How robust is a robust policy? A comparative analysis of alternative robustness metrics for supporting robust decision analysis.

NASA Astrophysics Data System (ADS)

Kwakkel, Jan; Haasnoot, Marjolijn

2015-04-01

In response to climate and socio-economic change, in various policy domains there is increasingly a call for robust plans or policies. That is, plans or policies that performs well in a very large range of plausible futures. In the literature, a wide range of alternative robustness metrics can be found. The relative merit of these alternative conceptualizations of robustness has, however, received less attention. Evidently, different robustness metrics can result in different plans or policies being adopted. This paper investigates the consequences of several robustness metrics on decision making, illustrated here by the design of a flood risk management plan. A fictitious case, inspired by a river reach in the Netherlands is used. The performance of this system in terms of casualties, damages, and costs for flood and damage mitigation actions is explored using a time horizon of 100 years, and accounting for uncertainties pertaining to climate change and land use change. A set of candidate policy options is specified up front. This set of options includes dike raising, dike strengthening, creating more space for the river, and flood proof building and evacuation options. The overarching aim is to design an effective flood risk mitigation strategy that is designed from the outset to be adapted over time in response to how the future actually unfolds. To this end, the plan will be based on the dynamic adaptive policy pathway approach (Haasnoot, Kwakkel et al. 2013) being used in the Dutch Delta Program. The policy problem is formulated as a multi-objective robust optimization problem (Kwakkel, Haasnoot et al. 2014). We solve the multi-objective robust optimization problem using several alternative robustness metrics, including both satisficing robustness metrics and regret based robustness metrics. Satisficing robustness metrics focus on the performance of candidate plans across a large ensemble of plausible futures. Regret based robustness metrics compare the performance of a candidate plan with the performance of other candidate plans across a large ensemble of plausible futures. Initial results suggest that the simplest satisficing metric, inspired by the signal to noise ratio, results in very risk averse solutions. Other satisficing metrics, which handle the average performance and the dispersion around the average separately, provide substantial additional insights into the trade off between the average performance, and the dispersion around this average. In contrast, the regret-based metrics enhance insight into the relative merits of candidate plans, while being less clear on the average performance or the dispersion around this performance. These results suggest that it is beneficial to use multiple robustness metrics when doing a robust decision analysis study. Haasnoot, M., J. H. Kwakkel, W. E. Walker and J. Ter Maat (2013). "Dynamic Adaptive Policy Pathways: A New Method for Crafting Robust Decisions for a Deeply Uncertain World." Global Environmental Change 23(2): 485-498. Kwakkel, J. H., M. Haasnoot and W. E. Walker (2014). "Developing Dynamic Adaptive Policy Pathways: A computer-assisted approach for developing adaptive strategies for a deeply uncertain world." Climatic Change.

Robust detection, isolation and accommodation for sensor failures

NASA Technical Reports Server (NTRS)

Emami-Naeini, A.; Akhter, M. M.; Rock, S. M.

1986-01-01

The objective is to extend the recent advances in robust control system design of multivariable systems to sensor failure detection, isolation, and accommodation (DIA), and estimator design. This effort provides analysis tools to quantify the trade-off between performance robustness and DIA sensitivity, which are to be used to achieve higher levels of performance robustness for given levels of DIA sensitivity. An innovations-based DIA scheme is used. Estimators, which depend upon a model of the process and process inputs and outputs, are used to generate these innovations. Thresholds used to determine failure detection are computed based on bounds on modeling errors, noise properties, and the class of failures. The applicability of the newly developed tools are demonstrated on a multivariable aircraft turbojet engine example. A new concept call the threshold selector was developed. It represents a significant and innovative tool for the analysis and synthesis of DiA algorithms. The estimators were made robust by introduction of an internal model and by frequency shaping. The internal mode provides asymptotically unbiased filter estimates.The incorporation of frequency shaping of the Linear Quadratic Gaussian cost functional modifies the estimator design to make it suitable for sensor failure DIA. The results are compared with previous studies which used thresholds that were selcted empirically. Comparison of these two techniques on a nonlinear dynamic engine simulation shows improved performance of the new method compared to previous techniques

Application of morphological associative memories and Fourier descriptors for classification of noisy subsurface signatures

NASA Astrophysics Data System (ADS)

Ortiz, Jorge L.; Parsiani, Hamed; Tolstoy, Leonid

2004-02-01

This paper presents a method for recognition of Noisy Subsurface Images using Morphological Associative Memories (MAM). MAM are type of associative memories that use a new kind of neural networks based in the algebra system known as semi-ring. The operations performed in this algebraic system are highly nonlinear providing additional strength when compared to other transformations. Morphological associative memories are a new kind of neural networks that provide a robust performance with noisy inputs. Two representations of morphological associative memories are used called M and W matrices. M associative memory provides a robust association with input patterns corrupted by dilative random noise, while the W associative matrix performs a robust recognition in patterns corrupted with erosive random noise. The robust performance of MAM is used in combination of the Fourier descriptors for the recognition of underground objects in Ground Penetrating Radar (GPR) images. Multiple 2-D GPR images of a site are made available by NASA-SSC center. The buried objects in these images appear in the form of hyperbolas which are the results of radar backscatter from the artifacts or objects. The Fourier descriptors of the prototype hyperbola-like and shapes from non-hyperbola shapes in the sub-surface images are used to make these shapes scale-, shift-, and rotation-invariant. Typical hyperbola-like and non-hyperbola shapes are used to calculate the morphological associative memories. The trained MAMs are used to process other noisy images to detect the presence of these underground objects. The outputs from the MAM using the noisy patterns may be equal to the training prototypes, providing a positive identification of the artifacts. The results are images with recognized hyperbolas which indicate the presence of buried artifacts. A model using MATLAB has been developed and results are presented.

Robust Timing Synchronization in Aeronautical Mobile Communication Systems

NASA Technical Reports Server (NTRS)

Xiong, Fu-Qin; Pinchak, Stanley

2004-01-01

This work details a study of robust synchronization schemes suitable for satellite to mobile aeronautical applications. A new scheme, the Modified Sliding Window Synchronizer (MSWS), is devised and compared with existing schemes, including the traditional Early-Late Gate Synchronizer (ELGS), the Gardner Zero-Crossing Detector (GZCD), and the Sliding Window Synchronizer (SWS). Performance of the synchronization schemes is evaluated by a set of metrics that indicate performance in digital communications systems. The metrics are convergence time, mean square phase error (or root mean-square phase error), lowest SNR for locking, initial frequency offset performance, midstream frequency offset performance, and system complexity. The performance of the synchronizers is evaluated by means of Matlab simulation models. A simulation platform is devised to model the satellite to mobile aeronautical channel, consisting of a Quadrature Phase Shift Keying modulator, an additive white Gaussian noise channel, and a demodulator front end. Simulation results show that the MSWS provides the most robust performance at the cost of system complexity. The GZCD provides a good tradeoff between robustness and system complexity for communication systems that require high symbol rates or low overall system costs. The ELGS has a high system complexity despite its average performance. Overall, the SWS, originally designed for multi-carrier systems, performs very poorly in single-carrier communications systems. Table 5.1 in Section 5 provides a ranking of each of the synchronization schemes in terms of the metrics set forth in Section 4.1. Details of comparison are given in Section 5. Based on the results presented in Table 5, it is safe to say that the most robust synchronization scheme examined in this work is the high-sample-rate Modified Sliding Window Synchronizer. A close second is its low-sample-rate cousin. The tradeoff between complexity and lowest mean-square phase error determines the rankings of the Gardner Zero-Crossing Detector and both versions of the Early-Late Gate Synchronizer. The least robust models are the high and low-sample-rate Sliding Window Synchronizers. Consequently, the recommended replacement synchronizer for NASA's Advanced Air Transportation Technologies mobile aeronautical communications system is the high-sample-rate Modified Sliding Window Synchronizer. By incorporating this synchronizer into their system, NASA can be assured that their system will be operational in extremely adverse conditions. The quick convergence time of the MSWS should allow the use of high-level protocols. However, if NASA feels that reduced system complexity is the most important aspect of their replacement synchronizer, the Gardner Zero-Crossing Detector would be the best choice.

Robust fuel- and time-optimal control of uncertain flexible space structures

NASA Technical Reports Server (NTRS)

Wie, Bong; Sinha, Ravi; Sunkel, John; Cox, Ken

1993-01-01

The problem of computing open-loop, fuel- and time-optimal control inputs for flexible space structures in the face of modeling uncertainty is investigated. Robustified, fuel- and time-optimal pulse sequences are obtained by solving a constrained optimization problem subject to robustness constraints. It is shown that 'bang-off-bang' pulse sequences with a finite number of switchings provide a practical tradeoff among the maneuvering time, fuel consumption, and performance robustness of uncertain flexible space structures.

L1C signal design options

USGS Publications Warehouse

Betz, J.W.; Cahn, C.R.; Dafesh, P.A.; Hegarty, C.J.; Hudnut, K.W.; Jones, A.J.; Keegan, R.; Kovach, K.; Lenahan, L.S.; Ma, H.H.; Rushanan, J.J.; Stansell, T.A.; Wang, C.C.; Yi, S.K.

2006-01-01

Design activities for a new civil signal centered at 1575.42 MHz, called L1C, began in 2003, and the Phase 1 effort was completed in 2004. The L1C signal design has evolved and matured during a Phase 2 design activity that began in 2005. Phase 2 has built on the initial design activity, guided by responses to international user surveys conducted during Phase 1. A common core of signal characteristics has been developed to provide advances in robustness and performance. The Phase 2 activity produced five design options, all drawing upon the core signal characteristics, while representing different blends of characteristics and capabilities. A second round of international user surveys was completed to solicit advice concerning these design options. This paper provides an update of the L1C design process, and describes the current L1C design options. Initial performance estimates are presented for each design option, displaying trades between signal tracking robustness, the speed and robustness of clock and ephemeris data, and the rate and robustness of other data message contents. Planned remaining activities are summarized, leading to optimization of the L1C design.

Robust H ∞ Control for Spacecraft Rendezvous with a Noncooperative Target

PubMed Central

Wu, Shu-Nan; Zhou, Wen-Ya; Tan, Shu-Jun; Wu, Guo-Qiang

2013-01-01

The robust H ∞ control for spacecraft rendezvous with a noncooperative target is addressed in this paper. The relative motion of chaser and noncooperative target is firstly modeled as the uncertain system, which contains uncertain orbit parameter and mass. Then the H ∞ performance and finite time performance are proposed, and a robust H ∞ controller is developed to drive the chaser to rendezvous with the non-cooperative target in the presence of control input saturation, measurement error, and thrust error. The linear matrix inequality technology is used to derive the sufficient condition of the proposed controller. An illustrative example is finally provided to demonstrate the effectiveness of the controller. PMID:24027446

Sensitivity of Space Station alpha joint robust controller to structural modal parameter variations

NASA Technical Reports Server (NTRS)

Kumar, Renjith R.; Cooper, Paul A.; Lim, Tae W.

1991-01-01

The photovoltaic array sun tracking control system of Space Station Freedom is described. A synthesis procedure for determining optimized values of the design variables of the control system is developed using a constrained optimization technique. The synthesis is performed to provide a given level of stability margin, to achieve the most responsive tracking performance, and to meet other design requirements. Performance of the baseline design, which is synthesized using predicted structural characteristics, is discussed and the sensitivity of the stability margin is examined for variations of the frequencies, mode shapes and damping ratios of dominant structural modes. The design provides enough robustness to tolerate a sizeable error in the predicted modal parameters. A study was made of the sensitivity of performance indicators as the modal parameters of the dominant modes vary. The design variables are resynthesized for varying modal parameters in order to achieve the most responsive tracking performance while satisfying the design requirements. This procedure of reoptimization design parameters would be useful in improving the control system performance if accurate model data are provided.

Integrated flight/propulsion control design for a STOVL aircraft using H-infinity control design techniques

NASA Technical Reports Server (NTRS)

Garg, Sanjay; Ouzts, Peter J.

1991-01-01

Results are presented from an application of H-infinity control design methodology to a centralized integrated flight propulsion control (IFPC) system design for a supersonic Short Takeoff and Vertical Landing (STOVL) fighter aircraft in transition flight. The emphasis is on formulating the H-infinity control design problem such that the resulting controller provides robustness to modeling uncertainties and model parameter variations with flight condition. Experience gained from a preliminary H-infinity based IFPC design study performed earlier is used as the basis to formulate the robust H-infinity control design problem and improve upon the previous design. Detailed evaluation results are presented for a reduced order controller obtained from the improved H-infinity control design showing that the control design meets the specified nominal performance objectives as well as provides stability robustness for variations in plant system dynamics with changes in aircraft trim speed within the transition flight envelope. A controller scheduling technique which accounts for changes in plant control effectiveness with variation in trim conditions is developed and off design model performance results are presented.

Land Ice Verification and Validation Kit

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

2015-07-15

To address a pressing need to better understand the behavior and complex interaction of ice sheets within the global Earth system, significant development of continental-scale, dynamical ice-sheet models is underway. The associated verification and validation process of these models is being coordinated through a new, robust, python-based extensible software package, the Land Ice Verification and Validation toolkit (LIVV). This release provides robust and automated verification and a performance evaluation on LCF platforms. The performance V&V involves a comprehensive comparison of model performance relative to expected behavior on a given computing platform. LIVV operates on a set of benchmark and testmore » data, and provides comparisons for a suite of community prioritized tests, including configuration and parameter variations, bit-4-bit evaluation, and plots of tests where differences occur.« less

Optimal Controller Design for the Microgravity Isolation Mount (MIM)

NASA Technical Reports Server (NTRS)

Hampton, R. David

1998-01-01

H2 controllers, when designed using an appropriate design model and carefully chosen frequency weightings, appear to provide robust performance and robust stability for Microgravity Isolation Mount (MIM). The STS-85 flight data will be used to evaluate the H2 controllers' performance on the actual hardware under working conditions. Next, full-order H-infinity controllers will be developed, as an intermediate step, in order to determine appropriate H-infinity performance weights for use in the mixed-norm design. Finally the basic procedure outlined above will be used to develop fixed-order mixed-norm controllers for MIM.

A Robust Design Methodology for Optimal Microscale Secondary Flow Control in Compact Inlet Diffusers

NASA Technical Reports Server (NTRS)

Anderson, Bernhard H.; Keller, Dennis J.

2001-01-01

It is the purpose of this study to develop an economical Robust design methodology for microscale secondary flow control in compact inlet diffusers. To illustrate the potential of economical Robust Design methodology, two different mission strategies were considered for the subject inlet, namely Maximum Performance and Maximum HCF Life Expectancy. The Maximum Performance mission maximized total pressure recovery while the Maximum HCF Life Expectancy mission minimized the mean of the first five Fourier harmonic amplitudes, i.e., 'collectively' reduced all the harmonic 1/2 amplitudes of engine face distortion. Each of the mission strategies was subject to a low engine face distortion constraint, i.e., DC60<0.10, which is a level acceptable for commercial engines. For each of these missions strategies, an 'Optimal Robust' (open loop control) and an 'Optimal Adaptive' (closed loop control) installation was designed over a twenty degree angle-of-incidence range. The Optimal Robust installation used economical Robust Design methodology to arrive at a single design which operated over the entire angle-of-incident range (open loop control). The Optimal Adaptive installation optimized all the design parameters at each angle-of-incidence. Thus, the Optimal Adaptive installation would require a closed loop control system to sense a proper signal for each effector and modify that effector device, whether mechanical or fluidic, for optimal inlet performance. In general, the performance differences between the Optimal Adaptive and Optimal Robust installation designs were found to be marginal. This suggests, however, that Optimal Robust open loop installation designs can be very competitive with Optimal Adaptive close loop designs. Secondary flow control in inlets is inherently robust, provided it is optimally designed. Therefore, the new methodology presented in this paper, combined array 'Lower Order' approach to Robust DOE, offers the aerodynamicist a very viable and economical way of exploring the concept of Robust inlet design, where the mission variables are brought directly into the inlet design process and insensitivity or robustness to the mission variables becomes a design objective.

