spacecraft inertia. In the final chapter, a control strategy is designed for a rotating, unbalanced disk. The control strategy, which is composed of a control torque and two control forces, regulates the disk displacement and ensures angular velocity tracking. The controller uses a desired compensation adaptation law and a gain adjusted forgetting factor to achieve exponential stability despite the lack of knowledge of the imbalance-related parameters, provided a mild persistency of excitation condition is satisfied.

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.

The Off-Season Operations of the Air Force Hurricane Office 1947-1948

DTIC Science & Technology

1948-07-01

order to keep oil and cylinder- h& d temperatures at a level sufficient to prevent engine failure. It is quite often necessary to lowr the landing...position where the winds are directly from the north end the course is then chenced to the southeast or perpendicular to the path cf desired...direction of approach in this method would be from the southeast , to establish a base lino paral- lel to the storm track, assuming that the storm

Tracking Control and System Development for Laser-Driven Micro-Vehicles

NASA Astrophysics Data System (ADS)

Kajiwara, Itsuro; Hoshino, Kentaro; Hara, Shinji; Shiokata, Daisuke; Yabe, Takashi

The purpose of this paper is to design a control system for an integrated laser propulsion/tracking system to achieve continuous motion and control of laser-driven micro-vehicles. Laser propulsion is significant in achieving miniature and light micro-vehicles. A laser-driven micro-airplane has been studied using a paper airplane and YAG laser, resulting in successful gliding of the airplane. High-performance laser tracking control is required to achieve continuous flight. This paper presents a control design strategy based on the generalized Kalman-Yakubovic-Popov lemma to achieve this requirement. Experiments have been carried out to evaluate the performance of the integrated laser propulsion/tracking system.

Assist-as-needed path control for the PASCAL rehabilitation robot.

PubMed

Keller, Urs; Rauter, Georg; Riener, Robert

2013-06-01

Adults and children with neurological disorders often require rehabilitation therapy to improve their arm motor functions. Complementary to conventional therapy, robotic therapy can be applied. Such robots should support arm movements while assisting only as much as needed to ensure an active participation of the patient. Different control strategies are known to provide arm support to the patient. The path controller is a strategy that helps the patient's arm to stay close to a given path while allowing for temporal and spatial freedom. In this paper, an assist-as-needed path controller is presented that is implemented in the end-effector-based robot PASCAL, which was designed for children with cerebral palsy. The new control approach is a combination of an existing path controller with additional speed restrictions to support, when the arm speed is too slow, and to resist, when the speed is too fast. Furthermore, a target position gain scheduling is introduced in order to reach a target position with a predefined precision as well as an adaptable direction-dependent supportive flux that supports along the path. These path control features were preliminarily tested with a healthy adult volunteer in different conditions. The presented controller covers the range from a completely passive user, who needs full support to an actively performed movement that needs no assistance. In close future, the controller is planned to be used to enable reaching in children as well as in adults and help to increase the intensity of the rehabilitation therapy by assisting the hand movement and by provoking an active participation.

Free-space laser communication system with rapid acquisition based on astronomical telescopes.

PubMed

Wang, Jianmin; Lv, Junyi; Zhao, Guang; Wang, Gang

2015-08-10

The general structure of a free-space optical (FSO) communication system based on astronomical telescopes is proposed. The light path for astronomical observation and for communication can be easily switched. A separate camera is used as a star sensor to determine the pointing direction of the optical terminal's antenna. The new system exhibits rapid acquisition and is widely applicable in various astronomical telescope systems and wavelengths. We present a detailed analysis of the acquisition time, which can be decreased by one order of magnitude compared with traditional optical communication systems. Furthermore, we verify software algorithms and tracking accuracy.

Construction of a WMR for trajectory tracking control: experimental results.

PubMed

Silva-Ortigoza, R; Márquez-Sánchez, C; Marcelino-Aranda, M; Marciano-Melchor, M; Silva-Ortigoza, G; Bautista-Quintero, R; Ramos-Silvestre, E R; Rivera-Díaz, J C; Muñoz-Carrillo, D

2013-01-01

This paper reports a solution for trajectory tracking control of a differential drive wheeled mobile robot (WMR) based on a hierarchical approach. The general design and construction of the WMR are described. The hierarchical controller proposed has two components: a high-level control and a low-level control. The high-level control law is based on an input-output linearization scheme for the robot kinematic model, which provides the desired angular velocity profiles that the WMR has to track in order to achieve the desired position (x∗, y∗) and orientation (φ∗). Then, a low-level control law, based on a proportional integral (PI) approach, is designed to control the velocity of the WMR wheels to ensure those tracking features. Regarding the trajectories, this paper provides the solution or the following cases: (1) time-varying parametric trajectories such as straight lines and parabolas and (2) smooth curves fitted by cubic splines which are generated by the desired data points {(x₁∗, y₁∗),..., (x(n)∗, y(n)∗)}. A straightforward algorithm is developed for constructing the cubic splines. Finally, this paper includes an experimental validation of the proposed technique by employing a DS1104 dSPACE electronic board along with MATLAB/Simulink software.

Construction of a WMR for Trajectory Tracking Control: Experimental Results

PubMed Central

Silva-Ortigoza, R.; Márquez-Sánchez, C.; Marcelino-Aranda, M.; Marciano-Melchor, M.; Silva-Ortigoza, G.; Bautista-Quintero, R.; Ramos-Silvestre, E. R.; Rivera-Díaz, J. C.; Muñoz-Carrillo, D.

2013-01-01

This paper reports a solution for trajectory tracking control of a differential drive wheeled mobile robot (WMR) based on a hierarchical approach. The general design and construction of the WMR are described. The hierarchical controller proposed has two components: a high-level control and a low-level control. The high-level control law is based on an input-output linearization scheme for the robot kinematic model, which provides the desired angular velocity profiles that the WMR has to track in order to achieve the desired position (x∗, y∗) and orientation (φ∗). Then, a low-level control law, based on a proportional integral (PI) approach, is designed to control the velocity of the WMR wheels to ensure those tracking features. Regarding the trajectories, this paper provides the solution or the following cases: (1) time-varying parametric trajectories such as straight lines and parabolas and (2) smooth curves fitted by cubic splines which are generated by the desired data points {(x1∗, y1∗),..., (xn∗, yn∗)}. A straightforward algorithm is developed for constructing the cubic splines. Finally, this paper includes an experimental validation of the proposed technique by employing a DS1104 dSPACE electronic board along with MATLAB/Simulink software. PMID:23997679

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

PubMed

Xingling, Shao; Honglun, Wang

2014-11-01

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

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

The problem of the driverless vehicle specified path stability control

NASA Astrophysics Data System (ADS)

Buznikov, S. E.; Endachev, D. V.; Elkin, D. S.; Strukov, V. O.

2018-02-01

Currently the effort of many leading foreign companies is focused on creation of driverless transport for transportation of cargo and passengers. Among many practical problems arising while creating driverless vehicles, the problem of the specified path stability control occupies a central place. The purpose of this paper is formalization of the problem in question in terms of the quadratic functional of the control quality, the comparative analysis of the possible solutions and justification of the choice of the optimum technical solution. As square value of the integral of the deviation from the specified path is proposed as the quadratic functional of the control quality. For generation of the set of software and hardware solution variants the Zwicky “morphological box” method is used within the hardware and software environments. The heading control algorithms use the wheel steering angle data and the deviation from the lane centerline (specified path) calculated based on the navigation data and the data from the video system. Where the video system does not detect the road marking, the control is carried out based on the wheel navigation system data and where recognizable road marking exits - based on to the video system data. The analysis of the test results allows making the conclusion that the application of the combined navigation system algorithms that provide quasi-optimum solution of the problem while meeting the strict functional limits for the technical and economic indicators of the driverless vehicle control system under development is effective.

Distributed cooperative regulation for multiagent systems and its applications to power systems: a survey.

PubMed

Hu, Jianqiang; Li, Yaping; Yong, Taiyou; Cao, Jinde; Yu, Jie; Mao, Wenbo

2014-01-01

Cooperative regulation of multiagent systems has become an active research area in the past decade. This paper reviews some recent progress in distributed coordination control for leader-following multiagent systems and its applications in power system and mainly focuses on the cooperative tracking control in terms of consensus tracking control and containment tracking control. Next, methods on how to rank the network nodes are summarized for undirected/directed network, based on which one can determine which follower should be connected to leaders such that partial followers can perceive leaders' information. Furthermore, we present a survey of the most relevant scientific studies investigating the regulation and optimization problems in power systems based on distributed strategies. Finally, some potential applications in the frequency tracking regulation of smart grids are discussed at the end of the paper.

Distributed Cooperative Regulation for Multiagent Systems and Its Applications to Power Systems: A Survey

PubMed Central

Li, Yaping; Yong, Taiyou; Yu, Jie; Mao, Wenbo

2014-01-01

Cooperative regulation of multiagent systems has become an active research area in the past decade. This paper reviews some recent progress in distributed coordination control for leader-following multiagent systems and its applications in power system and mainly focuses on the cooperative tracking control in terms of consensus tracking control and containment tracking control. Next, methods on how to rank the network nodes are summarized for undirected/directed network, based on which one can determine which follower should be connected to leaders such that partial followers can perceive leaders' information. Furthermore, we present a survey of the most relevant scientific studies investigating the regulation and optimization problems in power systems based on distributed strategies. Finally, some potential applications in the frequency tracking regulation of smart grids are discussed at the end of the paper. PMID:25243199

Approximation-Based Discrete-Time Adaptive Position Tracking Control for Interior Permanent Magnet Synchronous Motors.

PubMed

Yu, Jinpeng; Shi, Peng; Yu, Haisheng; Chen, Bing; Lin, Chong

2015-07-01

This paper considers the problem of discrete-time adaptive position tracking control for a interior permanent magnet synchronous motor (IPMSM) based on fuzzy-approximation. Fuzzy logic systems are used to approximate the nonlinearities of the discrete-time IPMSM drive system which is derived by direct discretization using Euler method, and a discrete-time fuzzy position tracking controller is designed via backstepping approach. In contrast to existing results, the advantage of the scheme is that the number of the adjustable parameters is reduced to two only and the problem of coupling nonlinearity can be overcome. It is shown that the proposed discrete-time fuzzy controller can guarantee the tracking error converges to a small neighborhood of the origin and all the signals are bounded. Simulation results illustrate the effectiveness and the potentials of the theoretic results obtained.

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."

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.

Developing and Integrating Advanced Movement Features Improves Automated Classification of Ciliate Species

PubMed Central

Soleymani, Ali; Pennekamp, Frank; Petchey, Owen L.; Weibel, Robert

2015-01-01

Recent advances in tracking technologies such as GPS or video tracking systems describe the movement paths of individuals in unprecedented details and are increasingly used in different fields, including ecology. However, extracting information from raw movement data requires advanced analysis techniques, for instance to infer behaviors expressed during a certain period of the recorded trajectory, or gender or species identity in case data is obtained from remote tracking. In this paper, we address how different movement features affect the ability to automatically classify the species identity, using a dataset of unicellular microbes (i.e., ciliates). Previously, morphological attributes and simple movement metrics, such as speed, were used for classifying ciliate species. Here, we demonstrate that adding advanced movement features, in particular such based on discrete wavelet transform, to morphological features can improve classification. These results may have practical applications in automated monitoring of waste water facilities as well as environmental monitoring of aquatic systems. PMID:26680591

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

PubMed

Xiao, Lingfei; Zhu, Yue

2014-07-01

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

Eye gaze tracking for endoscopic camera positioning: an application of a hardware/software interface developed to automate Aesop.

PubMed

Ali, S M; Reisner, L A; King, B; Cao, A; Auner, G; Klein, M; Pandya, A K

2008-01-01

A redesigned motion control system for the medical robot Aesop allows automating and programming its movements. An IR eye tracking system has been integrated with this control interface to implement an intelligent, autonomous eye gaze-based laparoscopic positioning system. A laparoscopic camera held by Aesop can be moved based on the data from the eye tracking interface to keep the user's gaze point region at the center of a video feedback monitor. This system setup provides autonomous camera control that works around the surgeon, providing an optimal robotic camera platform.

Fundamentals of Arthroscopic Surgery Training Program Improves Knee Arthroscopy Simulator Performance in Arthroscopic Trainees.

PubMed

Cychosz, Chris C; Tofte, Josef N; Johnson, Alyssa; Gao, Yubo; Phisitkul, Phinit

2018-05-01

To determine the effectiveness of a nonanatomic simulator in developing basic arthroscopy motor skills transferable to an anatomic model. Forty-three arthroscopy novice individuals currently enrolled in medical school were recruited to perform a diagnostic knee arthroscopy using a high-fidelity virtual reality arthroscopic simulator providing haptic feedback after viewing a video of an expert performing an identical procedure. Students were then randomized into an experimental or control group. The experimental group then completed a series of self-guided training modules using the fundamentals of arthroscopy simulator training nonanatomic modules including camera centering, tracking, periscoping, palpation, and collecting stars in a three-dimensional space. Both groups completed another diagnostic knee arthroscopy between 1 and 2 weeks later. Camera path length, time, tibia and femur cartilage damage, as well as a composite score were recorded by the simulator on each attempt. The experimental group (n = 22) showed superior performance in composite score (30.09 vs 24, P = .046) and camera path length (71.51 cm vs 109.07 cm, P = .0274) at the time of the second diagnostic knee arthroscope compared with the control group (n = 21). The experimental group also showed significantly greater improvement in composite score between the first and second arthroscopes compared with the control group (14.27 vs 4.95, P < .01). Femoral and tibial cartilage damage were not significantly improved between arthroscopy attempts (-0.86% vs -1.45%, P = .40) and (-1.10 vs -1.27%, P = .83), respectively. The virtual reality-based fundamentals of arthroscopy simulator training nonanatomic simulator is beneficial in developing basic motor skills in arthroscopy novice individuals resulting in significantly greater composite performance in an anatomic knee model. Based on the results of this study, it appears that there may be benefit from nonanatomic simulators in general as part of an arthroscopy training program. Level II, randomized trial. Published by Elsevier Inc.

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

Fault-tolerant optimised tracking control for unknown discrete-time linear systems using a combined reinforcement learning and residual compensation methodology

NASA Astrophysics Data System (ADS)

Han, Ke-Zhen; Feng, Jian; Cui, Xiaohong

2017-10-01

This paper considers the fault-tolerant optimised tracking control (FTOTC) problem for unknown discrete-time linear system. A research scheme is proposed on the basis of data-based parity space identification, reinforcement learning and residual compensation techniques. The main characteristic of this research scheme lies in the parity-space-identification-based simultaneous tracking control and residual compensation. The specific technical line consists of four main contents: apply subspace aided method to design observer-based residual generator; use reinforcement Q-learning approach to solve optimised tracking control policy; rely on robust H∞ theory to achieve noise attenuation; adopt fault estimation triggered by residual generator to perform fault compensation. To clarify the design and implementation procedures, an integrated algorithm is further constructed to link up these four functional units. The detailed analysis and proof are subsequently given to explain the guaranteed FTOTC performance of the proposed conclusions. Finally, a case simulation is provided to verify its effectiveness.