A comparative robustness evaluation of feedforward neurofilters

NASA Technical Reports Server (NTRS)

Troudet, Terry; Merrill, Walter

1993-01-01

A comparative performance and robustness analysis is provided for feedforward neurofilters trained with back propagation to filter additive white noise. The signals used in this analysis are simulated pitch rate responses to typical pilot command inputs for a modern fighter aircraft model. Various configurations of nonlinear and linear neurofilters are trained to estimate exact signal values from input sequences of noisy sampled signal values. In this application, nonlinear neurofiltering is found to be more efficient than linear neurofiltering in removing the noise from responses of the nominal vehicle model, whereas linear neurofiltering is found to be more robust in the presence of changes in the vehicle dynamics. The possibility of enhancing neurofiltering through hybrid architectures based on linear and nonlinear neuroprocessing is therefore suggested as a way of taking advantage of the robustness of linear neurofiltering, while maintaining the nominal performance advantage of nonlinear neurofiltering.

Optimisation in the Design of Environmental Sensor Networks with Robustness Consideration

PubMed Central

Budi, Setia; de Souza, Paulo; Timms, Greg; Malhotra, Vishv; Turner, Paul

2015-01-01

This work proposes the design of Environmental Sensor Networks (ESN) through balancing robustness and redundancy. An Evolutionary Algorithm (EA) is employed to find the optimal placement of sensor nodes in the Region of Interest (RoI). Data quality issues are introduced to simulate their impact on the performance of the ESN. Spatial Regression Test (SRT) is also utilised to promote robustness in data quality of the designed ESN. The proposed method provides high network representativeness (fit for purpose) with minimum sensor redundancy (cost), and ensures robustness by enabling the network to continue to achieve its objectives when some sensors fail. PMID:26633392

Quality by Design: Multidimensional exploration of the design space in high performance liquid chromatography method development for better robustness before validation.

PubMed

Monks, K; Molnár, I; Rieger, H-J; Bogáti, B; Szabó, E

2012-04-06

Robust HPLC separations lead to fewer analysis failures and better method transfer as well as providing an assurance of quality. This work presents the systematic development of an optimal, robust, fast UHPLC method for the simultaneous assay of two APIs of an eye drop sample and their impurities, in accordance with Quality by Design principles. Chromatography software is employed to effectively generate design spaces (Method Operable Design Regions), which are subsequently employed to determine the final method conditions and to evaluate robustness prior to validation. Copyright © 2011 Elsevier B.V. All rights reserved.

Intelligent, Robust Control of Deteriorated Turbofan Engines via Linear Parameter Varying Quadratic Lyapunov Function Design

NASA Technical Reports Server (NTRS)

Turso, James A.; Litt, Jonathan S.

2004-01-01

A method for accommodating engine deterioration via a scheduled Linear Parameter Varying Quadratic Lyapunov Function (LPVQLF)-Based controller is presented. The LPVQLF design methodology provides a means for developing unconditionally stable, robust control of Linear Parameter Varying (LPV) systems. The controller is scheduled on the Engine Deterioration Index, a function of estimated parameters that relate to engine health, and is computed using a multilayer feedforward neural network. Acceptable thrust response and tight control of exhaust gas temperature (EGT) is accomplished by adjusting the performance weights on these parameters for different levels of engine degradation. Nonlinear simulations demonstrate that the controller achieves specified performance objectives while being robust to engine deterioration as well as engine-to-engine variations.

UNIX-based operating systems robustness evaluation

NASA Technical Reports Server (NTRS)

Chang, Yu-Ming

1996-01-01

Robust operating systems are required for reliable computing. Techniques for robustness evaluation of operating systems not only enhance the understanding of the reliability of computer systems, but also provide valuable feed- back to system designers. This thesis presents results from robustness evaluation experiments on five UNIX-based operating systems, which include Digital Equipment's OSF/l, Hewlett Packard's HP-UX, Sun Microsystems' Solaris and SunOS, and Silicon Graphics' IRIX. Three sets of experiments were performed. The methodology for evaluation tested (1) the exception handling mechanism, (2) system resource management, and (3) system capacity under high workload stress. An exception generator was used to evaluate the exception handling mechanism of the operating systems. Results included exit status of the exception generator and the system state. Resource management techniques used by individual operating systems were tested using programs designed to usurp system resources such as physical memory and process slots. Finally, the workload stress testing evaluated the effect of the workload on system performance by running a synthetic workload and recording the response time of local and remote user requests. Moderate to severe performance degradations were observed on the systems under stress.

Failure detection system design methodology. Ph.D. Thesis

NASA Technical Reports Server (NTRS)

Chow, E. Y.

1980-01-01

The design of a failure detection and identification system consists of designing a robust residual generation process and a high performance decision making process. The design of these two processes are examined separately. Residual generation is based on analytical redundancy. Redundancy relations that are insensitive to modelling errors and noise effects are important for designing robust residual generation processes. The characterization of the concept of analytical redundancy in terms of a generalized parity space provides a framework in which a systematic approach to the determination of robust redundancy relations are developed. The Bayesian approach is adopted for the design of high performance decision processes. The FDI decision problem is formulated as a Bayes sequential decision problem. Since the optimal decision rule is incomputable, a methodology for designing suboptimal rules is proposed. A numerical algorithm is developed to facilitate the design and performance evaluation of suboptimal rules.

Robust design optimization method for centrifugal impellers under surface roughness uncertainties due to blade fouling

NASA Astrophysics Data System (ADS)

Ju, Yaping; Zhang, Chuhua

2016-03-01

Blade fouling has been proved to be a great threat to compressor performance in operating stage. The current researches on fouling-induced performance degradations of centrifugal compressors are based mainly on simplified roughness models without taking into account the realistic factors such as spatial non-uniformity and randomness of the fouling-induced surface roughness. Moreover, little attention has been paid to the robust design optimization of centrifugal compressor impellers with considerations of blade fouling. In this paper, a multi-objective robust design optimization method is developed for centrifugal impellers under surface roughness uncertainties due to blade fouling. A three-dimensional surface roughness map is proposed to describe the nonuniformity and randomness of realistic fouling accumulations on blades. To lower computational cost in robust design optimization, the support vector regression (SVR) metamodel is combined with the Monte Carlo simulation (MCS) method to conduct the uncertainty analysis of fouled impeller performance. The analyzed results show that the critical fouled region associated with impeller performance degradations lies at the leading edge of blade tip. The SVR metamodel has been proved to be an efficient and accurate means in the detection of impeller performance variations caused by roughness uncertainties. After design optimization, the robust optimal design is found to be more efficient and less sensitive to fouling uncertainties while maintaining good impeller performance in the clean condition. This research proposes a systematic design optimization method for centrifugal compressors with considerations of blade fouling, providing a practical guidance to the design of advanced centrifugal compressors.

Baby-MONITOR: A Composite Indicator of NICU Quality

PubMed Central

Kowalkowski, Marc A.; Zupancic, John A. F.; Pietz, Kenneth; Richardson, Peter; Draper, David; Hysong, Sylvia J.; Thomas, Eric J.; Petersen, Laura A.; Gould, Jeffrey B.

2014-01-01

BACKGROUND AND OBJECTIVES: NICUs vary in the quality of care delivered to very low birth weight (VLBW) infants. NICU performance on 1 measure of quality only modestly predicts performance on others. Composite measurement of quality of care delivery may provide a more comprehensive assessment of quality. The objective of our study was to develop a robust composite indicator of quality of NICU care provided to VLBW infants that accurately discriminates performance among NICUs. METHODS: We developed a composite indicator, Baby-MONITOR, based on 9 measures of quality chosen by a panel of experts. Measures were standardized, equally weighted, and averaged. We used the California Perinatal Quality Care Collaborative database to perform across-sectional analysis of care given to VLBW infants between 2004 and 2010. Performance on the Baby-MONITOR is not an absolute marker of quality but indicates overall performance relative to that of the other NICUs. We used sensitivity analyses to assess the robustness of the composite indicator, by varying assumptions and methods. RESULTS: Our sample included 9023 VLBW infants in 22 California regional NICUs. We found significant variations within and between NICUs on measured components of the Baby-MONITOR. Risk-adjusted composite scores discriminated performance among this sample of NICUs. Sensitivity analysis that included different approaches to normalization, weighting, and aggregation of individual measures showed the Baby-MONITOR to be robust (r = 0.89–0.99). CONCLUSIONS: The Baby-MONITOR may be a useful tool to comprehensively assess the quality of care delivered by NICUs. PMID:24918221

Primal-dual convex optimization in large deformation diffeomorphic metric mapping: LDDMM meets robust regularizers

NASA Astrophysics Data System (ADS)

Hernandez, Monica

2017-12-01

This paper proposes a method for primal-dual convex optimization in variational large deformation diffeomorphic metric mapping problems formulated with robust regularizers and robust image similarity metrics. The method is based on Chambolle and Pock primal-dual algorithm for solving general convex optimization problems. Diagonal preconditioning is used to ensure the convergence of the algorithm to the global minimum. We consider three robust regularizers liable to provide acceptable results in diffeomorphic registration: Huber, V-Huber and total generalized variation. The Huber norm is used in the image similarity term. The primal-dual equations are derived for the stationary and the non-stationary parameterizations of diffeomorphisms. The resulting algorithms have been implemented for running in the GPU using Cuda. For the most memory consuming methods, we have developed a multi-GPU implementation. The GPU implementations allowed us to perform an exhaustive evaluation study in NIREP and LPBA40 databases. The experiments showed that, for all the considered regularizers, the proposed method converges to diffeomorphic solutions while better preserving discontinuities at the boundaries of the objects compared to baseline diffeomorphic registration methods. In most cases, the evaluation showed a competitive performance for the robust regularizers, close to the performance of the baseline diffeomorphic registration methods.

On Motion Planning and Control of Multi-Link Lightweight Robotic Manipulators

NASA Technical Reports Server (NTRS)

Cetinkunt, Sabri

1987-01-01

A general gross and fine motion planning and control strategy is needed for lightweight robotic manipulator applications such as painting, welding, material handling, surface finishing, and spacecraft servicing. The control problem of lightweight manipulators is to perform fast, accurate, and robust motions despite the payload variations, structural flexibility, and other environmental disturbances. Performance of the rigid manipulator model based computed torque and decoupled joint control methods are determined and simulated for the counterpart flexible manipulators. A counterpart flexible manipulator is defined as a manipulator which has structural flexibility, in addition to having the same inertial, geometric, and actuation properties of a given rigid manipulator. An adaptive model following control (AMFC) algorithm is developed to improve the performance in speed, accuracy, and robustness. It is found that the AMFC improves the speed performance by a factor of two over the conventional non-adaptive control methods for given accuracy requirements while proving to be more robust with respect to payload variations. Yet there are clear limitations on the performance of AMFC alone as well, which are imposed by the arm flexibility. In the search to further improve speed performance while providing a desired accuracy and robustness, a combined control strategy is developed. Furthermore, the problem of switching from one control structure to another during the motion and implementation aspects of combined control are discussed.

Comparisons of Robustness and Sensitivity between Cancer and Normal Cells by Microarray Data

PubMed Central

Chu, Liang-Hui; Chen, Bor-Sen

2008-01-01

Robustness is defined as the ability to uphold performance in face of perturbations and uncertainties, and sensitivity is a measure of the system deviations generated by perturbations to the system. While cancer appears as a robust but fragile system, few computational and quantitative evidences demonstrate robustness tradeoffs in cancer. Microarrays have been widely applied to decipher gene expression signatures in human cancer research, and quantification of global gene expression profiles facilitates precise prediction and modeling of cancer in systems biology. We provide several efficient computational methods based on system and control theory to compare robustness and sensitivity between cancer and normal cells by microarray data. Measurement of robustness and sensitivity by linear stochastic model is introduced in this study, which shows oscillations in feedback loops of p53 and demonstrates robustness tradeoffs that cancer is a robust system with some extreme fragilities. In addition, we measure sensitivity of gene expression to perturbations in other gene expression and kinetic parameters, discuss nonlinear effects in feedback loops of p53 and extend our method to robustness-based cancer drug design. PMID:19259409

A Comparative Theoretical and Computational Study on Robust Counterpart Optimization: II. Probabilistic Guarantees on Constraint Satisfaction

PubMed Central

Li, Zukui; Floudas, Christodoulos A.

2012-01-01

Probabilistic guarantees on constraint satisfaction for robust counterpart optimization are studied in this paper. The robust counterpart optimization formulations studied are derived from box, ellipsoidal, polyhedral, “interval+ellipsoidal” and “interval+polyhedral” uncertainty sets (Li, Z., Ding, R., and Floudas, C.A., A Comparative Theoretical and Computational Study on Robust Counterpart Optimization: I. Robust Linear and Robust Mixed Integer Linear Optimization, Ind. Eng. Chem. Res, 2011, 50, 10567). For those robust counterpart optimization formulations, their corresponding probability bounds on constraint satisfaction are derived for different types of uncertainty characteristic (i.e., bounded or unbounded uncertainty, with or without detailed probability distribution information). The findings of this work extend the results in the literature and provide greater flexibility for robust optimization practitioners in choosing tighter probability bounds so as to find less conservative robust solutions. Extensive numerical studies are performed to compare the tightness of the different probability bounds and the conservatism of different robust counterpart optimization formulations. Guiding rules for the selection of robust counterpart optimization models and for the determination of the size of the uncertainty set are discussed. Applications in production planning and process scheduling problems are presented. PMID:23329868

USING BIOASSAYS TO EVALUATE THE PERFORMANCE OF RISK MANAGEMENT TECHNIQUES

EPA Science Inventory

Often, the performance of risk management techniques is evaluated by measuring the concentrations of the chemials of concern before and after risk management effoprts. However, using bioassays and chemical data provides a more robust understanding of the effectiveness of risk man...

USING BIOASSAYS TO EVALUATE THE PERFORMANCE OF EDC RISK MANAGEMENT METHODS

EPA Science Inventory

In Superfund risk management research, the performance of risk management techniques is typically evaluated by measuring "the concentrations of the chemicals of concern before and after risk management efforts. However, using bioassays and chemical data provides a more robust und...

Robust nonlinear system identification: Bayesian mixture of experts using the t-distribution

NASA Astrophysics Data System (ADS)

Baldacchino, Tara; Worden, Keith; Rowson, Jennifer

2017-02-01

A novel variational Bayesian mixture of experts model for robust regression of bifurcating and piece-wise continuous processes is introduced. The mixture of experts model is a powerful model which probabilistically splits the input space allowing different models to operate in the separate regions. However, current methods have no fail-safe against outliers. In this paper, a robust mixture of experts model is proposed which consists of Student-t mixture models at the gates and Student-t distributed experts, trained via Bayesian inference. The Student-t distribution has heavier tails than the Gaussian distribution, and so it is more robust to outliers, noise and non-normality in the data. Using both simulated data and real data obtained from the Z24 bridge this robust mixture of experts performs better than its Gaussian counterpart when outliers are present. In particular, it provides robustness to outliers in two forms: unbiased parameter regression models, and robustness to overfitting/complex models.