Nearly deterministic quantum Fredkin gate based on weak cross-Kerr nonlinearity

NASA Astrophysics Data System (ADS)

Wu, Yun-xiang; Zhu, Chang-hua; Pei, Chang-xing

2016-09-01

A scheme of an optical quantum Fredkin gate is presented based on weak cross-Kerr nonlinearity. By an auxiliary coherent state with the cross-Kerr nonlinearity effect, photons can interact with each other indirectly, and a non-demolition measurement for photons can be implemented. Combined with the homodyne detection, classical feedforward, polarization beam splitters and Pauli-X operations, a controlled-path gate is constructed. Furthermore, a quantum Fredkin gate is built based on the controlled-path gate. The proposed Fredkin gate is simple in structure and feasible by current experimental technology.

Robust adaptive uniform exact tracking control for uncertain Euler-Lagrange system

NASA Astrophysics Data System (ADS)

Yang, Yana; Hua, Changchun; Li, Junpeng; Guan, Xinping

2017-12-01

This paper offers a solution to the robust adaptive uniform exact tracking control for uncertain nonlinear Euler-Lagrange (EL) system. An adaptive finite-time tracking control algorithm is designed by proposing a novel nonsingular integral terminal sliding-mode surface. Moreover, a new adaptive parameter tuning law is also developed by making good use of the system tracking errors and the adaptive parameter estimation errors. Thus, both the trajectory tracking and the parameter estimation can be achieved in a guaranteed time adjusted arbitrarily based on practical demands, simultaneously. Additionally, the control result for the EL system proposed in this paper can be extended to high-order nonlinear systems easily. Finally, a test-bed 2-DOF robot arm is set-up to demonstrate the performance of the new control algorithm.

Tracking target objects orbiting earth using satellite-based telescopes

DOEpatents

De Vries, Willem H; Olivier, Scot S; Pertica, Alexander J

2014-10-14

A system for tracking objects that are in earth orbit via a constellation or network of satellites having imaging devices is provided. An object tracking system includes a ground controller and, for each satellite in the constellation, an onboard controller. The ground controller receives ephemeris information for a target object and directs that ephemeris information be transmitted to the satellites. Each onboard controller receives ephemeris information for a target object, collects images of the target object based on the expected location of the target object at an expected time, identifies actual locations of the target object from the collected images, and identifies a next expected location at a next expected time based on the identified actual locations of the target object. The onboard controller processes the collected image to identify the actual location of the target object and transmits the actual location information to the ground controller.

Multilayer Insulation Ascent Venting Model

NASA Technical Reports Server (NTRS)

Tramel, R. W.; Sutherlin, S. G.; Johnson, W. L.

2017-01-01

The thermal and venting transient experienced by tank-applied multilayer insulation (MLI) in the Earth-to-orbit environment is very dynamic and not well characterized. This new predictive code is a first principles-based engineering model which tracks the time history of the mass and temperature (internal energy) of the gas in each MLI layer. A continuum-based model is used for early portions of the trajectory while a kinetic theory-based model is used for the later portions of the trajectory, and the models are blended based on a reference mean free path. This new capability should improve understanding of the Earth-to-orbit transient and enable better insulation system designs for in-space cryogenic propellant systems.

Intelligent robust tracking control for a class of uncertain strict-feedback nonlinear systems.

PubMed

Chang, Yeong-Chan

2009-02-01

This paper addresses the problem of designing robust tracking controls for a large class of strict-feedback nonlinear systems involving plant uncertainties and external disturbances. The input and virtual input weighting matrices are perturbed by bounded time-varying uncertainties. An adaptive fuzzy-based (or neural-network-based) dynamic feedback tracking controller will be developed such that all the states and signals of the closed-loop system are bounded and the trajectory tracking error should be as small as possible. First, the adaptive approximators with linearly parameterized models are designed, and a partitioned procedure with respect to the developed adaptive approximators is proposed such that the implementation of the fuzzy (or neural network) basis functions depends only on the state variables but does not depend on the tuning approximation parameters. Furthermore, we extend to design the nonlinearly parameterized adaptive approximators. Consequently, the intelligent robust tracking control schemes developed in this paper possess the properties of computational simplicity and easy implementation. Finally, simulation examples are presented to demonstrate the effectiveness of the proposed control algorithms.

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.

Robust tracking and distributed synchronization control of a multi-motor servomechanism with H-infinity performance.

PubMed

Wang, Minlin; Ren, Xuemei; Chen, Qiang

2018-01-01

The multi-motor servomechanism (MMS) is a multi-variable, high coupling and nonlinear system, which makes the controller design challenging. In this paper, an adaptive robust H-infinity control scheme is proposed to achieve both the load tracking and multi-motor synchronization of MMS. This control scheme consists of two parts: a robust tracking controller and a distributed synchronization controller. The robust tracking controller is constructed by incorporating a neural network (NN) K-filter observer into the dynamic surface control, while the distributed synchronization controller is designed by combining the mean deviation coupling control strategy with the distributed technique. The proposed control scheme has several merits: 1) by using the mean deviation coupling synchronization control strategy, the tracking controller and the synchronization controller can be designed individually without any coupling problem; 2) the immeasurable states and unknown nonlinearities are handled by a NN K-filter observer, where the number of NN weights is largely reduced by using the minimal learning parameter technique; 3) the H-infinity performances of tracking error and synchronization error are guaranteed by introducing a robust term into the tracking controller and the synchronization controller, respectively. The stabilities of the tracking and synchronization control systems are analyzed by the Lyapunov theory. Simulation and experimental results based on a four-motor servomechanism are conducted to demonstrate the effectiveness of the proposed method. Copyright © 2017 ISA. Published by Elsevier Ltd. All rights reserved.

Dynamics and control of robot for capturing objects in space

NASA Astrophysics Data System (ADS)

Huang, Panfeng

Space robots are expected to perform intricate tasks in future space services, such as satellite maintenance, refueling, and replacing the orbital replacement unit (ORU). To realize these missions, the capturing operation may not be avoided. Such operations will encounter some challenges because space robots have some unique characteristics unfound on ground-based robots, such as, dynamic singularities, dynamic coupling between manipulator and space base, limited energy supply and working without a fixed base, and so on. In addition, since contacts and impacts may not be avoided during capturing operation. Therefore, dynamics and control problems of space robot for capturing objects are significant research topics if the robots are to be deployed for the space services. A typical servicing operation mainly includes three phases: capturing the object, berthing and docking the object, then repairing the target. Therefore, this thesis will focus on resolving some challenging problems during capturing the object, berthing and docking, and so on. In this thesis, I study and analyze the dynamics and control problems of space robot for capturing objects. This work has potential impact in space robotic applications. I first study the contact and impact dynamics of space robot and objects. I specifically focus on analyzing the impact dynamics and mapping the relationship of influence and speed. Then, I develop the fundamental theory for planning the minimum-collision based trajectory of space robot and designing the configuration of space robot at the moment of capture. To compensate for the attitude of the space base during the capturing approach operation, a new balance control concept which can effectively balance the attitude of the space base using the dynamic couplings is developed. The developed balance control concept helps to understand of the nature of space dynamic coupling, and can be readily applied to compensate or minimize the disturbance to the space base. After capturing the object, the space robot must complete the following two tasks: one is to berth the object, and the other is to re-orientate the attitude of the whole robot system for communication and power supply. Therefore, I propose a method to accomplish these two tasks simultaneously using manipulator motion only. The ultimate goal of space services is to realize the capture and manipulation autonomously. Therefore, I propose an affective approach based on learning human skill to track and capture the objects automatically in space. With human-teaching demonstration, the space robot is able to learn and abstract human tracking and capturing skill using an efficient neural-network learning architecture that combines flexible Cascade Neural Networks with Node Decoupled Extended Kalman Filtering (CNN-NDEKF). The simulation results attest that this approach is useful and feasible in tracking trajectory planning and capturing of space robot. Finally I propose a novel approach based on Genetic Algorithms (GAs) to optimize the approach trajectory of space robots in order to realize effective and stable operations. I complete the minimum-torque path planning in order to save the limited energy in space, and design the minimum jerk trajectory for the stabilization of the space manipulator and its space base. These optimal algorithms are very important and useful for the application of space robot.