Robust infrared targets tracking with covariance matrix representation

NASA Astrophysics Data System (ADS)

Cheng, Jian

2009-07-01

Robust infrared target tracking is an important and challenging research topic in many military and security applications, such as infrared imaging guidance, infrared reconnaissance, scene surveillance, etc. To effectively tackle the nonlinear and non-Gaussian state estimation problems, particle filtering is introduced to construct the theory framework of infrared target tracking. Under this framework, the observation probabilistic model is one of main factors for infrared targets tracking performance. In order to improve the tracking performance, covariance matrices are introduced to represent infrared targets with the multi-features. The observation probabilistic model can be constructed by computing the distance between the reference target's and the target samples' covariance matrix. Because the covariance matrix provides a natural tool for integrating multiple features, and is scale and illumination independent, target representation with covariance matrices can hold strong discriminating ability and robustness. Two experimental results demonstrate the proposed method is effective and robust for different infrared target tracking, such as the sensor ego-motion scene, and the sea-clutter scene.

Gain-Scheduled Complementary Filter Design for a MEMS Based Attitude and Heading Reference System

PubMed Central

Yoo, Tae Suk; Hong, Sung Kyung; Yoon, Hyok Min; Park, Sungsu

2011-01-01

This paper describes a robust and simple algorithm for an attitude and heading reference system (AHRS) based on low-cost MEMS inertial and magnetic sensors. The proposed approach relies on a gain-scheduled complementary filter, augmented by an acceleration-based switching architecture to yield robust performance, even when the vehicle is subject to strong accelerations. Experimental results are provided for a road captive test during which the vehicle dynamics are in high-acceleration mode and the performance of the proposed filter is evaluated against the output from a conventional linear complementary filter. PMID:22163824

Robust neural network with applications to credit portfolio data analysis.

PubMed

Feng, Yijia; Li, Runze; Sudjianto, Agus; Zhang, Yiyun

2010-01-01

In this article, we study nonparametric conditional quantile estimation via neural network structure. We proposed an estimation method that combines quantile regression and neural network (robust neural network, RNN). It provides good smoothing performance in the presence of outliers and can be used to construct prediction bands. A Majorization-Minimization (MM) algorithm was developed for optimization. Monte Carlo simulation study is conducted to assess the performance of RNN. Comparison with other nonparametric regression methods (e.g., local linear regression and regression splines) in real data application demonstrate the advantage of the newly proposed procedure.

Real-Time Robust Adaptive Modeling and Scheduling for an Electronic Commerce Server

NASA Astrophysics Data System (ADS)

Du, Bing; Ruan, Chun

With the increasing importance and pervasiveness of Internet services, it is becoming a challenge for the proliferation of electronic commerce services to provide performance guarantees under extreme overload. This paper describes a real-time optimization modeling and scheduling approach for performance guarantee of electronic commerce servers. We show that an electronic commerce server may be simulated as a multi-tank system. A robust adaptive server model is subject to unknown additive load disturbances and uncertain model matching. Overload control techniques are based on adaptive admission control to achieve timing guarantees. We evaluate the performance of the model using a complex simulation that is subjected to varying model parameters and massive overload.

Real-time target tracking of soft tissues in 3D ultrasound images based on robust visual information and mechanical simulation.

PubMed

Royer, Lucas; Krupa, Alexandre; Dardenne, Guillaume; Le Bras, Anthony; Marchand, Eric; Marchal, Maud

2017-01-01

In this paper, we present a real-time approach that allows tracking deformable structures in 3D ultrasound sequences. Our method consists in obtaining the target displacements by combining robust dense motion estimation and mechanical model simulation. We perform evaluation of our method through simulated data, phantom data, and real-data. Results demonstrate that this novel approach has the advantage of providing correct motion estimation regarding different ultrasound shortcomings including speckle noise, large shadows and ultrasound gain variation. Furthermore, we show the good performance of our method with respect to state-of-the-art techniques by testing on the 3D databases provided by MICCAI CLUST'14 and CLUST'15 challenges. Copyright © 2016 Elsevier B.V. All rights reserved.

A robust low-rate coding scheme for packet video

NASA Technical Reports Server (NTRS)

Chen, Y. C.; Sayood, Khalid; Nelson, D. J.; Arikan, E. (Editor)

1991-01-01

Due to the rapidly evolving field of image processing and networking, video information promises to be an important part of telecommunication systems. Although up to now video transmission has been transported mainly over circuit-switched networks, it is likely that packet-switched networks will dominate the communication world in the near future. Asynchronous transfer mode (ATM) techniques in broadband-ISDN can provide a flexible, independent and high performance environment for video communication. For this paper, the network simulator was used only as a channel in this simulation. Mixture blocking coding with progressive transmission (MBCPT) has been investigated for use over packet networks and has been found to provide high compression rate with good visual performance, robustness to packet loss, tractable integration with network mechanics and simplicity in parallel implementation.

Robust multivariate nonparametric tests for detection of two-sample location shift in clinical trials

PubMed Central

Jiang, Xuejun; Guo, Xu; Zhang, Ning; Wang, Bo

2018-01-01

This article presents and investigates performance of a series of robust multivariate nonparametric tests for detection of location shift between two multivariate samples in randomized controlled trials. The tests are built upon robust estimators of distribution locations (medians, Hodges-Lehmann estimators, and an extended U statistic) with both unscaled and scaled versions. The nonparametric tests are robust to outliers and do not assume that the two samples are drawn from multivariate normal distributions. Bootstrap and permutation approaches are introduced for determining the p-values of the proposed test statistics. Simulation studies are conducted and numerical results are reported to examine performance of the proposed statistical tests. The numerical results demonstrate that the robust multivariate nonparametric tests constructed from the Hodges-Lehmann estimators are more efficient than those based on medians and the extended U statistic. The permutation approach can provide a more stringent control of Type I error and is generally more powerful than the bootstrap procedure. The proposed robust nonparametric tests are applied to detect multivariate distributional difference between the intervention and control groups in the Thai Healthy Choices study and examine the intervention effect of a four-session motivational interviewing-based intervention developed in the study to reduce risk behaviors among youth living with HIV. PMID:29672555

Robust tracking control of a magnetically suspended rigid body

NASA Technical Reports Server (NTRS)

Lim, Kyong B.; Cox, David E.

1994-01-01

This study is an application of H-infinity and micro-synthesis for designing robust tracking controllers for the Large Angle Magnetic Suspension Test Facility. The modeling, design, analysis, simulation, and testing of a control law that guarantees tracking performance under external disturbances and model uncertainties is investigated. The type of uncertainties considered and the tracking performance metric used is discussed. This study demonstrates the tradeoff between tracking performance at low frequencies and robustness at high frequencies. Two sets of controllers were designed and tested. The first set emphasized performance over robustness, while the second set traded off performance for robustness. Comparisons of simulation and test results are also included. Current simulation and experimental results indicate that reasonably good robust tracking performance can be attained for this system using multivariable robust control approach.

Exploiting structure: Introduction and motivation

NASA Technical Reports Server (NTRS)

Xu, Zhong Ling

1993-01-01

Research activities performed during the period of 29 June 1993 through 31 Aug. 1993 are summarized. The Robust Stability of Systems where transfer function or characteristic polynomial are multilinear affine functions of parameters of interest in two directions, Algorithmic and Theoretical, was developed. In the algorithmic direction, a new approach that reduces the computational burden of checking the robust stability of the system with multilinear uncertainty is found. This technique is called 'Stability by linear process.' In fact, the 'Stability by linear process' described gives an algorithm. In analysis, we obtained a robustness criterion for the family of polynomials with coefficients of multilinear affine function in the coefficient space and obtained the result for the robust stability of diamond families of polynomials with complex coefficients also. We obtained the limited results for SPR design and we provide a framework for solving ACS. Finally, copies of the outline of our results are provided in the appendix. Also, there is an administration issue in the appendix.

Design and Analysis of Morpheus Lander Flight Control System

NASA Technical Reports Server (NTRS)

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

2014-01-01

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

Design for robustness of unique, multi-component engineering systems

NASA Astrophysics Data System (ADS)

Shelton, Kenneth A.

2007-12-01

The purpose of this research is to advance the science of conceptual designing for robustness in unique, multi-component engineering systems. Robustness is herein defined as the ability of an engineering system to operate within a desired performance range even if the actual configuration has differences from specifications within specified tolerances. These differences are caused by three sources, namely manufacturing errors, system degradation (operational wear and tear), and parts availability. Unique, multi-component engineering systems are defined as systems produced in unique or very small production numbers. They typically have design and manufacturing costs on the order of billions of dollars, and have multiple, competing performance objectives. Design time for these systems must be minimized due to competition, high manpower costs, long manufacturing times, technology obsolescence, and limited available manpower expertise. Most importantly, design mistakes cannot be easily corrected after the systems are operational. For all these reasons, robustness of these systems is absolutely critical. This research examines the space satellite industry in particular. Although inherent robustness assurance is absolutely critical, it is difficult to achieve in practice. The current state of the art for robustness in the industry is to overdesign components and subsystems with redundancy and margin. The shortfall is that it is not known if the added margins were either necessary or sufficient given the risk management preferences of the designer or engineering system customer. To address this shortcoming, new assessment criteria to evaluate robustness in design concepts have been developed. The criteria are comprised of the "Value Distance", addressing manufacturing errors and system degradation, and "Component Distance", addressing parts availability. They are based on an evolutionary computation format that uses a string of alleles to describe the components in the design concept. These allele values are unitless themselves, but map to both configuration descriptions and attribute values. The Value Distance and Component Distance are metrics that measure the relative differences between two design concepts using the allele values, and all differences in a population of design concepts are calculated relative to a reference design, called the "base design". The base design is the top-ranked member of the population in weighted terms of robustness and performance. Robustness is determined based on the change in multi-objective performance as Value Distance and Component Distance (and thus differences in design) increases. It is assessed as acceptable if differences in design configurations up to specified tolerances result in performance changes that remain within a specified performance range. The design configuration difference tolerances and performance range together define the designer's risk management preferences for the final design concepts. Additionally, a complementary visualization capability was developed, called the "Design Solution Topography". This concept allows the visualization of a population of design concepts, and is a 3-axis plot where each point represents an entire design concept. The axes are the Value Distance, Component Distance and Performance Objective. The key benefit of the Design Solution Topography is that it allows the designer to visually identify and interpret the overall robustness of the current population of design concepts for a particular performance objective. In a multi-objective problem, each performance objective has its own Design Solution Topography view. These new concepts are implemented in an evolutionary computation-based conceptual designing method called the "Design for Robustness Method" that produces robust design concepts. The design procedures associated with this method enable designers to evaluate and ensure robustness in selected designs that also perform within a desired performance range. The method uses an evolutionary computation-based procedure to generate populations of large numbers of alternative design concepts, which are assessed for robustness using the Value Distance, Component Distance and Design Solution Topography procedures. The Design for Robustness Method provides a working conceptual designing structure in which to implement and gain the benefits of these new concepts. In the included experiments, the method was used on several mathematical examples to demonstrate feasibility, which showed favorable results as compared to existing known methods. Furthermore, it was tested on a real-world satellite conceptual designing problem to illustrate the applicability and benefits to industry. Risk management insights were demonstrated for the robustness-related issues of manufacturing errors, operational degradation, parts availability, and impacts based on selections of particular types of components.

Robust lateral blended-wing-body aircraft feedback control design using a parameterized LFR model and DGK-iteration

NASA Astrophysics Data System (ADS)

Schirrer, A.; Westermayer, C.; Hemedi, M.; Kozek, M.

2013-12-01

This paper shows control design results, performance, and limitations of robust lateral control law designs based on the DGK-iteration mixed-μ-synthesis procedure for a large, flexible blended wing body (BWB) passenger aircraft. The aircraft dynamics is preshaped by a low-complexity inner loop control law providing stabilization, basic response shaping, and flexible mode damping. The μ controllers are designed to further improve vibration damping of the main flexible modes by exploiting the structure of the arising significant parameter-dependent plant variations. This is achieved by utilizing parameterized Linear Fractional Representations (LFR) of the aircraft rigid and flexible dynamics. Designs with various levels of LFR complexity are carried out and discussed, showing the achieved performance improvement over the initial controller and their robustness and complexity properties.

Multi-Agent Flight Simulation with Robust Situation Generation

NASA Technical Reports Server (NTRS)

Johnson, Eric N.; Hansman, R. John, Jr.

1994-01-01

A robust situation generation architecture has been developed that generates multi-agent situations for human subjects. An implementation of this architecture was developed to support flight simulation tests of air transport cockpit systems. This system maneuvers pseudo-aircraft relative to the human subject's aircraft, generating specific situations for the subject to respond to. These pseudo-aircraft maneuver within reasonable performance constraints, interact in a realistic manner, and make pre-recorded voice radio communications. Use of this system minimizes the need for human experimenters to control the pseudo-agents and provides consistent interactions between the subject and the pseudo-agents. The achieved robustness of this system to typical variations in the subject's flight path was explored. It was found to successfully generate specific situations within the performance limitations of the subject-aircraft, pseudo-aircraft, and the script used.

Real-time robustness evaluation of regression based myoelectric control against arm position change and donning/doffing.

PubMed

Hwang, Han-Jeong; Hahne, Janne Mathias; Müller, Klaus-Robert

2017-01-01

There are some practical factors, such as arm position change and donning/doffing, which prevent robust myoelectric control. The objective of this study is to precisely characterize the impacts of the two representative factors on myoelectric controllability in practical control situations, thereby providing useful references that can be potentially used to find better solutions for clinically reliable myoelectric control. To this end, a real-time target acquisition task was performed by fourteen subjects including one individual with congenital upper-limb deficiency, where the impacts of arm position change, donning/doffing and a combination of both factors on control performance was systematically evaluated. The changes in online performance were examined with seven different performance metrics to comprehensively evaluate various aspects of myoelectric controllability. As a result, arm position change significantly affects offline prediction accuracy, but not online control performance due to real-time feedback, thereby showing no significant correlation between offline and online performance. Donning/doffing was still problematic in online control conditions. It was further observed that no benefit was attained when using a control model trained with multiple position data in terms of arm position change, and the degree of electrode shift caused by donning/doffing was not severely associated with the degree of performance loss under practical conditions (around 1 cm electrode shift). Since this study is the first to concurrently investigate the impacts of arm position change and donning/doffing in practical myoelectric control situations, all findings of this study provide new insights into robust myoelectric control with respect to arm position change and donning/doffing.