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

Hayabusa Re-Entry: Trajectory Analysis and Observation Mission Design

NASA Technical Reports Server (NTRS)

Cassell, Alan M.; Winter, Michael W.; Allen, Gary A.; Grinstead, Jay H.; Antimisiaris, Manny E.; Albers, James; Jenniskens, Peter

2011-01-01

On June 13th, 2010, the Hayabusa sample return capsule successfully re-entered Earth s atmosphere over the Woomera Prohibited Area in southern Australia in its quest to return fragments from the asteroid 1998 SF36 Itokawa . The sample return capsule entered at a super-orbital velocity of 12.04 km/sec (inertial), making it the second fastest human-made object to traverse the atmosphere. The NASA DC-8 airborne observatory was utilized as an instrument platform to record the luminous portion of the sample return capsule re-entry (60 sec) with a variety of on-board spectroscopic imaging instruments. The predicted sample return capsule s entry state information at 200 km altitude was propagated through the atmosphere to generate aerothermodynamic and trajectory data used for initial observation flight path design and planning. The DC- 8 flight path was designed by considering safety, optimal sample return capsule viewing geometry and aircraft capabilities in concert with key aerothermodynamic events along the predicted trajectory. Subsequent entry state vector updates provided by the Deep Space Network team at NASA s Jet Propulsion Laboratory were analyzed after the planned trajectory correction maneuvers to further refine the DC-8 observation flight path. Primary and alternate observation flight paths were generated during the mission planning phase which required coordination with Australian authorities for pre-mission approval. The final observation flight path was chosen based upon trade-offs between optimal viewing requirements, ground based observer locations (to facilitate post-flight trajectory reconstruction), predicted weather in the Woomera Prohibited Area and constraints imposed by flight path filing deadlines. To facilitate sample return capsule tracking by the instrument operators, a series of two racetrack flight path patterns were performed prior to the observation leg so the instruments could be pointed towards the region in the star background where the sample return capsule was expected to become visible. An overview of the design methodologies and trade-offs used in the Hayabusa re-entry observation campaign are presented.

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

PubMed

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

2018-02-01

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

Automatic control of the NMB level in general anaesthesia with a switching total system mass control strategy.

PubMed

Teixeira, Miguel; Mendonça, Teresa; Rocha, Paula; Rabiço, Rui

2014-12-01

This paper presents a model based switching control strategy to drive the neuromuscular blockade (NMB) level of patients undergoing general anesthesia to a predefined reference. A single-input single-output Wiener system with only two parameters is used to model the effect of two different muscle relaxants, atracurium and rocuronium, and a switching controller is designed based on a bank of total system mass control laws. Each of such laws is tuned for an individual model from a bank chosen to represent the behavior of the whole population. The control law to be applied at each instant corresponds to the model whose NMB response is closer to the patient's response. Moreover a scheme to improve the reference tracking quality based on the analysis of the patient's response, as well as, a comparison between the switching strategy and the Extended Kalman Kilter (EKF) technique are presented. The results are illustrated by means of several simulations, where switching shows to provide good results, both in theory and in practice, with a desirable reference tracking. The reference tracking improvement technique is able to produce a better reference tracking. Also, this technique showed a better performance than the (EKF). Based on these results, the switching control strategy with a bank of total system mass control laws proved to be robust enough to be used as an automatic control system for the NMB level.

Optimal Control Method of Robot End Position and Orientation Based on Dynamic Tracking Measurement

NASA Astrophysics Data System (ADS)

Liu, Dalong; Xu, Lijuan

2018-01-01

In order to improve the accuracy of robot pose positioning and control, this paper proposed a dynamic tracking measurement robot pose optimization control method based on the actual measurement of D-H parameters of the robot, the parameters is taken with feedback compensation of the robot, according to the geometrical parameters obtained by robot pose tracking measurement, improved multi sensor information fusion the extended Kalan filter method, with continuous self-optimal regression, using the geometric relationship between joint axes for kinematic parameters in the model, link model parameters obtained can timely feedback to the robot, the implementation of parameter correction and compensation, finally we can get the optimal attitude angle, realize the robot pose optimization control experiments were performed. 6R dynamic tracking control of robot joint robot with independent research and development is taken as experimental subject, the simulation results show that the control method improves robot positioning accuracy, and it has the advantages of versatility, simplicity, ease of operation and so on.

All-optical, thermo-optical path length modulation based on the vanadium-doped fibers.

PubMed

Matjasec, Ziga; Campelj, Stanislav; Donlagic, Denis

2013-05-20

This paper presents an all-fiber, fully-optically controlled, optical-path length modulator based on highly absorbing optical fiber. The modulator utilizes a high-power 980 nm pump diode and a short section of vanadium-co-doped single mode fiber that is heated through absorption and a non-radiative relaxation process. The achievable path length modulation range primarily depends on the pump's power and the convective heat-transfer coefficient of the surrounding gas, while the time response primarily depends on the heated fiber's diameter. An absolute optical length change in excess of 500 µm and a time-constant as short as 11 ms, were demonstrated experimentally. The all-fiber design allows for an electrically-passive and remote operation of the modulator. The presented modulator could find use within various fiber-optics systems that require optical (remote) path length control or modulation.

The Type-2 Fuzzy Logic Controller-Based Maximum Power Point Tracking Algorithm and the Quadratic Boost Converter for Pv System

NASA Astrophysics Data System (ADS)

Altin, Necmi

2018-05-01

An interval type-2 fuzzy logic controller-based maximum power point tracking algorithm and direct current-direct current (DC-DC) converter topology are proposed for photovoltaic (PV) systems. The proposed maximum power point tracking algorithm is designed based on an interval type-2 fuzzy logic controller that has an ability to handle uncertainties. The change in PV power and the change in PV voltage are determined as inputs of the proposed controller, while the change in duty cycle is determined as the output of the controller. Seven interval type-2 fuzzy sets are determined and used as membership functions for input and output variables. The quadratic boost converter provides high voltage step-up ability without any reduction in performance and stability of the system. The performance of the proposed system is validated through MATLAB/Simulink simulations. It is seen that the proposed system provides high maximum power point tracking speed and accuracy even for fast changing atmospheric conditions and high voltage step-up requirements.

Trajectory tracking control for a nonholonomic mobile robot under ROS

NASA Astrophysics Data System (ADS)

Lakhdar Besseghieur, Khadir; Trębiński, Radosław; Kaczmarek, Wojciech; Panasiuk, Jarosław

2018-05-01

In this paper, the implementation of the trajectory tracking control strategy on a ROS-based mobile robot is considered. Our test-bench is the nonholonomic mobile robot ‘TURTLEBOT’. ROS facilitates considerably setting-up a suitable environment to test the designed controller. Our aim is to develop a framework using ROS concepts so that a trajectory tracking controller can be implemented on any ROS-enabled mobile robot. Practical experiments with ‘TURTLEBOT’ are conducted to assess the framework reliability.