Real-time robustness evaluation of regression based myoelectric control against arm position change and donning/doffing

PubMed Central

Hahne, Janne Mathias; Müller, Klaus-Robert

2017-01-01

There are some practical factors, such as arm position change and donning/doffing, which prevent robust myoelectric control. The objective of this study is to precisely characterize the impacts of the two representative factors on myoelectric controllability in practical control situations, thereby providing useful references that can be potentially used to find better solutions for clinically reliable myoelectric control. To this end, a real-time target acquisition task was performed by fourteen subjects including one individual with congenital upper-limb deficiency, where the impacts of arm position change, donning/doffing and a combination of both factors on control performance was systematically evaluated. The changes in online performance were examined with seven different performance metrics to comprehensively evaluate various aspects of myoelectric controllability. As a result, arm position change significantly affects offline prediction accuracy, but not online control performance due to real-time feedback, thereby showing no significant correlation between offline and online performance. Donning/doffing was still problematic in online control conditions. It was further observed that no benefit was attained when using a control model trained with multiple position data in terms of arm position change, and the degree of electrode shift caused by donning/doffing was not severely associated with the degree of performance loss under practical conditions (around 1 cm electrode shift). Since this study is the first to concurrently investigate the impacts of arm position change and donning/doffing in practical myoelectric control situations, all findings of this study provide new insights into robust myoelectric control with respect to arm position change and donning/doffing. PMID:29095846

Vehicle active steering control research based on two-DOF robust internal model control

NASA Astrophysics Data System (ADS)

Wu, Jian; Liu, Yahui; Wang, Fengbo; Bao, Chunjiang; Sun, Qun; Zhao, Youqun

2016-07-01

Because of vehicle's external disturbances and model uncertainties, robust control algorithms have obtained popularity in vehicle stability control. The robust control usually gives up performance in order to guarantee the robustness of the control algorithm, therefore an improved robust internal model control(IMC) algorithm blending model tracking and internal model control is put forward for active steering system in order to reach high performance of yaw rate tracking with certain robustness. The proposed algorithm inherits the good model tracking ability of the IMC control and guarantees robustness to model uncertainties. In order to separate the design process of model tracking from the robustness design process, the improved 2 degree of freedom(DOF) robust internal model controller structure is given from the standard Youla parameterization. Simulations of double lane change maneuver and those of crosswind disturbances are conducted for evaluating the robust control algorithm, on the basis of a nonlinear vehicle simulation model with a magic tyre model. Results show that the established 2-DOF robust IMC method has better model tracking ability and a guaranteed level of robustness and robust performance, which can enhance the vehicle stability and handling, regardless of variations of the vehicle model parameters and the external crosswind interferences. Contradiction between performance and robustness of active steering control algorithm is solved and higher control performance with certain robustness to model uncertainties is obtained.

SaRAD: a Simple and Robust Abbreviation Dictionary.

PubMed

Adar, Eytan

2004-03-01

Due to recent interest in the use of textual material to augment traditional experiments it has become necessary to automatically cluster, classify and filter natural language information. The Simple and Robust Abbreviation Dictionary (SaRAD) provides an easy to implement, high performance tool for the construction of a biomedical symbol dictionary. The algorithms, applied to the MEDLINE document set, result in a high quality dictionary and toolset to disambiguate abbreviation symbols automatically.

Analytical design of modified Smith predictor for unstable second-order processes with time delay

NASA Astrophysics Data System (ADS)

Ajmeri, Moina; Ali, Ahmad

2017-06-01

In this paper, a modified Smith predictor using three controllers, namely, stabilising (Gc), set-point tracking (Gc1), and load disturbance rejection (Gc2) controllers is proposed for second-order unstable processes with time delay. Controllers of the proposed structure are tuned using direct synthesis approach as this method enables the user to achieve a trade-off between the performance and robustness by adjusting a single design parameter. Furthermore, suitable values of the tuning parameters are recommended after studying their effect on the closed-loop performance and robustness. This is the main advantage of the proposed work over other recently published manuscripts, where authors provide only suitable ranges for the tuning parameters in spite of giving their suitable values. Simulation studies show that the proposed method results in satisfactory performance and improved robustness as compared to the recently reported control schemes. It is observed that the proposed scheme is able to work in the noisy environment also.

Robust integrated flight/propulsion control design for a STOVL aircraft using H-infinity control design techniques

NASA Technical Reports Server (NTRS)

Garg, Sanjay

1993-01-01

Results are presented from an application of H-infinity control design methodology to a centralized integrated flight/propulsion control (IFPC) system design for a supersonic STOVL fighter aircraft in transition flight. The emphasis is on formulating the H-infinity optimal control synthesis problem such that the critical requirements for the flight and propulsion systems are adequately reflected within the linear, centralized control problem formulation and the resulting controller provides robustness to modeling uncertainties and model parameter variations with flight condition. Detailed evaluation results are presented for a reduced order controller obtained from the improved H-infinity control design showing that the control design meets the specified nominal performance objective as well as provides stability robustness for variations in plant system dynamics with changes in aircraft trim speed within the transition flight envelope.

Robust Portfolio Optimization Using Pseudodistances.

PubMed

Toma, Aida; Leoni-Aubin, Samuela

2015-01-01

The presence of outliers in financial asset returns is a frequently occurring phenomenon which may lead to unreliable mean-variance optimized portfolios. This fact is due to the unbounded influence that outliers can have on the mean returns and covariance estimators that are inputs in the optimization procedure. In this paper we present robust estimators of mean and covariance matrix obtained by minimizing an empirical version of a pseudodistance between the assumed model and the true model underlying the data. We prove and discuss theoretical properties of these estimators, such as affine equivariance, B-robustness, asymptotic normality and asymptotic relative efficiency. These estimators can be easily used in place of the classical estimators, thereby providing robust optimized portfolios. A Monte Carlo simulation study and applications to real data show the advantages of the proposed approach. We study both in-sample and out-of-sample performance of the proposed robust portfolios comparing them with some other portfolios known in literature.

Robust Portfolio Optimization Using Pseudodistances

PubMed Central

2015-01-01

The presence of outliers in financial asset returns is a frequently occurring phenomenon which may lead to unreliable mean-variance optimized portfolios. This fact is due to the unbounded influence that outliers can have on the mean returns and covariance estimators that are inputs in the optimization procedure. In this paper we present robust estimators of mean and covariance matrix obtained by minimizing an empirical version of a pseudodistance between the assumed model and the true model underlying the data. We prove and discuss theoretical properties of these estimators, such as affine equivariance, B-robustness, asymptotic normality and asymptotic relative efficiency. These estimators can be easily used in place of the classical estimators, thereby providing robust optimized portfolios. A Monte Carlo simulation study and applications to real data show the advantages of the proposed approach. We study both in-sample and out-of-sample performance of the proposed robust portfolios comparing them with some other portfolios known in literature. PMID:26468948

Robust Statistical Approaches for RSS-Based Floor Detection in Indoor Localization.

PubMed

Razavi, Alireza; Valkama, Mikko; Lohan, Elena Simona

2016-05-31

Floor detection for indoor 3D localization of mobile devices is currently an important challenge in the wireless world. Many approaches currently exist, but usually the robustness of such approaches is not addressed or investigated. The goal of this paper is to show how to robustify the floor estimation when probabilistic approaches with a low number of parameters are employed. Indeed, such an approach would allow a building-independent estimation and a lower computing power at the mobile side. Four robustified algorithms are to be presented: a robust weighted centroid localization method, a robust linear trilateration method, a robust nonlinear trilateration method, and a robust deconvolution method. The proposed approaches use the received signal strengths (RSS) measured by the Mobile Station (MS) from various heard WiFi access points (APs) and provide an estimate of the vertical position of the MS, which can be used for floor detection. We will show that robustification can indeed increase the performance of the RSS-based floor detection algorithms.

Co-Percolating Graphene-Wrapped Silver Nanowire Network for High Performance, Highly Stable, Transparent Conducting Electrodes

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

Chen, Ruiyi; Das, Suprem R; Jeong, Changwook

Transparent conducting electrodes (TCEs) require high transparency and low sheet resistance for applications in photovoltaics, photodetectors, flat panel displays, touch screen devices, and imagers. Indium tin oxide (ITO), or other transparent conductive oxides, have been used, and provide a baseline sheet resistance (RS) vs. transparency (T) relationship. Several alternative material systems have been investigated. The development of high-performance hybrid structures provides a route towards robust, scalable and low-cost approaches for realizing high-performance TCE.

Conflicts in Coalitions: A Stability Analysis of Robust Multi-City Regional Water Supply Portfolios

NASA Astrophysics Data System (ADS)

Gold, D.; Trindade, B. C.; Reed, P. M.; Characklis, G. W.

2017-12-01

Regional cooperation among water utilities can improve the robustness of urban water supply portfolios to deeply uncertain future conditions such as those caused by climate change or population growth. Coordination mechanisms such as water transfers, coordinated demand management, and shared infrastructure, can improve the efficiency of resource allocation and delay the need for new infrastructure investments. Regionalization does however come at a cost. Regionally coordinated water supply plans may be vulnerable to any emerging instabilities in the regional coalition. If one or more regional actors does not cooperate or follow the required regional actions in a time of crisis, the overall system performance may degrade. Furthermore, when crafting regional water supply portfolios, decision makers must choose a framework for measuring the performance of regional policies based on the evaluation of the objective values for each individual actor. Regional evaluations may inherently favor one actor's interests over those of another. This work focuses on four interconnected water utilities in the Research Triangle region of North Carolina for which robust regional water supply portfolios have previously been designed using multi-objective optimization to maximize the robustness of the worst performing utility across several objectives. This study 1) examines the sensitivity of portfolio performance to deviations from prescribed actions by individual utilities, 2) quantifies the implications of the regional formulation used to evaluate robustness for the portfolio performance of each individual utility and 3) elucidates the inherent regional tensions and conflicts that exist between utilities under this regionalization scheme through visual diagnostics of the system under simulated drought scenarios. Results of this analysis will help inform the creation of future regional water supply portfolios and provide insight into the nature of multi-actor water supply systems.

Robust Fault Detection for Switched Fuzzy Systems With Unknown Input.

PubMed

Han, Jian; Zhang, Huaguang; Wang, Yingchun; Sun, Xun

2017-10-03

This paper investigates the fault detection problem for a class of switched nonlinear systems in the T-S fuzzy framework. The unknown input is considered in the systems. A novel fault detection unknown input observer design method is proposed. Based on the proposed observer, the unknown input can be removed from the fault detection residual. The weighted H∞ performance level is considered to ensure the robustness. In addition, the weighted H₋ performance level is introduced, which can increase the sensibility of the proposed detection method. To verify the proposed scheme, a numerical simulation example and an electromechanical system simulation example are provided at the end of this paper.

Robustness Metrics: How Are They Calculated, When Should They Be Used and Why Do They Give Different Results?

NASA Astrophysics Data System (ADS)

McPhail, C.; Maier, H. R.; Kwakkel, J. H.; Giuliani, M.; Castelletti, A.; Westra, S.

2018-02-01

Robustness is being used increasingly for decision analysis in relation to deep uncertainty and many metrics have been proposed for its quantification. Recent studies have shown that the application of different robustness metrics can result in different rankings of decision alternatives, but there has been little discussion of what potential causes for this might be. To shed some light on this issue, we present a unifying framework for the calculation of robustness metrics, which assists with understanding how robustness metrics work, when they should be used, and why they sometimes disagree. The framework categorizes the suitability of metrics to a decision-maker based on (1) the decision-context (i.e., the suitability of using absolute performance or regret), (2) the decision-maker's preferred level of risk aversion, and (3) the decision-maker's preference toward maximizing performance, minimizing variance, or some higher-order moment. This article also introduces a conceptual framework describing when relative robustness values of decision alternatives obtained using different metrics are likely to agree and disagree. This is used as a measure of how "stable" the ranking of decision alternatives is when determined using different robustness metrics. The framework is tested on three case studies, including water supply augmentation in Adelaide, Australia, the operation of a multipurpose regulated lake in Italy, and flood protection for a hypothetical river based on a reach of the river Rhine in the Netherlands. The proposed conceptual framework is confirmed by the case study results, providing insight into the reasons for disagreements between rankings obtained using different robustness metrics.

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.

Practical, Real-Time, and Robust Watermarking on the Spatial Domain for High-Definition Video Contents

NASA Astrophysics Data System (ADS)

Kim, Kyung-Su; Lee, Hae-Yeoun; Im, Dong-Hyuck; Lee, Heung-Kyu

Commercial markets employ digital right management (DRM) systems to protect valuable high-definition (HD) quality videos. DRM system uses watermarking to provide copyright protection and ownership authentication of multimedia contents. We propose a real-time video watermarking scheme for HD video in the uncompressed domain. Especially, our approach is in aspect of practical perspectives to satisfy perceptual quality, real-time processing, and robustness requirements. We simplify and optimize human visual system mask for real-time performance and also apply dithering technique for invisibility. Extensive experiments are performed to prove that the proposed scheme satisfies the invisibility, real-time processing, and robustness requirements against video processing attacks. We concentrate upon video processing attacks that commonly occur in HD quality videos to display on portable devices. These attacks include not only scaling and low bit-rate encoding, but also malicious attacks such as format conversion and frame rate change.

Advanced Control Synthesis for Reverse Osmosis Water Desalination Processes.

PubMed

Phuc, Bui Duc Hong; You, Sam-Sang; Choi, Hyeung-Six; Jeong, Seok-Kwon

2017-11-01

  In this study, robust control synthesis has been applied to a reverse osmosis desalination plant whose product water flow and salinity are chosen as two controlled variables. The reverse osmosis process has been selected to study since it typically uses less energy than thermal distillation. The aim of the robust design is to overcome the limitation of classical controllers in dealing with large parametric uncertainties, external disturbances, sensor noises, and unmodeled process dynamics. The analyzed desalination process is modeled as a multi-input multi-output (MIMO) system with varying parameters. The control system is decoupled using a feed forward decoupling method to reduce the interactions between control channels. Both nominal and perturbed reverse osmosis systems have been analyzed using structured singular values for their stabilities and performances. Simulation results show that the system responses meet all the control requirements against various uncertainties. Finally the reduced order controller provides excellent robust performance, with achieving decoupling, disturbance attenuation, and noise rejection. It can help to reduce the membrane cleanings, increase the robustness against uncertainties, and lower the energy consumption for process monitoring.

A smart sensor architecture based on emergent computation in an array of outer-totalistic cells

NASA Astrophysics Data System (ADS)

Dogaru, Radu; Dogaru, Ioana; Glesner, Manfred

2005-06-01

A novel smart-sensor architecture is proposed, capable to segment and recognize characters in a monochrome image. It is capable to provide a list of ASCII codes representing the recognized characters from the monochrome visual field. It can operate as a blind's aid or for industrial applications. A bio-inspired cellular model with simple linear neurons was found the best to perform the nontrivial task of cropping isolated compact objects such as handwritten digits or characters. By attaching a simple outer-totalistic cell to each pixel sensor, emergent computation in the resulting cellular automata lattice provides a straightforward and compact solution to the otherwise computationally intensive problem of character segmentation. A simple and robust recognition algorithm is built in a compact sequential controller accessing the array of cells so that the integrated device can provide directly a list of codes of the recognized characters. Preliminary simulation tests indicate good performance and robustness to various distortions of the visual field.

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

PubMed Central

Zhou, Zhanmin; Zhang, Bao; Mao, Dapeng

2018-01-01

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

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

PubMed

Zhou, Zhanmin; Zhang, Bao; Mao, Dapeng

2018-03-29

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

Robust analysis of an underwater navigational strategy in electrically heterogeneous corridors.

PubMed

Dimble, Kedar D; Ranganathan, Badri N; Keshavan, Jishnu; Humbert, J Sean

2016-08-01

Obstacles and other global stimuli provide relevant navigational cues to a weakly electric fish. In this work, robust analysis of a control strategy based on electrolocation for performing obstacle avoidance in electrically heterogeneous corridors is presented and validated. Static output feedback control is shown to achieve the desired goal of reflexive obstacle avoidance in such environments in simulation and experimentation. The proposed approach is computationally inexpensive and readily implementable on a small scale underwater vehicle, making underwater autonomous navigation feasible in real-time.