Cerebellum Augmented Rover Development

NASA Technical Reports Server (NTRS)

King, Matthew

2005-01-01

Bio-Inspired Technologies and Systems (BITS) are a very natural result of thinking about Nature's way of solving problems. Knowledge of animal behaviors an be used in developing robotic behaviors intended for planetary exploration. This is the expertise of the JFL BITS Group and has served as a philosophical model for NMSU RioRobolab. Navigation is a vital function for any autonomous system. Systems must have the ability to determine a safe path between their current location and some target location. The MER mission, as well as other JPL rover missions, uses a method known as dead-reckoning to determine position information. Dead-reckoning uses wheel encoders to sense the wheel's rotation. In a sandy environment such as Mars, this method is highly inaccurate because the wheels will slip in the sand. Improving positioning error will allow the speed of an autonomous navigating rover to be greatly increased. Therefore, local navigation based upon landmark tracking is desirable in planetary exploration. The BITS Group is developing navigation technology based upon landmark tracking. Integration of the current rover architecture with a cerebellar neural network tracking algorithm will demonstrate that this approach to navigation is feasible and should be implemented in future rover and spacecraft missions.

Visualization of spatial-temporal data based on 3D virtual scene

NASA Astrophysics Data System (ADS)

Wang, Xianghong; Liu, Jiping; Wang, Yong; Bi, Junfang

2009-10-01

The main purpose of this paper is to realize the expression of the three-dimensional dynamic visualization of spatialtemporal data based on three-dimensional virtual scene, using three-dimensional visualization technology, and combining with GIS so that the people's abilities of cognizing time and space are enhanced and improved by designing dynamic symbol and interactive expression. Using particle systems, three-dimensional simulation, virtual reality and other visual means, we can simulate the situations produced by changing the spatial location and property information of geographical entities over time, then explore and analyze its movement and transformation rules by changing the interactive manner, and also replay history and forecast of future. In this paper, the main research object is the vehicle track and the typhoon path and spatial-temporal data, through three-dimensional dynamic simulation of its track, and realize its timely monitoring its trends and historical track replaying; according to visualization techniques of spatialtemporal data in Three-dimensional virtual scene, providing us with excellent spatial-temporal information cognitive instrument not only can add clarity to show spatial-temporal information of the changes and developments in the situation, but also be used for future development and changes in the prediction and deduction.

Implications of path tolerance and path characteristics on critical vehicle manoeuvres

NASA Astrophysics Data System (ADS)

Lundahl, K.; Frisk, E.; Nielsen, L.

2017-12-01

Path planning and path following are core components in safe autonomous driving. Typically, a path planner provides a path with some tolerance on how tightly the path should be followed. Based on that, and other path characteristics, for example, sharpness of curves, a speed profile needs to be assigned so that the vehicle can stay within the given tolerance without going unnecessarily slow. Here, such trajectory planning is based on optimal control formulations where critical cases arise as on-the-limit solutions. The study focuses on heavy commercial vehicles, causing rollover to be of a major concern, due to the relatively high centre of gravity. Several results are obtained on required model complexity depending on path characteristics, for example, quantification of required path tolerance for a simple model to be sufficient, quantification of when yaw inertia needs to be considered in more detail, and how the curvature rate of change interplays with available friction. Overall, in situations where the vehicle is subject to a wide range of driving conditions, from good transport roads to more tricky avoidance manoeuvres, the requirements on the path following will vary. For this, the provided results form a basis for real-time path following.

A Segway RMP-based robotic transport system

NASA Astrophysics Data System (ADS)

Nguyen, Hoa G.; Kogut, Greg; Barua, Ripan; Burmeister, Aaron; Pezeshkian, Narek; Powell, Darren; Farrington, Nathan; Wimmer, Matt; Cicchetto, Brett; Heng, Chana; Ramirez, Velia

2004-12-01

In the area of logistics, there currently is a capability gap between the one-ton Army robotic Multifunction Utility/Logistics and Equipment (MULE) vehicle and a soldier"s backpack. The Unmanned Systems Branch at Space and Naval Warfare Systems Center (SPAWAR Systems Center, or SSC), San Diego, with the assistance of a group of interns from nearby High Tech High School, has demonstrated enabling technologies for a solution that fills this gap. A small robotic transport system has been developed based on the Segway Robotic Mobility Platform (RMP). We have demonstrated teleoperated control of this robotic transport system, and conducted two demonstrations of autonomous behaviors. Both demonstrations involved a robotic transporter following a human leader. In the first demonstration, the transporter used a vision system running a continuously adaptive mean-shift filter to track and follow a human. In the second demonstration, the separation between leader and follower was significantly increased using Global Positioning System (GPS) information. The track of the human leader, with a GPS unit in his backpack, was sent wirelessly to the transporter, also equipped with a GPS unit. The robotic transporter traced the path of the human leader by following these GPS breadcrumbs. We have additionally demonstrated a robotic medical patient transport capability by using the Segway RMP to power a mock-up of the Life Support for Trauma and Transport (LSTAT) patient care platform, on a standard NATO litter carrier. This paper describes the development of our demonstration robotic transport system and the various experiments conducted.

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

NASA Astrophysics Data System (ADS)

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

2012-09-01

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

Arterial tree tracking from anatomical landmarks in magnetic resonance angiography scans

NASA Astrophysics Data System (ADS)

O'Neil, Alison; Beveridge, Erin; Houston, Graeme; McCormick, Lynne; Poole, Ian

2014-03-01

This paper reports on arterial tree tracking in fourteen Contrast Enhanced MRA volumetric scans, given the positions of a predefined set of vascular landmarks, by using the A* algorithm to find the optimal path for each vessel based on voxel intensity and a learnt vascular probability atlas. The algorithm is intended for use in conjunction with an automatic landmark detection step, to enable fully automatic arterial tree tracking. The scan is filtered to give two further images using the top-hat transform with 4mm and 8mm cubic structuring elements. Vessels are then tracked independently on the scan in which the vessel of interest is best enhanced, as determined from knowledge of typical vessel diameter and surrounding structures. A vascular probability atlas modelling expected vessel location and orientation is constructed by non-rigidly registering the training scans to the test scan using a 3D thin plate spline to match landmark correspondences, and employing kernel density estimation with the ground truth center line points to form a probability density distribution. Threshold estimation by histogram analysis is used to segment background from vessel intensities. The A* algorithm is run using a linear cost function constructed from the threshold and the vascular atlas prior. Tracking results are presented for all major arteries excluding those in the upper limbs. An improvement was observed when tracking was informed by contextual information, with particular benefit for peripheral vessels.

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.

A New Filtering and Smoothing Algorithm for Railway Track Surveying Based on Landmark and IMU/Odometer

PubMed Central

Jiang, Qingan; Wu, Wenqi; Jiang, Mingming; Li, Yun

2017-01-01

High-accuracy railway track surveying is essential for railway construction and maintenance. The traditional approaches based on total station equipment are not efficient enough since high precision surveying frequently needs static measurements. This paper proposes a new filtering and smoothing algorithm based on the IMU/odometer and landmarks integration for the railway track surveying. In order to overcome the difficulty of estimating too many error parameters with too few landmark observations, a new model with completely observable error states is established by combining error terms of the system. Based on covariance analysis, the analytical relationship between the railway track surveying accuracy requirements and equivalent gyro drifts including bias instability and random walk noise are established. Experiment results show that the accuracy of the new filtering and smoothing algorithm for railway track surveying can reach 1 mm (1σ) when using a Ring Laser Gyroscope (RLG)-based Inertial Measurement Unit (IMU) with gyro bias instability of 0.03°/h and random walk noise of 0.005°/h while control points of the track control network (CPIII) position observations are provided by the optical total station in about every 60 m interval. The proposed approach can satisfy at the same time the demands of high accuracy and work efficiency for railway track surveying. PMID:28629191

VIPRAM_L1CMS: a 2-Tier 3D Architecture for Pattern Recognition for Track Finding

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

Hoff, J. R.; Joshi, Joshi,S.; Liu, Liu,

In HEP tracking trigger applications, flagging an individual detector hit is not important. Rather, the path of a charged particle through many detector layers is what must be found. Moreover, given the increased luminosity projected for future LHC experiments, this type of track finding will be required within the Level 1 Trigger system. This means that future LHC experiments require not just a chip capable of high-speed track finding but also one with a high-speed readout architecture. VIPRAM_L1CMS is 2-Tier Vertically Integrated chip designed to fulfill these requirements. It is a complete pipelined Pattern Recognition Associative Memory (PRAM) architecture includingmore » pattern recognition, result sparsification, and readout for Level 1 trigger applications in CMS with 15-bit wide detector addresses and eight detector layers included in the track finding. Pattern recognition is based on classic Content Addressable Memories with a Current Race Scheme to reduce timing complexity and a 4-bit Selective Precharge to minimize power consumption. VIPRAM_L1CMS uses a pipelined set of priority-encoded binary readout structures to sparsify and readout active road flags at frequencies of at least 100MHz. VIPRAM_L1CMS is designed to work directly with the Pulsar2b Architecture.« less

Non-Static error tracking control for near space airship loading platform

NASA Astrophysics Data System (ADS)

Ni, Ming; Tao, Fei; Yang, Jiandong

2018-01-01

A control scheme based on internal model with non-static error is presented against the uncertainty of the near space airship loading platform system. The uncertainty in the tracking table is represented as interval variations in stability and control derivatives. By formulating the tracking problem of the uncertainty system as a robust state feedback stabilization problem of an augmented system, sufficient condition for the existence of robust tracking controller is derived in the form of linear matrix inequality (LMI). Finally, simulation results show that the new method not only has better anti-jamming performance, but also improves the dynamic performance of the high-order systems.

Kinematic analyses of the golf swing hub path and its role in golfer/club kinetic transfers.

PubMed

Nesbit, Steven M; McGinnis, Ryan

2009-01-01

This study analyzed the fundamental geometric and kinematic characteristics of the swing hub path of the golf shot for four diverse subjects. In addition, the role of the hub path geometry in transferring the kinetic quantities from the golfer to the club were investigated. The hub path was found to have a complex geometry with significantly changing radii, and a constantly moving center-of-curvature during the downswing for all subjects. While the size and shape of the hub path differed considerably among the subjects, a three phase radius-based pattern was revealed that aligned with distinct stages of the downswing. Artificially controlling and optimizing the hub path of the better golfer in the group indicated that a non-circular hub path was superior to a constant radius path in minimizing the kinetic loading while generating the highest possible club head velocity. The shape and purpose of the hub path geometry appears to result from a complex combination of achieving equilibrium between the golfer and the club, and a purposeful configuring of the path to control the outward movement of the club while minimizing the kinetic loading on the golfer yet transferring the maximum kinetic quantities to the club. Describing the downswing relative to the hub path phasing is presented and was found to be informative since the phases align with significant swing, kinetic and kinematic markers. These findings challenge golf swing modeling methodologies which fix the center-of-curvature of the hub path thus constraining it to constant radius motion. Key pointsThe golf swing hub path was found to have a complex geometry with significantly changing radii, and a constantly moving center-of-curvature during the downswing.The hub path differed considerably among subjects, however a three phase radius-based pattern was revealed that aligned with distinct stages of the downswing.The shape and purpose of the hub path geometry appears to result from a complex combination of achieving equilibrium between the golfer and the club, and a purposeful configuring of the path to control the outward movement of the club while minimizing the kinetic loading on the golfer yet transferring the maximum kinetic quantities to the club.

Modelling how drivers respond to a bicyclist crossing their path at an intersection: How do test track and driving simulator compare?

PubMed

Boda, Christian-Nils; Dozza, Marco; Bohman, Katarina; Thalya, Prateek; Larsson, Annika; Lubbe, Nils

2018-02-01

Bicyclist fatalities are a great concern in the European Union. Most of them are due to crashes between motorized vehicles and bicyclists at unsignalised intersections. Different countermeasures are currently being developed and implemented in order to save lives. One type of countermeasure, active safety systems, requires a deep understanding of driver behaviour to be effective without being annoying. The current study provides new knowledge about driver behaviour which can inform assessment programmes for active safety systems such as Euro NCAP. This study investigated how drivers responded to bicyclists crossing their path at an intersection. The influences of car speed and cyclist speed on the driver response process were assessed for three different crossing configurations. The same experimental protocol was tested in a fixed-base driving simulator and on a test track. A virtual model of the test track was used in the driving simulator to keep the protocol as consistent as possible across testing environments. Results show that neither car speed nor bicycle speed directly influenced the response process. The crossing configuration did not directly influence the braking response process either, but it did influence the strategy chosen by the drivers to approach the intersection. The point in time when the bicycle became visible (which depended on the car speed, the bicycle speed, and the crossing configuration) and the crossing configuration alone had the largest effects on the driver response process. Dissimilarities between test-track and driving-simulator studies were found; however, there were also interesting similarities, especially in relation to the driver braking behaviour. Drivers followed the same strategy to initiate braking, independent of the test environment. On the other hand, the test environment affected participants' strategies for releasing the gas pedal and regulating deceleration. Finally, a mathematical model, based on both experiments, is proposed to characterize driver braking behaviour in response to bicyclists crossing at intersections. This model has direct implications on what variables an in-vehicle safety system should consider and how tests in evaluation programs should be designed. Copyright © 2017 Elsevier Ltd. All rights reserved.

Air-Breathing Hypersonic Vehicle Tracking Control Based on Adaptive Dynamic Programming.

PubMed

Mu, Chaoxu; Ni, Zhen; Sun, Changyin; He, Haibo

2017-03-01

In this paper, we propose a data-driven supplementary control approach with adaptive learning capability for air-breathing hypersonic vehicle tracking control based on action-dependent heuristic dynamic programming (ADHDP). The control action is generated by the combination of sliding mode control (SMC) and the ADHDP controller to track the desired velocity and the desired altitude. In particular, the ADHDP controller observes the differences between the actual velocity/altitude and the desired velocity/altitude, and then provides a supplementary control action accordingly. The ADHDP controller does not rely on the accurate mathematical model function and is data driven. Meanwhile, it is capable to adjust its parameters online over time under various working conditions, which is very suitable for hypersonic vehicle system with parameter uncertainties and disturbances. We verify the adaptive supplementary control approach versus the traditional SMC in the cruising flight, and provide three simulation studies to illustrate the improved performance with the proposed approach.

Intelligent robust control for uncertain nonlinear time-varying systems and its application to robotic systems.

PubMed

Chang, Yeong-Chan

2005-12-01

This paper addresses the problem of designing adaptive fuzzy-based (or neural network-based) robust controls for a large class of uncertain nonlinear time-varying systems. This class of systems can be perturbed by plant uncertainties, unmodeled perturbations, and external disturbances. Nonlinear H(infinity) control technique incorporated with adaptive control technique and VSC technique is employed to construct the intelligent robust stabilization controller such that an H(infinity) control is achieved. The problem of the robust tracking control design for uncertain robotic systems is employed to demonstrate the effectiveness of the developed robust stabilization control scheme. Therefore, an intelligent robust tracking controller for uncertain robotic systems in the presence of high-degree uncertainties can easily be implemented. Its solution requires only to solve a linear algebraic matrix inequality and a satisfactorily transient and asymptotical tracking performance is guaranteed. A simulation example is made to confirm the performance of the developed control algorithms.

Model-Free Optimal Tracking Control via Critic-Only Q-Learning.