Enhanced H-filter based on Fåhræus-Lindqvist effect for efficient and robust dialysis without membrane

PubMed Central

Zheng, Wei-Chao; Xie, Rui; He, Li-Qun; Xi, Yue-Heng; Liu, Ying-Mei; Meng, Zhi-Jun; Wang, Wei; Ju, Xiao-Jie; Chen, Gang; Chu, Liang-Yin

2015-01-01

A novel microfluidic device for highly efficient and robust dialysis without membrane is highly desired for the development of portable or wearable microdialyzer. Here we report an enhanced H-filter with pillar array based on Fåhræus-Lindqvist effect (F-L effect) for highly efficient and robust membraneless dialysis of simplified blood for the first time. The H-filter employs two fluids laminarly flowing in the microchannel for continuously membraneless dialysis. With pillar array in the microchannel, the two laminar flows, with one containing blood cells and small molecules and another containing dialyzate solution, can form a cell-free layer at the interface as selective zones for separation. This provides enhanced mixing yet extremely low shear for extraction of small molecules from the blood-cell-containing flow into the dialyzate flow, resulting in robust separation with reduced cell loss and improved efficiency. We demonstrate this by first using Chlorella pyrenoidosa as model cells to quantitatively study the separation performances, and then using simplified human blood for dialysis. The advanced H-filter, with highly efficient and robust performance for membraneless dialysis, shows great potential as promising candidate for rapid blood analysis/separation, and as fundamental structure for portable dialyzer. PMID:26339313

Enhanced H-filter based on Fåhræus-Lindqvist effect for efficient and robust dialysis without membrane.

PubMed

Zheng, Wei-Chao; Xie, Rui; He, Li-Qun; Xi, Yue-Heng; Liu, Ying-Mei; Meng, Zhi-Jun; Wang, Wei; Ju, Xiao-Jie; Chen, Gang; Chu, Liang-Yin

2015-07-01

A novel microfluidic device for highly efficient and robust dialysis without membrane is highly desired for the development of portable or wearable microdialyzer. Here we report an enhanced H-filter with pillar array based on Fåhræus-Lindqvist effect (F-L effect) for highly efficient and robust membraneless dialysis of simplified blood for the first time. The H-filter employs two fluids laminarly flowing in the microchannel for continuously membraneless dialysis. With pillar array in the microchannel, the two laminar flows, with one containing blood cells and small molecules and another containing dialyzate solution, can form a cell-free layer at the interface as selective zones for separation. This provides enhanced mixing yet extremely low shear for extraction of small molecules from the blood-cell-containing flow into the dialyzate flow, resulting in robust separation with reduced cell loss and improved efficiency. We demonstrate this by first using Chlorella pyrenoidosa as model cells to quantitatively study the separation performances, and then using simplified human blood for dialysis. The advanced H-filter, with highly efficient and robust performance for membraneless dialysis, shows great potential as promising candidate for rapid blood analysis/separation, and as fundamental structure for portable dialyzer.

Performance and robustness of hybrid model predictive control for controllable dampers in building models

NASA Astrophysics Data System (ADS)

Johnson, Erik A.; Elhaddad, Wael M.; Wojtkiewicz, Steven F.

2016-04-01

A variety of strategies have been developed over the past few decades to determine controllable damping device forces to mitigate the response of structures and mechanical systems to natural hazards and other excitations. These "smart" damping devices produce forces through passive means but have properties that can be controlled in real time, based on sensor measurements of response across the structure, to dramatically reduce structural motion by exploiting more than the local "information" that is available to purely passive devices. A common strategy is to design optimal damping forces using active control approaches and then try to reproduce those forces with the smart damper. However, these design forces, for some structures and performance objectives, may achieve high performance by selectively adding energy, which cannot be replicated by a controllable damping device, causing the smart damper performance to fall far short of what an active system would provide. The authors have recently demonstrated that a model predictive control strategy using hybrid system models, which utilize both continuous and binary states (the latter to capture the switching behavior between dissipative and non-dissipative forces), can provide reductions in structural response on the order of 50% relative to the conventional clipped-optimal design strategy. This paper explores the robustness of this newly proposed control strategy through evaluating controllable damper performance when the structure model differs from the nominal one used to design the damping strategy. Results from the application to a two-degree-of-freedom structure model confirms the robustness of the proposed strategy.

A Robust Vehicle Localization Approach Based on GNSS/IMU/DMI/LiDAR Sensor Fusion for Autonomous Vehicles

PubMed Central

Meng, Xiaoli

2017-01-01

Precise and robust localization in a large-scale outdoor environment is essential for an autonomous vehicle. In order to improve the performance of the fusion of GNSS (Global Navigation Satellite System)/IMU (Inertial Measurement Unit)/DMI (Distance-Measuring Instruments), a multi-constraint fault detection approach is proposed to smooth the vehicle locations in spite of GNSS jumps. Furthermore, the lateral localization error is compensated by the point cloud-based lateral localization method proposed in this paper. Experiment results have verified the algorithms proposed in this paper, which shows that the algorithms proposed in this paper are capable of providing precise and robust vehicle localization. PMID:28926996

A Robust Vehicle Localization Approach Based on GNSS/IMU/DMI/LiDAR Sensor Fusion for Autonomous Vehicles.

PubMed

Meng, Xiaoli; Wang, Heng; Liu, Bingbing

2017-09-18

Precise and robust localization in a large-scale outdoor environment is essential for an autonomous vehicle. In order to improve the performance of the fusion of GNSS (Global Navigation Satellite System)/IMU (Inertial Measurement Unit)/DMI (Distance-Measuring Instruments), a multi-constraint fault detection approach is proposed to smooth the vehicle locations in spite of GNSS jumps. Furthermore, the lateral localization error is compensated by the point cloud-based lateral localization method proposed in this paper. Experiment results have verified the algorithms proposed in this paper, which shows that the algorithms proposed in this paper are capable of providing precise and robust vehicle localization.

Two-dimensional statistical linear discriminant analysis for real-time robust vehicle-type recognition

NASA Astrophysics Data System (ADS)

Zafar, I.; Edirisinghe, E. A.; Acar, S.; Bez, H. E.

2007-02-01

Automatic vehicle Make and Model Recognition (MMR) systems provide useful performance enhancements to vehicle recognitions systems that are solely based on Automatic License Plate Recognition (ALPR) systems. Several car MMR systems have been proposed in literature. However these approaches are based on feature detection algorithms that can perform sub-optimally under adverse lighting and/or occlusion conditions. In this paper we propose a real time, appearance based, car MMR approach using Two Dimensional Linear Discriminant Analysis that is capable of addressing this limitation. We provide experimental results to analyse the proposed algorithm's robustness under varying illumination and occlusions conditions. We have shown that the best performance with the proposed 2D-LDA based car MMR approach is obtained when the eigenvectors of lower significance are ignored. For the given database of 200 car images of 25 different make-model classifications, a best accuracy of 91% was obtained with the 2D-LDA approach. We use a direct Principle Component Analysis (PCA) based approach as a benchmark to compare and contrast the performance of the proposed 2D-LDA approach to car MMR. We conclude that in general the 2D-LDA based algorithm supersedes the performance of the PCA based approach.

Comparison of global optimization approaches for robust calibration of hydrologic model parameters

NASA Astrophysics Data System (ADS)

Jung, I. W.

2015-12-01

Robustness of the calibrated parameters of hydrologic models is necessary to provide a reliable prediction of future performance of watershed behavior under varying climate conditions. This study investigated calibration performances according to the length of calibration period, objective functions, hydrologic model structures and optimization methods. To do this, the combination of three global optimization methods (i.e. SCE-UA, Micro-GA, and DREAM) and four hydrologic models (i.e. SAC-SMA, GR4J, HBV, and PRMS) was tested with different calibration periods and objective functions. Our results showed that three global optimization methods provided close calibration performances under different calibration periods, objective functions, and hydrologic models. However, using the agreement of index, normalized root mean square error, Nash-Sutcliffe efficiency as the objective function showed better performance than using correlation coefficient and percent bias. Calibration performances according to different calibration periods from one year to seven years were hard to generalize because four hydrologic models have different levels of complexity and different years have different information content of hydrological observation. Acknowledgements This research was supported by a grant (14AWMP-B082564-01) from Advanced Water Management Research Program funded by Ministry of Land, Infrastructure and Transport of Korean government.

Certified Normal: Alzheimer’s Disease Biomarkers and Normative Estimates of Cognitive Functioning

PubMed Central

Hassenstab, Jason; Chasse, Rachel; Grabow, Perri; Benzinger, Tammie L.S.; Fagan, Anne M.; Xiong, Chengjie; Jasielec, Mateusz; Grant, Elizabeth; Morris, John C.

2016-01-01

Normative samples drawn from older populations may unintentionally include individuals with preclinical Alzheimer’s disease (AD) pathology, resulting in reduced means, increased variability, and overestimation of age-effects on cognitive performance. 264 cognitively normal (CDR=0) older adults were classified as biomarker-negative (“Robust Normal,” n=177) or biomarker-positive (“Preclinical Alzheimer’s Disease” (PCAD), n=87) based on amyloid imaging, cerebrospinal fluid biomarkers, and hippocampal volumes. PCAD participants performed worse than Robust Normals on nearly all cognitive measures. Removing PCAD participants from the normative sample yielded higher means and less variability on episodic memory, visuospatial ability, and executive functioning measures. These results were more pronounced in participants aged 75 and older. Notably, removing PCAD participants from the sample significantly reduced age effects across all cognitive domains. Applying norms from the Robust Normal sample to a separate cohort did not improve CDR classification when using standard deviation cutoff scores. Overall, removing individuals with biomarker evidence of preclinical AD improves normative sample quality and substantially reduces age-effects on cognitive performance, but provides no substantive benefit for diagnostic classifications. PMID:27255812

Histogram equalization with Bayesian estimation for noise robust speech recognition.

PubMed

Suh, Youngjoo; Kim, Hoirin

2018-02-01

The histogram equalization approach is an efficient feature normalization technique for noise robust automatic speech recognition. However, it suffers from performance degradation when some fundamental conditions are not satisfied in the test environment. To remedy these limitations of the original histogram equalization methods, class-based histogram equalization approach has been proposed. Although this approach showed substantial performance improvement under noise environments, it still suffers from performance degradation due to the overfitting problem when test data are insufficient. To address this issue, the proposed histogram equalization technique employs the Bayesian estimation method in the test cumulative distribution function estimation. It was reported in a previous study conducted on the Aurora-4 task that the proposed approach provided substantial performance gains in speech recognition systems based on the acoustic modeling of the Gaussian mixture model-hidden Markov model. In this work, the proposed approach was examined in speech recognition systems with deep neural network-hidden Markov model (DNN-HMM), the current mainstream speech recognition approach where it also showed meaningful performance improvement over the conventional maximum likelihood estimation-based method. The fusion of the proposed features with the mel-frequency cepstral coefficients provided additional performance gains in DNN-HMM systems, which otherwise suffer from performance degradation in the clean test condition.

Robust inference under the beta regression model with application to health care studies.

PubMed

Ghosh, Abhik

2017-01-01

Data on rates, percentages, or proportions arise frequently in many different applied disciplines like medical biology, health care, psychology, and several others. In this paper, we develop a robust inference procedure for the beta regression model, which is used to describe such response variables taking values in (0, 1) through some related explanatory variables. In relation to the beta regression model, the issue of robustness has been largely ignored in the literature so far. The existing maximum likelihood-based inference has serious lack of robustness against outliers in data and generate drastically different (erroneous) inference in the presence of data contamination. Here, we develop the robust minimum density power divergence estimator and a class of robust Wald-type tests for the beta regression model along with several applications. We derive their asymptotic properties and describe their robustness theoretically through the influence function analyses. Finite sample performances of the proposed estimators and tests are examined through suitable simulation studies and real data applications in the context of health care and psychology. Although we primarily focus on the beta regression models with a fixed dispersion parameter, some indications are also provided for extension to the variable dispersion beta regression models with an application.

Dynamic robustness of knowledge collaboration network of open source product development community

NASA Astrophysics Data System (ADS)

Zhou, Hong-Li; Zhang, Xiao-Dong

2018-01-01

As an emergent innovative design style, open source product development communities are characterized by a self-organizing, mass collaborative, networked structure. The robustness of the community is critical to its performance. Using the complex network modeling method, the knowledge collaboration network of the community is formulated, and the robustness of the network is systematically and dynamically studied. The characteristics of the network along the development period determine that its robustness should be studied from three time stages: the start-up, development and mature stages of the network. Five kinds of user-loss pattern are designed, to assess the network's robustness under different situations in each of these three time stages. Two indexes - the largest connected component and the network efficiency - are used to evaluate the robustness of the community. The proposed approach is applied in an existing open source car design community. The results indicate that the knowledge collaboration networks show different levels of robustness in different stages and different user loss patterns. Such analysis can be applied to provide protection strategies for the key users involved in knowledge dissemination and knowledge contribution at different stages of the network, thereby promoting the sustainable and stable development of the open source community.

Robust high-performance nanoliter-volume single-cell multiple displacement amplification on planar substrates.

PubMed

Leung, Kaston; Klaus, Anders; Lin, Bill K; Laks, Emma; Biele, Justina; Lai, Daniel; Bashashati, Ali; Huang, Yi-Fei; Aniba, Radhouane; Moksa, Michelle; Steif, Adi; Mes-Masson, Anne-Marie; Hirst, Martin; Shah, Sohrab P; Aparicio, Samuel; Hansen, Carl L

2016-07-26

The genomes of large numbers of single cells must be sequenced to further understanding of the biological significance of genomic heterogeneity in complex systems. Whole genome amplification (WGA) of single cells is generally the first step in such studies, but is prone to nonuniformity that can compromise genomic measurement accuracy. Despite recent advances, robust performance in high-throughput single-cell WGA remains elusive. Here, we introduce droplet multiple displacement amplification (MDA), a method that uses commercially available liquid dispensing to perform high-throughput single-cell MDA in nanoliter volumes. The performance of droplet MDA is characterized using a large dataset of 129 normal diploid cells, and is shown to exceed previously reported single-cell WGA methods in amplification uniformity, genome coverage, and/or robustness. We achieve up to 80% coverage of a single-cell genome at 5× sequencing depth, and demonstrate excellent single-nucleotide variant (SNV) detection using targeted sequencing of droplet MDA product to achieve a median allelic dropout of 15%, and using whole genome sequencing to achieve false and true positive rates of 9.66 × 10(-6) and 68.8%, respectively, in a G1-phase cell. We further show that droplet MDA allows for the detection of copy number variants (CNVs) as small as 30 kb in single cells of an ovarian cancer cell line and as small as 9 Mb in two high-grade serous ovarian cancer samples using only 0.02× depth. Droplet MDA provides an accessible and scalable method for performing robust and accurate CNV and SNV measurements on large numbers of single cells.

Data-Adaptive Bias-Reduced Doubly Robust Estimation.

PubMed

Vermeulen, Karel; Vansteelandt, Stijn

2016-05-01

Doubly robust estimators have now been proposed for a variety of target parameters in the causal inference and missing data literature. These consistently estimate the parameter of interest under a semiparametric model when one of two nuisance working models is correctly specified, regardless of which. The recently proposed bias-reduced doubly robust estimation procedure aims to partially retain this robustness in more realistic settings where both working models are misspecified. These so-called bias-reduced doubly robust estimators make use of special (finite-dimensional) nuisance parameter estimators that are designed to locally minimize the squared asymptotic bias of the doubly robust estimator in certain directions of these finite-dimensional nuisance parameters under misspecification of both parametric working models. In this article, we extend this idea to incorporate the use of data-adaptive estimators (infinite-dimensional nuisance parameters), by exploiting the bias reduction estimation principle in the direction of only one nuisance parameter. We additionally provide an asymptotic linearity theorem which gives the influence function of the proposed doubly robust estimator under correct specification of a parametric nuisance working model for the missingness mechanism/propensity score but a possibly misspecified (finite- or infinite-dimensional) outcome working model. Simulation studies confirm the desirable finite-sample performance of the proposed estimators relative to a variety of other doubly robust estimators.