PubMed

Luo, Biao; Liu, Derong; Huang, Tingwen; Wang, Ding

2016-10-01

Model-free control is an important and promising topic in control fields, which has attracted extensive attention in the past few years. In this paper, we aim to solve the model-free optimal tracking control problem of nonaffine nonlinear discrete-time systems. A critic-only Q-learning (CoQL) method is developed, which learns the optimal tracking control from real system data, and thus avoids solving the tracking Hamilton-Jacobi-Bellman equation. First, the Q-learning algorithm is proposed based on the augmented system, and its convergence is established. Using only one neural network for approximating the Q-function, the CoQL method is developed to implement the Q-learning algorithm. Furthermore, the convergence of the CoQL method is proved with the consideration of neural network approximation error. With the convergent Q-function obtained from the CoQL method, the adaptive optimal tracking control is designed based on the gradient descent scheme. Finally, the effectiveness of the developed CoQL method is demonstrated through simulation studies. The developed CoQL method learns with off-policy data and implements with a critic-only structure, thus it is easy to realize and overcome the inadequate exploration problem.

An adaptive trajectory tracking control of four rotor hover vehicle using extended normalized radial basis function network

NASA Astrophysics Data System (ADS)

ul Amin, Rooh; Aijun, Li; Khan, Muhammad Umer; Shamshirband, Shahaboddin; Kamsin, Amirrudin

2017-01-01

In this paper, an adaptive trajectory tracking controller based on extended normalized radial basis function network (ENRBFN) is proposed for 3-degree-of-freedom four rotor hover vehicle subjected to external disturbance i.e. wind turbulence. Mathematical model of four rotor hover system is developed using equations of motions and a new computational intelligence based technique ENRBFN is introduced to approximate the unmodeled dynamics of the hover vehicle. The adaptive controller based on the Lyapunov stability approach is designed to achieve tracking of the desired attitude angles of four rotor hover vehicle in the presence of wind turbulence. The adaptive weight update based on the Levenberg-Marquardt algorithm is used to avoid weight drift in case the system is exposed to external disturbances. The closed-loop system stability is also analyzed using Lyapunov stability theory. Simulations and experimental results are included to validate the effectiveness of the proposed control scheme.

Model predictive control-based dynamic coordinate strategy for hydraulic hub-motor auxiliary system of a heavy commercial vehicle

NASA Astrophysics Data System (ADS)

Zeng, Xiaohua; Li, Guanghan; Yin, Guodong; Song, Dafeng; Li, Sheng; Yang, Nannan

2018-02-01

Equipping a hydraulic hub-motor auxiliary system (HHMAS), which mainly consists of a hydraulic variable pump, a hydraulic hub-motor, a hydraulic valve block and hydraulic accumulators, with part-time all-wheel-drive functions improves the power performance and fuel economy of heavy commercial vehicles. The coordinated control problem that occurs when HHMAS operates in the auxiliary drive mode is addressed in this paper; the solution to this problem is the key to the maximization of HHMAS. To achieve a reasonable distribution of the engine power between mechanical and hydraulic paths, a nonlinear control scheme based on model predictive control (MPC) is investigated. First, a nonlinear model of HHMAS with vehicle dynamics and tire slip characteristics is built, and a controller-design-oriented model is simplified. Then, a steady-state feedforward + dynamic MPC feedback controller (FMPC) is designed to calculate the control input sequence of engine torque and hydraulic variable pump displacement. Finally, the controller is tested in the MATLAB/Simulink and AMESim co-simulation platform and the hardware-in-the-loop experiment platform, and its performance is compared with that of the existing proportional-integral-derivative controller and the feedforward controller under the same conditions. Simulation results show that the designed FMPC has the best performance, and control performance can be guaranteed in a real-time environment. Compared with the tracking control error of the feedforward controller, that of the designed FMPC is decreased by 85% and the traction efficiency performance is improved by 23% under a low-friction-surface condition. Moreover, under common road conditions for heavy commercial vehicles, the traction force can increase up to 13.4-15.6%.

Statistical uncertainty of extreme wind storms over Europe derived from a probabilistic clustering technique

NASA Astrophysics Data System (ADS)

Walz, Michael; Leckebusch, Gregor C.

2016-04-01

Extratropical wind storms pose one of the most dangerous and loss intensive natural hazards for Europe. However, due to only 50 years of high quality observational data, it is difficult to assess the statistical uncertainty of these sparse events just based on observations. Over the last decade seasonal ensemble forecasts have become indispensable in quantifying the uncertainty of weather prediction on seasonal timescales. In this study seasonal forecasts are used in a climatological context: By making use of the up to 51 ensemble members, a broad and physically consistent statistical base can be created. This base can then be used to assess the statistical uncertainty of extreme wind storm occurrence more accurately. In order to determine the statistical uncertainty of storms with different paths of progression, a probabilistic clustering approach using regression mixture models is used to objectively assign storm tracks (either based on core pressure or on extreme wind speeds) to different clusters. The advantage of this technique is that the entire lifetime of a storm is considered for the clustering algorithm. Quadratic curves are found to describe the storm tracks most accurately. Three main clusters (diagonal, horizontal or vertical progression of the storm track) can be identified, each of which have their own particulate features. Basic storm features like average velocity and duration are calculated and compared for each cluster. The main benefit of this clustering technique, however, is to evaluate if the clusters show different degrees of uncertainty, e.g. more (less) spread for tracks approaching Europe horizontally (diagonally). This statistical uncertainty is compared for different seasonal forecast products.

Global Output-Feedback Control for Simultaneous Tracking and Stabilization of Wheeled Mobile Robots

NASA Astrophysics Data System (ADS)

Chang, J.; Zhang, L. J.; Xue, D.

A time-varying global output-feedback controller is presented that solves both tracking and stabilization for wheeled mobile robots simultaneously at the torque level. The controller synthesis is based on a coordinate transformation, Lyapunov direct method and backstepping technique. The performance of the proposed controller is demonstrated by simulation.

Effective biosonar echo-to-clutter rejection ratio in a complex dynamic scene.

PubMed

Knowles, Jeffrey M; Barchi, Jonathan R; Gaudette, Jason E; Simmons, James A

2015-08-01

Biosonar guidance in a rapidly changing complex scene was examined by flying big brown bats (Eptesicus fuscus) through a Y-shaped maze composed of rows of strongly reflective vertical plastic chains that presented the bat with left and right corridors for passage. Corridors were 80-100 cm wide and 2-4 m long. Using the two-choice Y-shaped paradigm to compensate for left-right bias and spatial memory, a moveable, weakly reflective thin-net barrier randomly blocked the left or right corridor, interspersed with no-barrier trials. Flight path and beam aim were tracked using an array of 24 microphones surrounding the flight room. Each bat flew on a path centered in the entry corridor (base of Y) and then turned into the left or right passage, to land on the far wall or to turn abruptly, reacting to avoid a collision. Broadcasts were broadly beamed in the direction of flight, smoothly leading into an upcoming turn. Duration of broadcasts decreased slowly from 3 to 2 ms during flights to track the chains' progressively closer ranges. Broadcast features and flight velocity changed abruptly about 1 m from the barrier, indicating that echoes from the net were perceived even though they were 18-35 dB weaker than overlapping echoes from surrounding chains.

A modern control theory based algorithm for control of the NASA/JPL 70-meter antenna axis servos

NASA Technical Reports Server (NTRS)

Hill, R. E.

1987-01-01

A digital computer-based state variable controller was designed and applied to the 70-m antenna axis servos. The general equations and structure of the algorithm and provisions for alternate position error feedback modes to accommodate intertarget slew, encoder referenced tracking, and precision tracking modes are descibed. Development of the discrete time domain control model and computation of estimator and control gain parameters based on closed loop pole placement criteria are discussed. The new algorithm was successfully implemented and tested in the 70-m antenna at Deep Space Network station 63 in Spain.

An artificial molecular machine that builds an asymmetric catalyst

NASA Astrophysics Data System (ADS)

De Bo, Guillaume; Gall, Malcolm A. Y.; Kuschel, Sonja; De Winter, Julien; Gerbaux, Pascal; Leigh, David A.

2018-05-01

Biomolecular machines perform types of complex molecular-level tasks that artificial molecular machines can aspire to. The ribosome, for example, translates information from the polymer track it traverses (messenger RNA) to the new polymer it constructs (a polypeptide)1. The sequence and number of codons read determines the sequence and number of building blocks incorporated into the biomachine-synthesized polymer. However, neither control of sequence2,3 nor the transfer of length information from one polymer to another (which to date has only been accomplished in man-made systems through template synthesis)4 is easily achieved in the synthesis of artificial macromolecules. Rotaxane-based molecular machines5-7 have been developed that successively add amino acids8-10 (including β-amino acids10) to a growing peptide chain by the action of a macrocycle moving along a mono-dispersed oligomeric track derivatized with amino-acid phenol esters. The threaded macrocycle picks up groups that block its path and links them through successive native chemical ligation reactions11 to form a peptide sequence corresponding to the order of the building blocks on the track. Here, we show that as an alternative to translating sequence information, a rotaxane molecular machine can transfer the narrow polydispersity of a leucine-ester-derivatized polystyrene chain synthesized by atom transfer radical polymerization12 to a molecular-machine-made homo-leucine oligomer. The resulting narrow-molecular-weight oligomer folds to an α-helical secondary structure13 that acts as an asymmetric catalyst for the Juliá-Colonna epoxidation14,15 of chalcones.

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

PubMed

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

2013-03-01

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

A generalized muon trajectory estimation algorithm with energy loss for application to muon tomography

NASA Astrophysics Data System (ADS)

Chatzidakis, Stylianos; Liu, Zhengzhi; Hayward, Jason P.; Scaglione, John M.

2018-03-01

This work presents a generalized muon trajectory estimation algorithm to estimate the path of a muon in either uniform or nonuniform media. The use of cosmic ray muons in nuclear nonproliferation and safeguard verification applications has recently gained attention due to the non-intrusive and passive nature of the inspection, penetrating capabilities, as well as recent advances in detectors that measure position and direction of the individual muons before and after traversing the imaged object. However, muon image reconstruction techniques are limited in resolution due to low muon flux and the effects of multiple Coulomb scattering (MCS). Current reconstruction algorithms, e.g., point of closest approach (PoCA) or straight-line path (SLP), rely on overly simple assumptions for muon path estimation through the imaged object. For robust muon tomography, efficient and flexible physics-based algorithms are needed to model the MCS process and accurately estimate the most probable trajectory of a muon as it traverses an object. In the present work, the use of a Bayesian framework and a Gaussian approximation of MCS is explored for estimation of the most likely path of a cosmic ray muon traversing uniform or nonuniform media and undergoing MCS. The algorithm's precision is compared to Monte Carlo simulated muon trajectories. It was found that the algorithm is expected to be able to predict muon tracks to less than 1.5 mm root mean square (RMS) for 0.5 GeV muons and 0.25 mm RMS for 3 GeV muons, a 50% improvement compared to SLP and 15% improvement when compared to PoCA. Further, a 30% increase in useful muon flux was observed relative to PoCA. Muon track prediction improved for higher muon energies or smaller penetration depth where energy loss is not significant. The effect of energy loss due to ionization is investigated, and a linear energy loss relation that is easy to use is proposed.

A generalized muon trajectory estimation algorithm with energy loss for application to muon tomography

DOE PAGES

Chatzidakis, Stylianos; Liu, Zhengzhi; Hayward, Jason P.; ...

2018-03-28

Here, this work presents a generalized muon trajectory estimation (GMTE) algorithm to estimate the path of a muon in either uniform or nonuniform media. The use of cosmic ray muons in nuclear nonproliferation and safeguards verification applications has recently gained attention due to the non-intrusive and passive nature of the inspection, penetrating capabilities, as well as recent advances in detectors that measure position and direction of the individual muons before and after traversing the imaged object. However, muon image reconstruction techniques are limited in resolution due to low muon flux and the effects of multiple Coulomb scattering (MCS). Current reconstructionmore » algorithms, e.g., point of closest approach (PoCA) or straight-line path (SLP), rely on overly simple assumptions for muon path estimation through the imaged object. For robust muon tomography, efficient and flexible physics-based algorithms are needed to model the MCS process and accurately estimate the most probable trajectory of a muon as it traverses an object. In the present work, the use of a Bayesian framework and a Gaussian approximation of MCS are explored for estimation of the most likely path of a cosmic ray muon traversing uniform or nonuniform media and undergoing MCS. The algorithm’s precision is compared to Monte Carlo simulated muon trajectories. It was found that the algorithm is expected to be able to predict muon tracks to less than 1.5 mm RMS for 0.5 GeV muons and 0.25 mm RMS for 3 GeV muons, a 50% improvement compared to SLP and 15% improvement when compared to PoCA. Further, a 30% increase in useful muon flux was observed relative to PoCA. Muon track prediction improved for higher muon energies or smaller penetration depth where energy loss is not significant. Finally, the effect of energy loss due to ionization is investigated, and a linear energy loss relation that is easy to use is proposed.« less

A generalized muon trajectory estimation algorithm with energy loss for application to muon tomography

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

Chatzidakis, Stylianos; Liu, Zhengzhi; Hayward, Jason P.

Here, this work presents a generalized muon trajectory estimation (GMTE) algorithm to estimate the path of a muon in either uniform or nonuniform media. The use of cosmic ray muons in nuclear nonproliferation and safeguards verification applications has recently gained attention due to the non-intrusive and passive nature of the inspection, penetrating capabilities, as well as recent advances in detectors that measure position and direction of the individual muons before and after traversing the imaged object. However, muon image reconstruction techniques are limited in resolution due to low muon flux and the effects of multiple Coulomb scattering (MCS). Current reconstructionmore » algorithms, e.g., point of closest approach (PoCA) or straight-line path (SLP), rely on overly simple assumptions for muon path estimation through the imaged object. For robust muon tomography, efficient and flexible physics-based algorithms are needed to model the MCS process and accurately estimate the most probable trajectory of a muon as it traverses an object. In the present work, the use of a Bayesian framework and a Gaussian approximation of MCS are explored for estimation of the most likely path of a cosmic ray muon traversing uniform or nonuniform media and undergoing MCS. The algorithm’s precision is compared to Monte Carlo simulated muon trajectories. It was found that the algorithm is expected to be able to predict muon tracks to less than 1.5 mm RMS for 0.5 GeV muons and 0.25 mm RMS for 3 GeV muons, a 50% improvement compared to SLP and 15% improvement when compared to PoCA. Further, a 30% increase in useful muon flux was observed relative to PoCA. Muon track prediction improved for higher muon energies or smaller penetration depth where energy loss is not significant. Finally, the effect of energy loss due to ionization is investigated, and a linear energy loss relation that is easy to use is proposed.« less

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.

Robotic Online Path Planning on Point Cloud.

PubMed

Liu, Ming

2016-05-01

This paper deals with the path-planning problem for mobile wheeled- or tracked-robot which drive in 2.5-D environments, where the traversable surface is usually considered as a 2-D-manifold embedded in a 3-D ambient space. Specially, we aim at solving the 2.5-D navigation problem using raw point cloud as input. The proposed method is independent of traditional surface parametrization or reconstruction methods, such as a meshing process, which generally has high-computational complexity. Instead, we utilize the output of 3-D tensor voting framework on the raw point clouds. The computation of tensor voting is accelerated by optimized implementation on graphics computation unit. Based on the tensor voting results, a novel local Riemannian metric is defined using the saliency components, which helps the modeling of the latent traversable surface. Using the proposed metric, we prove that the geodesic in the 3-D tensor space leads to rational path-planning results by experiments. Compared to traditional methods, the results reveal the advantages of the proposed method in terms of smoothing the robot maneuver while considering the minimum travel distance.

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.

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

PubMed

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

2010-07-01

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