Robust, nonlinear, high angle-of-attack control design for a supermaneuverable vehicle

NASA Technical Reports Server (NTRS)

Adams, Richard J.

1993-01-01

High angle-of-attack flight control laws are developed for a supermaneuverable fighter aircraft. The methods of dynamic inversion and structured singular value synthesis are combined into an approach which addresses both the nonlinearity and robustness problems of flight at extreme operating conditions. The primary purpose of the dynamic inversion control elements is to linearize the vehicle response across the flight envelope. Structured singular value synthesis is used to design a dynamic controller which provides robust tracking to pilot commands. The resulting control system achieves desired flying qualities and guarantees a large margin of robustness to uncertainties for high angle-of-attack flight conditions. The results of linear simulation and structured singular value stability analysis are presented to demonstrate satisfaction of the design criteria. High fidelity nonlinear simulation results show that the combined dynamics inversion/structured singular value synthesis control law achieves a high level of performance in a realistic environment.

Robust design of (s, S) inventory policy parameters in supply chains with demand and lead time uncertainties

NASA Astrophysics Data System (ADS)

Karimi Movahed, Kamran; Zhang, Zhi-Hai

2015-09-01

Demand and lead time uncertainties have significant effects on supply chain behaviour. In this paper, we present a single-product three-level multi-period supply chain with uncertain demands and lead times by using robust techniques to study the managerial insights of the supply chain inventory system under uncertainty. We formulate this problem as a robust mixed-integer linear program with minimised expected cost and total cost variation to determine the optimal (s, S) values of the inventory parameters. Several numerical studies are performed to investigate the supply chain behaviour. Useful guidelines for the design of a robust supply chain are also provided. Results show that the order variance and the expected cost in a supply chain significantly increase when the manufacturer's review period is an integer ratio of the distributor's and the retailer's review periods.

Robust Nonlinear Feedback Control of Aircraft Propulsion Systems

NASA Technical Reports Server (NTRS)

Garrard, William L.; Balas, Gary J.; Litt, Jonathan (Technical Monitor)

2001-01-01

This is the final report on the research performed under NASA Glen grant NASA/NAG-3-1975 concerning feedback control of the Pratt & Whitney (PW) STF 952, a twin spool, mixed flow, after burning turbofan engine. The research focussed on the design of linear and gain-scheduled, multivariable inner-loop controllers for the PW turbofan engine using H-infinity and linear, parameter-varying (LPV) control techniques. The nonlinear turbofan engine simulation was provided by PW within the NASA Rocket Engine Transient Simulator (ROCETS) simulation software environment. ROCETS was used to generate linearized models of the turbofan engine for control design and analysis as well as the simulation environment to evaluate the performance and robustness of the controllers. Comparison between the H-infinity, and LPV controllers are made with the baseline multivariable controller and developed by Pratt & Whitney engineers included in the ROCETS simulation. Simulation results indicate that H-infinity and LPV techniques effectively achieve desired response characteristics with minimal cross coupling between commanded values and are very robust to unmodeled dynamics and sensor noise.

Robust evaluation of time series classification algorithms for structural health monitoring

NASA Astrophysics Data System (ADS)

Harvey, Dustin Y.; Worden, Keith; Todd, Michael D.

2014-03-01

Structural health monitoring (SHM) systems provide real-time damage and performance information for civil, aerospace, and mechanical infrastructure through analysis of structural response measurements. The supervised learning methodology for data-driven SHM involves computation of low-dimensional, damage-sensitive features from raw measurement data that are then used in conjunction with machine learning algorithms to detect, classify, and quantify damage states. However, these systems often suffer from performance degradation in real-world applications due to varying operational and environmental conditions. Probabilistic approaches to robust SHM system design suffer from incomplete knowledge of all conditions a system will experience over its lifetime. Info-gap decision theory enables nonprobabilistic evaluation of the robustness of competing models and systems in a variety of decision making applications. Previous work employed info-gap models to handle feature uncertainty when selecting various components of a supervised learning system, namely features from a pre-selected family and classifiers. In this work, the info-gap framework is extended to robust feature design and classifier selection for general time series classification through an efficient, interval arithmetic implementation of an info-gap data model. Experimental results are presented for a damage type classification problem on a ball bearing in a rotating machine. The info-gap framework in conjunction with an evolutionary feature design system allows for fully automated design of a time series classifier to meet performance requirements under maximum allowable uncertainty.

On the validity and robustness of the scale error phenomenon in early childhood.

PubMed

DeLoache, Judy S; LoBue, Vanessa; Vanderborght, Mieke; Chiong, Cynthia

2013-02-01

Scale errors is a term referring to very young children's serious efforts to perform actions on miniature replica objects that are impossible due to great differences in the size of the child's body and the size of the target objects. We report three studies providing further documentation of scale errors and investigating the validity and robustness of the phenomenon. In the first, we establish that 2-year-olds' behavior in response to prompts to "pretend" with miniature replica objects differs dramatically from scale errors. The second and third studies address the robustness of the phenomenon and its relative imperviousness to attempts to influence the rate of scale errors. Copyright © 2012 Elsevier Inc. All rights reserved.

Robust Control of Uncertain Systems via Dissipative LQG-Type Controllers

NASA Technical Reports Server (NTRS)

Joshi, Suresh M.

2000-01-01

Optimal controller design is addressed for a class of linear, time-invariant systems which are dissipative with respect to a quadratic power function. The system matrices are assumed to be affine functions of uncertain parameters confined to a convex polytopic region in the parameter space. For such systems, a method is developed for designing a controller which is dissipative with respect to a given power function, and is simultaneously optimal in the linear-quadratic-Gaussian (LQG) sense. The resulting controller provides robust stability as well as optimal performance. Three important special cases, namely, passive, norm-bounded, and sector-bounded controllers, which are also LQG-optimal, are presented. The results give new methods for robust controller design in the presence of parametric uncertainties.

Increased robustness of single-molecule counting with microfluidics, digital isothermal amplification, and a mobile phone versus real-time kinetic measurements.

PubMed

Selck, David A; Karymov, Mikhail A; Sun, Bing; Ismagilov, Rustem F

2013-11-19

Quantitative bioanalytical measurements are commonly performed in a kinetic format and are known to not be robust to perturbation that affects the kinetics itself or the measurement of kinetics. We hypothesized that the same measurements performed in a "digital" (single-molecule) format would show increased robustness to such perturbations. Here, we investigated the robustness of an amplification reaction (reverse-transcription loop-mediated amplification, RT-LAMP) in the context of fluctuations in temperature and time when this reaction is used for quantitative measurements of HIV-1 RNA molecules under limited-resource settings (LRS). The digital format that counts molecules using dRT-LAMP chemistry detected a 2-fold change in concentration of HIV-1 RNA despite a 6 °C temperature variation (p-value = 6.7 × 10(-7)), whereas the traditional kinetic (real-time) format did not (p-value = 0.25). Digital analysis was also robust to a 20 min change in reaction time, to poor imaging conditions obtained with a consumer cell-phone camera, and to automated cloud-based processing of these images (R(2) = 0.9997 vs true counts over a 100-fold dynamic range). Fluorescent output of multiplexed PCR amplification could also be imaged with the cell phone camera using flash as the excitation source. Many nonlinear amplification schemes based on organic, inorganic, and biochemical reactions have been developed, but their robustness is not well understood. This work implies that these chemistries may be significantly more robust in the digital, rather than kinetic, format. It also calls for theoretical studies to predict robustness of these chemistries and, more generally, to design robust reaction architectures. The SlipChip that we used here and other digital microfluidic technologies already exist to enable testing of these predictions. Such work may lead to identification or creation of robust amplification chemistries that enable rapid and precise quantitative molecular measurements under LRS. Furthermore, it may provide more general principles describing robustness of chemical and biological networks in digital formats.

Singularity-robustness and task-prioritization in configuration control of redundant robots

NASA Technical Reports Server (NTRS)

Seraji, H.; Colbaugh, R.

1990-01-01

The authors present a singularity-robust task-prioritized reformulation of the configuration control for redundant robot manipulators. This reformation suppresses large joint velocities to induce minimal errors in the task performance by modifying the task trajectories. Furthermore, the same framework provides a means for assignment of priorities between the basic task of end-effector motion and the user-defined additional task for utilizing redundancy. This allows automatic relaxation of the additional task constraints in favor of the desired end-effector motion when both cannot be achieved exactly.

Control of nonlinear systems using terminal sliding modes

NASA Technical Reports Server (NTRS)

Venkataraman, S. T.; Gulati, S.

1992-01-01

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

Enhanced efficiency and stability of inverted perovskite solar cells using highly crystalline SnO 2 nanocrystals as the robust electron-transporting layer

DOE PAGES

Zhu, Zonglong; Bai, Yang; Liu, Xiao; ...

2016-05-11

Here highly crystalline SnO 2 is demonstrated to serve as a stable and robust electron-transporting layer for high-performance perovskite solar cells. Benefiting from its high crystallinity, the relatively thick SnO 2 electron-transporting layer (≈120 nm) provides a respectable electron-transporting property to yield a promising power conversion efficiency (PCE)(18.8%) Over 90% of the initial PCE can be retained after 30 d storage in ambient with ≈70% relative humidity.

A robust demonstration of the cognate facilitation effect in first-language and second-language naming.

PubMed

Sheng, Li; Lam, Boji Pak Wing; Cruz, Diana; Fulton, Aislynn

2016-01-01

The cognate facilitation effect refers to the phenomenon that in bilinguals performance on various vocabulary tasks is enhanced for cross-linguistic cognates as opposed to noncognates. However, research investigating the presence of the cognate advantage in bilingual children remains limited. Most studies with children conducted to date has not included a control group or rigorously designed stimuli, which may jeopardize the validity and robustness of the emerging evidence. The current study addressed these methodological problems by examining performance in picture naming tasks in 34 4- to 7-year-old Spanish-English bilinguals and 52 Mandarin-English bilinguals as well as 37 English-speaking monolinguals who served as controls. Stimuli were controlled for phonology, word frequency, and length. The Spanish-English bilinguals performed better for cognates than for noncognates and exhibited a greater number of doublet responses (i.e., providing correct responses in both languages) in naming cognate targets than in naming noncognates. The control groups did not show differences in performance between the two sets of words. These findings provide compelling evidence that cross-linguistic similarities at the phonological level allow bootstrapping of vocabulary learning. Copyright © 2015 Elsevier Inc. All rights reserved.

A model to assess the Mars Telecommunications Network relay robustness

NASA Technical Reports Server (NTRS)

Girerd, Andre R.; Meshkat, Leila; Edwards, Charles D., Jr.; Lee, Charles H.

2005-01-01

The relatively long mission durations and compatible radio protocols of current and projected Mars orbiters have enabled the gradual development of a heterogeneous constellation providing proximity communication services for surface assets. The current and forecasted capability of this evolving network has reached the point that designers of future surface missions consider complete dependence on it. Such designers, along with those architecting network requirements, have a need to understand the robustness of projected communication service. A model has been created to identify the robustness of the Mars Network as a function of surface location and time. Due to the decade-plus time horizon considered, the network will evolve, with emerging productive nodes and nodes that cease or fail to contribute. The model is a flexible framework to holistically process node information into measures of capability robustness that can be visualized for maximum understanding. Outputs from JPL's Telecom Orbit Analysis Simulation Tool (TOAST) provide global telecom performance parameters for current and projected orbiters. Probabilistic estimates of orbiter fuel life are derived from orbit keeping burn rates, forecasted maneuver tasking, and anomaly resolution budgets. Orbiter reliability is estimated probabilistically. A flexible scheduling framework accommodates the projected mission queue as well as potential alterations.

Crypto-Watermarking of Transmitted Medical Images.

PubMed

Al-Haj, Ali; Mohammad, Ahmad; Amer, Alaa'

2017-02-01

Telemedicine is a booming healthcare practice that has facilitated the exchange of medical data and expertise between healthcare entities. However, the widespread use of telemedicine applications requires a secured scheme to guarantee confidentiality and verify authenticity and integrity of exchanged medical data. In this paper, we describe a region-based, crypto-watermarking algorithm capable of providing confidentiality, authenticity, and integrity for medical images of different modalities. The proposed algorithm provides authenticity by embedding robust watermarks in images' region of non-interest using SVD in the DWT domain. Integrity is provided in two levels: strict integrity implemented by a cryptographic hash watermark, and content-based integrity implemented by a symmetric encryption-based tamper localization scheme. Confidentiality is achieved as a byproduct of hiding patient's data in the image. Performance of the algorithm was evaluated with respect to imperceptibility, robustness, capacity, and tamper localization, using different medical images. The results showed the effectiveness of the algorithm in providing security for telemedicine applications.

Production and Robustness of a Cacao Agroecosystem: Effects of Two Contrasting Types of Management Strategies

PubMed Central

Sabatier, Rodolphe; Wiegand, Kerstin; Meyer, Katrin

2013-01-01

Ecological intensification, i.e. relying on ecological processes to replace chemical inputs, is often presented as the ideal alternative to conventional farming based on an intensive use of chemicals. It is said to both maintain high yield and provide more robustness to the agroecosystem. However few studies compared the two types of management with respect to their consequences for production and robustness toward perturbation. In this study our aim is to assess productive performance and robustness toward diverse perturbations of a Cacao agroecosystem managed with two contrasting groups of strategies: one group of strategies relying on a high level of pesticides and a second relying on low levels of pesticides. We conducted this study using a dynamical model of a Cacao agroecosystem that includes Cacao production dynamics, and dynamics of three insects: a pest (the Cacao Pod Borer, Conopomorpha cramerella) and two characteristic but unspecified beneficial insects (a pollinator of Cacao and a parasitoid of the Cacao Pod Borer). Our results showed two opposite behaviors of the Cacao agroecosystem depending on its management, i.e. an agroecosystem relying on a high input of pesticides and showing low ecosystem functioning and an agroecosystem with low inputs, relying on a high functioning of the ecosystem. From the production point of view, no type of management clearly outclassed the other and their ranking depended on the type of pesticide used. From the robustness point of view, the two types of managements performed differently when subjected to different types of perturbations. Ecologically intensive systems were more robust to pest outbreaks and perturbations related to pesticide characteristics while chemically intensive systems were more robust to Cacao production and management-related perturbation. PMID:24312469

Production and robustness of a Cacao agroecosystem: effects of two contrasting types of management strategies.

PubMed

Sabatier, Rodolphe; Wiegand, Kerstin; Meyer, Katrin

2013-01-01

Ecological intensification, i.e. relying on ecological processes to replace chemical inputs, is often presented as the ideal alternative to conventional farming based on an intensive use of chemicals. It is said to both maintain high yield and provide more robustness to the agroecosystem. However few studies compared the two types of management with respect to their consequences for production and robustness toward perturbation. In this study our aim is to assess productive performance and robustness toward diverse perturbations of a Cacao agroecosystem managed with two contrasting groups of strategies: one group of strategies relying on a high level of pesticides and a second relying on low levels of pesticides. We conducted this study using a dynamical model of a Cacao agroecosystem that includes Cacao production dynamics, and dynamics of three insects: a pest (the Cacao Pod Borer, Conopomorpha cramerella) and two characteristic but unspecified beneficial insects (a pollinator of Cacao and a parasitoid of the Cacao Pod Borer). Our results showed two opposite behaviors of the Cacao agroecosystem depending on its management, i.e. an agroecosystem relying on a high input of pesticides and showing low ecosystem functioning and an agroecosystem with low inputs, relying on a high functioning of the ecosystem. From the production point of view, no type of management clearly outclassed the other and their ranking depended on the type of pesticide used. From the robustness point of view, the two types of managements performed differently when subjected to different types of perturbations. Ecologically intensive systems were more robust to pest outbreaks and perturbations related to pesticide characteristics while chemically intensive systems were more robust to Cacao production and management-related perturbation.

Performance Evaluation of a UWB-RFID System for Potential Space Applications

NASA Technical Reports Server (NTRS)

Phan, Chan T.; Arndt, D.; Ngo, P.; Gross, J.; Ni, Jianjun; Rafford, Melinda

2006-01-01

This talk presents a brief overview of the ultra-wideband (UWB) RFID system with emphasis on the performance evaluation of a commercially available UWB-RFID system. There are many RFID systems available today, but many provide just basic identification for auditing and inventory tracking. For applications that require high precision real time tracking, UWB technology has been shown to be a viable solution. The use of extremely short bursts of RF pulses offers high immunity to interference from other RF systems, precise tracking due to sub-nanosecond time resolution, and robust performance in multipath environments. The UWB-RFID system Sapphire DART (Digital Active RFID & Tracking) will be introduced in this talk. Laboratory testing using Sapphire DART is performed to evaluate its capability such as coverage area, accuracy, ease of operation, and robustness. Performance evaluation of this system in an operational environment (a receiving warehouse) for inventory tracking is also conducted. Concepts of using the UWB-RFID technology to track astronauts and assets are being proposed for space exploration.

Robust ultrasensitive tunneling-FET biosensor for point-of-care diagnostics

PubMed Central

Gao, Anran; Lu, Na; Wang, Yuelin; Li, Tie

2016-01-01

For point-of-care (POC) applications, robust, ultrasensitive, small, rapid, low-power, and low-cost sensors are highly desirable. Here, we present a novel biosensor based on a complementary metal oxide semiconductor (CMOS)-compatible silicon nanowire tunneling field-effect transistor (SiNW-TFET). They were fabricated “top-down” with a low-cost anisotropic self-stop etching technique. Notably, the SiNW-TFET device provided strong anti-interference capacity by applying the inherent ambipolarity via both pH and CYFRA21-1 sensing. This offered a more robust and portable general protocol. The specific label-free detection of CYFRA21-1 down to 0.5 fgml−1 or ~12.5 aM was achieved using a highly responsive SiNW-TFET device with a minimum sub-threshold slope (SS) of 37 mVdec−1. Furthermore, real-time measurements highlighted the ability to use clinically relevant samples such as serum. The developed high performance diagnostic system is expected to provide a generic platform for numerous POC applications. PMID:26932158

Fast and robust control of nanopositioning systems: Performance limits enabled by field programmable analog arrays.

PubMed

Baranwal, Mayank; Gorugantu, Ram S; Salapaka, Srinivasa M

2015-08-01

This paper aims at control design and its implementation for robust high-bandwidth precision (nanoscale) positioning systems. Even though modern model-based control theoretic designs for robust broadband high-resolution positioning have enabled orders of magnitude improvement in performance over existing model independent designs, their scope is severely limited by the inefficacies of digital implementation of the control designs. High-order control laws that result from model-based designs typically have to be approximated with reduced-order systems to facilitate digital implementation. Digital systems, even those that have very high sampling frequencies, provide low effective control bandwidth when implementing high-order systems. In this context, field programmable analog arrays (FPAAs) provide a good alternative to the use of digital-logic based processors since they enable very high implementation speeds, moreover with cheaper resources. The superior flexibility of digital systems in terms of the implementable mathematical and logical functions does not give significant edge over FPAAs when implementing linear dynamic control laws. In this paper, we pose the control design objectives for positioning systems in different configurations as optimal control problems and demonstrate significant improvements in performance when the resulting control laws are applied using FPAAs as opposed to their digital counterparts. An improvement of over 200% in positioning bandwidth is achieved over an earlier digital signal processor (DSP) based implementation for the same system and same control design, even when for the DSP-based system, the sampling frequency is about 100 times the desired positioning bandwidth.

Verification and Tuning of an Adaptive Controller for an Unmanned Air Vehicle

NASA Technical Reports Server (NTRS)

Crespo, Luis G.; Matsutani, Megumi; Annaswamy, Anuradha M.

2010-01-01

This paper focuses on the analysis and tuning of a controller based on the Adaptive Control Technology for Safe Flight (ACTS) architecture. The ACTS architecture consists of a nominal, non-adaptive controller that provides satisfactory performance under nominal flying conditions, and an adaptive controller that provides robustness under off-nominal ones. A framework unifying control verification and gain tuning is used to make the controller s ability to satisfy the closed-loop requirements more robust to uncertainty. In this paper we tune the gains of both controllers using this approach. Some advantages and drawbacks of adaptation are identified by performing a global robustness assessment of both the adaptive controller and its non-adaptive counterpart. The analyses used to determine these characteristics are based on evaluating the degradation in closed-loop performance resulting from uncertainties having increasing levels of severity. The specific adverse conditions considered can be grouped into three categories: aerodynamic uncertainties, structural damage, and actuator failures. These failures include partial and total loss of control effectiveness, locked-in-place control surface deflections, and engine out conditions. The requirements considered are the peak structural loading, the ability of the controller to track pilot commands, the ability of the controller to keep the aircraft s state within the reliable flight envelope, and the handling/riding qualities of the aircraft. The nominal controller resulting from these tuning strategies was successfully validated using the NASA GTM Flight Test Vehicle.

Robust stochastic optimization for reservoir operation

NASA Astrophysics Data System (ADS)

Pan, Limeng; Housh, Mashor; Liu, Pan; Cai, Ximing; Chen, Xin

2015-01-01

Optimal reservoir operation under uncertainty is a challenging engineering problem. Application of classic stochastic optimization methods to large-scale problems is limited due to computational difficulty. Moreover, classic stochastic methods assume that the estimated distribution function or the sample inflow data accurately represents the true probability distribution, which may be invalid and the performance of the algorithms may be undermined. In this study, we introduce a robust optimization (RO) approach, Iterative Linear Decision Rule (ILDR), so as to provide a tractable approximation for a multiperiod hydropower generation problem. The proposed approach extends the existing LDR method by accommodating nonlinear objective functions. It also provides users with the flexibility of choosing the accuracy of ILDR approximations by assigning a desired number of piecewise linear segments to each uncertainty. The performance of the ILDR is compared with benchmark policies including the sampling stochastic dynamic programming (SSDP) policy derived from historical data. The ILDR solves both the single and multireservoir systems efficiently. The single reservoir case study results show that the RO method is as good as SSDP when implemented on the original historical inflows and it outperforms SSDP policy when tested on generated inflows with the same mean and covariance matrix as those in history. For the multireservoir case study, which considers water supply in addition to power generation, numerical results show that the proposed approach performs as well as in the single reservoir case study in terms of optimal value and distributional robustness.

Tuning Monotonic Basin Hopping: Improving the Efficiency of Stochastic Search as Applied to Low-Thrust Trajectory Optimization

NASA Technical Reports Server (NTRS)

Englander, Jacob; Englander, Arnold

2014-01-01

Trajectory optimization methods using MBH have become well developed during the past decade. An essential component of MBH is a controlled random search through the multi-dimensional space of possible solutions. Historically, the randomness has been generated by drawing RVs from a uniform probability distribution. Here, we investigate the generating the randomness by drawing the RVs from Cauchy and Pareto distributions, chosen because of their characteristic long tails. We demonstrate that using Cauchy distributions (as first suggested by Englander significantly improves MBH performance, and that Pareto distributions provide even greater improvements. Improved performance is defined in terms of efficiency and robustness, where efficiency is finding better solutions in less time, and robustness is efficiency that is undiminished by (a) the boundary conditions and internal constraints of the optimization problem being solved, and (b) by variations in the parameters of the probability distribution. Robustness is important for achieving performance improvements that are not problem specific. In this work we show that the performance improvements are the result of how these long-tailed distributions enable MBH to search the solution space faster and more thoroughly. In developing this explanation, we use the concepts of sub-diffusive, normally-diffusive, and super-diffusive RWs originally developed in the field of statistical physics.

What Is Robustness?: Problem Framing Challenges for Water Systems Planning Under Change

NASA Astrophysics Data System (ADS)

Herman, J. D.; Reed, P. M.; Zeff, H. B.; Characklis, G. W.

2014-12-01

Water systems planners have long recognized the need for robust solutions capable of withstanding deviations from the conditions for which they were designed. Faced with a set of alternatives to choose from—for example, resulting from a multi-objective optimization—existing analysis frameworks offer competing definitions of robustness under change. Robustness analyses have moved from expected utility to exploratory "bottom-up" approaches in which vulnerable scenarios are identified prior to assigning likelihoods; examples include Robust Decision Making (RDM), Decision Scaling, Info-Gap, and Many-Objective Robust Decision Making (MORDM). We propose a taxonomy of robustness frameworks to compare and contrast these approaches, based on their methods of (1) alternative selection, (2) sampling of states of the world, (3) quantification of robustness measures, and (4) identification of key uncertainties using sensitivity analysis. Using model simulations from recent work in multi-objective urban water supply portfolio planning, we illustrate the decision-relevant consequences that emerge from each of these choices. Results indicate that the methodological choices in the taxonomy lead to substantially different planning alternatives, underscoring the importance of an informed definition of robustness. We conclude with a set of recommendations for problem framing: that alternatives should be searched rather than prespecified; dominant uncertainties should be discovered rather than assumed; and that a multivariate satisficing measure of robustness allows stakeholders to achieve their problem-specific performance requirements. This work highlights the importance of careful problem formulation, and provides a common vocabulary to link the robustness frameworks widely used in the field of water systems planning.

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

NASA Technical Reports Server (NTRS)

Shtessel, Yuri B.; Hall, Charles E.

2000-01-01

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

Scalable Robust Principal Component Analysis Using Grassmann Averages.

PubMed

Hauberg, Sren; Feragen, Aasa; Enficiaud, Raffi; Black, Michael J

2016-11-01

In large datasets, manual data verification is impossible, and we must expect the number of outliers to increase with data size. While principal component analysis (PCA) can reduce data size, and scalable solutions exist, it is well-known that outliers can arbitrarily corrupt the results. Unfortunately, state-of-the-art approaches for robust PCA are not scalable. We note that in a zero-mean dataset, each observation spans a one-dimensional subspace, giving a point on the Grassmann manifold. We show that the average subspace corresponds to the leading principal component for Gaussian data. We provide a simple algorithm for computing this Grassmann Average ( GA), and show that the subspace estimate is less sensitive to outliers than PCA for general distributions. Because averages can be efficiently computed, we immediately gain scalability. We exploit robust averaging to formulate the Robust Grassmann Average (RGA) as a form of robust PCA. The resulting Trimmed Grassmann Average ( TGA) is appropriate for computer vision because it is robust to pixel outliers. The algorithm has linear computational complexity and minimal memory requirements. We demonstrate TGA for background modeling, video restoration, and shadow removal. We show scalability by performing robust PCA on the entire Star Wars IV movie; a task beyond any current method. Source code is available online.

Adaptive Critic Nonlinear Robust Control: A Survey.

PubMed

Wang, Ding; He, Haibo; Liu, Derong

2017-10-01

Adaptive dynamic programming (ADP) and reinforcement learning are quite relevant to each other when performing intelligent optimization. They are both regarded as promising methods involving important components of evaluation and improvement, at the background of information technology, such as artificial intelligence, big data, and deep learning. Although great progresses have been achieved and surveyed when addressing nonlinear optimal control problems, the research on robustness of ADP-based control strategies under uncertain environment has not been fully summarized. Hence, this survey reviews the recent main results of adaptive-critic-based robust control design of continuous-time nonlinear systems. The ADP-based nonlinear optimal regulation is reviewed, followed by robust stabilization of nonlinear systems with matched uncertainties, guaranteed cost control design of unmatched plants, and decentralized stabilization of interconnected systems. Additionally, further comprehensive discussions are presented, including event-based robust control design, improvement of the critic learning rule, nonlinear H ∞ control design, and several notes on future perspectives. By applying the ADP-based optimal and robust control methods to a practical power system and an overhead crane plant, two typical examples are provided to verify the effectiveness of theoretical results. Overall, this survey is beneficial to promote the development of adaptive critic control methods with robustness guarantee and the construction of higher level intelligent systems.

Certified normal: Alzheimer's disease biomarkers and normative estimates of cognitive functioning.

PubMed

Hassenstab, Jason; Chasse, Rachel; Grabow, Perri; Benzinger, Tammie L S; Fagan, Anne M; Xiong, Chengjie; Jasielec, Mateusz; Grant, Elizabeth; Morris, John C

2016-07-01

Normative samples drawn from older populations may unintentionally include individuals with preclinical Alzheimer's disease (AD) pathology, resulting in reduced means, increased variability, and overestimation of age effects on cognitive performance. A total of 264 cognitively normal (Clinical Dementia Rating = 0) older adults were classified as biomarker negative ("Robust Normal," n = 177) or biomarker positive ("Preclinical Alzheimer's Disease" [PCAD], n = 87) based on amyloid imaging, cerebrospinal fluid biomarkers, and hippocampal volumes. PCAD participants performed worse than robust normals on nearly all cognitive measures. Removing PCAD participants from the normative sample yielded higher means and less variability on episodic memory, visuospatial ability, and executive functioning measures. These results were more pronounced in participants aged 75 years and older. Notably, removing PCAD participants from the sample significantly reduced age effects across all cognitive domains. Applying norms from the robust normal sample to a separate cohort did not improve Clinical Dementia Rating classification when using standard deviation cutoff scores. Overall, removing individuals with biomarker evidence of preclinical AD improves normative sample quality and substantially reduces age effects on cognitive performance but provides no substantive benefit for diagnostic classifications. Copyright © 2016 Elsevier Inc. All rights reserved.

A robust and accurate center-frequency estimation (RACE) algorithm for improving motion estimation performance of SinMod on tagged cardiac MR images without known tagging parameters.

PubMed

Liu, Hong; Wang, Jie; Xu, Xiangyang; Song, Enmin; Wang, Qian; Jin, Renchao; Hung, Chih-Cheng; Fei, Baowei

2014-11-01

A robust and accurate center-frequency (CF) estimation (RACE) algorithm for improving the performance of the local sine-wave modeling (SinMod) method, which is a good motion estimation method for tagged cardiac magnetic resonance (MR) images, is proposed in this study. The RACE algorithm can automatically, effectively and efficiently produce a very appropriate CF estimate for the SinMod method, under the circumstance that the specified tagging parameters are unknown, on account of the following two key techniques: (1) the well-known mean-shift algorithm, which can provide accurate and rapid CF estimation; and (2) an original two-direction-combination strategy, which can further enhance the accuracy and robustness of CF estimation. Some other available CF estimation algorithms are brought out for comparison. Several validation approaches that can work on the real data without ground truths are specially designed. Experimental results on human body in vivo cardiac data demonstrate the significance of accurate CF estimation for SinMod, and validate the effectiveness of RACE in facilitating the motion estimation performance of SinMod. Copyright © 2014 Elsevier Inc. All rights reserved.

A Robust Strategy for Total Ionizing Dose Testing of Field Programmable Gate Arrays

NASA Technical Reports Server (NTRS)

Wilcox, Edward; Berg, Melanie; Friendlich, Mark; Lakeman, Joseph; KIm, Hak; Pellish, Jonathan; LaBel, Kenneth

2012-01-01

We present a novel method of FPGA TID testing that measures propagation delay between flip-flops operating at maximum speed. Measurement is performed on-chip at-speed and provides a key design metric when building system-critical synchronous designs.

A Practical Approach to Programmatic Assessment Design

ERIC Educational Resources Information Center

Timmerman, A. A.; Dijkstra, J.

2017-01-01

Assessment of complex tasks integrating several competencies calls for a programmatic design approach. As single instruments do not provide the information required to reach a robust judgment of integral performance, 73 guidelines for programmatic assessment design were developed. When simultaneously applying these interrelated guidelines, it is…

On-board orbit determination for low thrust LEO-MEO transfer by Consider Kalman Filtering and multi-constellation GNSS

NASA Astrophysics Data System (ADS)

Menzione, Francesco; Renga, Alfredo; Grassi, Michele

2017-09-01

In the framework of the novel navigation scenario offered by the next generation satellite low thrust autonomous LEO-to-MEO orbit transfer, this study proposes and tests a GNSS based navigation system aimed at providing on-board precise and robust orbit determination strategy to override rising criticalities. The analysis introduces the challenging design issues to simultaneously deal with the variable orbit regime, the electric thrust control and the high orbit GNSS visibility conditions. The Consider Kalman Filtering approach is here proposed as the filtering scheme to process the GNSS raw data provided by a multi-antenna/multi-constellation receiver in presence of uncertain parameters affecting measurements, actuation and spacecraft physical properties. Filter robustness and achievable navigation accuracy are verified using a high fidelity simulation of the low-thrust rising scenario and performance are compared with the one of a standard Extended Kalman Filtering approach to highlight the advantages of the proposed solution. Performance assessment of the developed navigation solution is accomplished for different transfer phases.

The X-43A Six Degree of Freedom Monte Carlo Analysis

NASA Technical Reports Server (NTRS)

Baumann, Ethan; Bahm, Catherine; Strovers, Brian; Beck, Roger

2008-01-01

This report provides an overview of the Hyper-X research vehicle Monte Carlo analysis conducted with the six-degree-of-freedom simulation. The methodology and model uncertainties used for the Monte Carlo analysis are presented as permitted. In addition, the process used to select hardware validation test cases from the Monte Carlo data is described. The preflight Monte Carlo analysis indicated that the X-43A control system was robust to the preflight uncertainties and provided the Hyper-X project an important indication that the vehicle would likely be successful in accomplishing the mission objectives. The X-43A inflight performance is compared to the preflight Monte Carlo predictions and shown to exceed the Monte Carlo bounds in several instances. Possible modeling shortfalls are presented that may account for these discrepancies. The flight control laws and guidance algorithms were robust enough as a result of the preflight Monte Carlo analysis that the unexpected in-flight performance did not have undue consequences. Modeling and Monte Carlo analysis lessons learned are presented.

The X-43A Six Degree of Freedom Monte Carlo Analysis

NASA Technical Reports Server (NTRS)

Baumann, Ethan; Bahm, Catherine; Strovers, Brian; Beck, Roger; Richard, Michael

2007-01-01

This report provides an overview of the Hyper-X research vehicle Monte Carlo analysis conducted with the six-degree-of-freedom simulation. The methodology and model uncertainties used for the Monte Carlo analysis are presented as permitted. In addition, the process used to select hardware validation test cases from the Monte Carlo data is described. The preflight Monte Carlo analysis indicated that the X-43A control system was robust to the preflight uncertainties and provided the Hyper-X project an important indication that the vehicle would likely be successful in accomplishing the mission objectives. The X-43A in-flight performance is compared to the preflight Monte Carlo predictions and shown to exceed the Monte Carlo bounds in several instances. Possible modeling shortfalls are presented that may account for these discrepancies. The flight control laws and guidance algorithms were robust enough as a result of the preflight Monte Carlo analysis that the unexpected in-flight performance did not have undue consequences. Modeling and Monte Carlo analysis lessons learned are presented.

Orion Orbit Control Design and Analysis

NASA Technical Reports Server (NTRS)

Jackson, Mark; Gonzalez, Rodolfo; Sims, Christopher

2007-01-01

The analysis of candidate thruster configurations for the Crew Exploration Vehicle (CEV) is presented. Six candidate configurations were considered for the prime contractor baseline design. The analysis included analytical assessments of control authority, control precision, efficiency and robustness, as well as simulation assessments of control performance. The principles used in the analytic assessments of controllability, robustness and fuel performance are covered and results provided for the configurations assessed. Simulation analysis was conducted using a pulse width modulated, 6 DOF reaction system control law with a simplex-based thruster selection algorithm. Control laws were automatically derived from hardware configuration parameters including thruster locations, directions, magnitude and specific impulse, as well as vehicle mass properties. This parameterized controller allowed rapid assessment of multiple candidate layouts. Simulation results are presented for final phase rendezvous and docking, as well as low lunar orbit attitude hold. Finally, on-going analysis to consider alternate Service Module designs and to assess the pilot-ability of the baseline design are discussed to provide a status of orbit control design work to date.

Developing the Next Generation Shell Buckling Design Factors and Technologies

NASA Technical Reports Server (NTRS)

Hilburger, Mark W.

2012-01-01

NASA s Shell Buckling Knockdown Factor (SBKF) Project was established in the spring of 2007 by the NASA Engineering and Safety Center (NESC) in collaboration with the Constellation Program and Exploration Systems Mission Directorate. The SBKF project has the current goal of developing less-conservative, robust shell buckling design factors (a.k.a. knockdown factors) and design and analysis technologies for light-weight stiffened metallic launch vehicle (LV) structures. Preliminary design studies indicate that implementation of these new knockdown factors can enable significant reductions in mass and mass-growth in these vehicles and can help mitigate some of NASA s LV development and performance risks. In particular, it is expected that the results from this project will help reduce the reliance on testing, provide high-fidelity estimates of structural performance, reliability, robustness, and enable increased payload capability. The SBKF project objectives and approach used to develop and validate new design technologies are presented, and provide a glimpse into the future of design of the next generation of buckling-critical launch vehicle structures.

Lean and Efficient Software: Whole-Program Optimization of Executables

DTIC Science & Technology

2015-09-30

libraries. Many levels of library interfaces—where some libraries are dynamically linked and some are provided in binary form only—significantly limit...software at build time. The opportunity: Our objective in this project is to substantially improve the performance, size, and robustness of binary ...executables by using static and dynamic binary program analysis techniques to perform whole-program optimization directly on compiled programs

Integrated Flight Performance Analysis of a Launch Abort System Concept

NASA Technical Reports Server (NTRS)

Tartabini, Paul V.

2007-01-01

This paper describes initial flight performance analyses conducted early in the Orion Project to support concept feasibility studies for the Crew Exploration Vehicle s Launch Abort System (LAS). Key performance requirements that significantly affect abort capability are presented. These requirements have implications on sizing the Abort Motor, tailoring its thrust profile to meet escape requirements for both launch pad and high drag/high dynamic pressure ascent aborts. Additional performance considerations are provided for the Attitude Control Motor, a key element of the Orion LAS design that eliminates the need for ballast and provides performance robustness over a passive control approach. Finally, performance of the LAS jettison function is discussed, along with implications on Jettison Motor sizing and the timing of the jettison event during a nominal mission. These studies provide an initial understanding of LAS performance that will continue to evolve as the Orion design is matured.

Generalized internal model robust control for active front steering intervention

NASA Astrophysics Data System (ADS)

Wu, Jian; Zhao, Youqun; Ji, Xuewu; Liu, Yahui; Zhang, Lipeng

2015-03-01

Because of the tire nonlinearity and vehicle's parameters' uncertainties, robust control methods based on the worst cases, such as H ∞, µ synthesis, have been widely used in active front steering control, however, in order to guarantee the stability of active front steering system (AFS) controller, the robust control is at the cost of performance so that the robust controller is a little conservative and has low performance for AFS control. In this paper, a generalized internal model robust control (GIMC) that can overcome the contradiction between performance and stability is used in the AFS control. In GIMC, the Youla parameterization is used in an improved way. And GIMC controller includes two sections: a high performance controller designed for the nominal vehicle model and a robust controller compensating the vehicle parameters' uncertainties and some external disturbances. Simulations of double lane change (DLC) maneuver and that of braking on split- µ road are conducted to compare the performance and stability of the GIMC control, the nominal performance PID controller and the H ∞ controller. Simulation results show that the high nominal performance PID controller will be unstable under some extreme situations because of large vehicle's parameters variations, H ∞ controller is conservative so that the performance is a little low, and only the GIMC controller overcomes the contradiction between performance and robustness, which can both ensure the stability of the AFS controller and guarantee the high performance of the AFS controller. Therefore, the GIMC method proposed for AFS can overcome some disadvantages of control methods used by current AFS system, that is, can solve the instability of PID or LQP control methods and the low performance of the standard H ∞ controller.

A robust electrochemical immunosensor based on hydroxyl pillar[5]arene@AuNPs@g-C3N4 hybrid nanomaterial for ultrasensitive detection of prostate specific antigen.

PubMed

Zhou, Xu; Yang, Long; Tan, Xiaoping; Zhao, Genfu; Xie, Xiaoguang; Du, Guanben

2018-07-30

Prostate specific antigen (PSA) is the most significant biomarker for the screening of prostate cancer in human serum. However, most methods for the detection of PSA often require major laboratories, precisely analytical instruments and complicated operations. Currently, the design and development of satisfying electrochemical biosensors based on biomimetic materials (e.g. synthetic receptors) and nanotechnology is highly desired. Thus, we focused on the combination of molecular recognition and versatile nanomaterials in electrochemical devices for advancing their analytical performance and robustness. Herein, by using the present prepared multifunctional hydroxyl pillar[5]arene@gold nanoparticles@graphitic carbon nitride (HP5@AuNPs@g-C 3 N 4 ) hybrid nanomaterial as robust biomimetic element, a high-performance electrochemical immunosensor for detection of PSA was constructed. The as-prepared immunosensor, with typically competitive advantages of low cost, simple preparation and fast detection, exhibited remarkable robustness, ultra-sensitivity, excellent selectivity and reproducibility. The limit of detection (LOD) and linear range were 0.12 pg mL -1 (S/N = 3) and 0.0005-10.00 ng mL -1 , respectively. The satisfying results provide a promising approach for clinical detection of PSA in human serum. Copyright © 2018 Elsevier B.V. All rights reserved.

Automated robust registration of grossly misregistered whole-slide images with varying stains

NASA Astrophysics Data System (ADS)

Litjens, G.; Safferling, K.; Grabe, N.

2016-03-01

Cancer diagnosis and pharmaceutical research increasingly depend on the accurate quantification of cancer biomarkers. Identification of biomarkers is usually performed through immunohistochemical staining of cancer sections on glass slides. However, combination of multiple biomarkers from a wide variety of immunohistochemically stained slides is a tedious process in traditional histopathology due to the switching of glass slides and re-identification of regions of interest by pathologists. Digital pathology now allows us to apply image registration algorithms to digitized whole-slides to align the differing immunohistochemical stains automatically. However, registration algorithms need to be robust to changes in color due to differing stains and severe changes in tissue content between slides. In this work we developed a robust registration methodology to allow for fast coarse alignment of multiple immunohistochemical stains to the base hematyoxylin and eosin stained image. We applied HSD color model conversion to obtain a less stain color dependent representation of the whole-slide images. Subsequently, optical density thresholding and connected component analysis were used to identify the relevant regions for registration. Template matching using normalized mutual information was applied to provide initial translation and rotation parameters, after which a cost function-driven affine registration was performed. The algorithm was validated using 40 slides from 10 prostate cancer patients, with landmark registration error as a metric. Median landmark registration error was around 180 microns, which indicates performance is adequate for practical application. None of the registrations failed, indicating the robustness of the algorithm.

Robust versus consistent variance estimators in marginal structural Cox models.

PubMed

Enders, Dirk; Engel, Susanne; Linder, Roland; Pigeot, Iris

2018-06-11

In survival analyses, inverse-probability-of-treatment (IPT) and inverse-probability-of-censoring (IPC) weighted estimators of parameters in marginal structural Cox models are often used to estimate treatment effects in the presence of time-dependent confounding and censoring. In most applications, a robust variance estimator of the IPT and IPC weighted estimator is calculated leading to conservative confidence intervals. This estimator assumes that the weights are known rather than estimated from the data. Although a consistent estimator of the asymptotic variance of the IPT and IPC weighted estimator is generally available, applications and thus information on the performance of the consistent estimator are lacking. Reasons might be a cumbersome implementation in statistical software, which is further complicated by missing details on the variance formula. In this paper, we therefore provide a detailed derivation of the variance of the asymptotic distribution of the IPT and IPC weighted estimator and explicitly state the necessary terms to calculate a consistent estimator of this variance. We compare the performance of the robust and consistent variance estimators in an application based on routine health care data and in a simulation study. The simulation reveals no substantial differences between the 2 estimators in medium and large data sets with no unmeasured confounding, but the consistent variance estimator performs poorly in small samples or under unmeasured confounding, if the number of confounders is large. We thus conclude that the robust estimator is more appropriate for all practical purposes. Copyright © 2018 John Wiley & Sons, Ltd.

Microflow1, a sheathless fiber-optic flow cytometry biomedical platform: demonstration onboard the international space station.

PubMed

Dubeau-Laramée, Geneviève; Rivière, Christophe; Jean, Isabelle; Mermut, Ozzy; Cohen, Luchino Y

2014-04-01

A fiber-optic based flow cytometry platform was designed to build a portable and robust instrument for space applications. At the core of the Microflow1 is a unique fiber-optic flow cell fitted to a fluidic system and fiber coupled to the source and detection channels. A Microflow1 engineering unit was first tested and benchmarked against a commercial flow cytometer as a reference in a standard laboratory environment. Testing in parabolic flight campaigns was performed to establish Microflow1's performance in weightlessness, before operating the new platform on the International Space Station. Microflow1 had comparable performances to commercial systems, and operated remarkably and robustly in weightlessness (microgravity). Microflow1 supported immunophenotyping as well as microbead-based multiplexed cytokine assays in the space environment and independently of gravity levels. Results presented here provide evidence that this fiber-optic cytometer technology is inherently compatible with the space environment with negligible compromise to analytical performance. © 2013 International Society for Advancement of Cytometry.

Acceptance testing for PACS: from methodology to design to implementation

NASA Astrophysics Data System (ADS)

Liu, Brent J.; Huang, H. K.

2004-04-01

Acceptance Testing (AT) is a crucial step in the implementation process of a PACS within a clinical environment. AT determines whether the PACS is ready for clinical use and marks the official sign off of the PACS product. Most PACS vendors have Acceptance Testing (AT) plans, however, these plans do not provide a complete and robust evaluation of the full system. In addition, different sites will have different special requirements that vendor AT plans do not cover. The purpose of this paper is to introduce a protocol for AT design and present case studies of AT performed on clinical PACS. A methodology is presented that includes identifying testing components within PACS, quality assurance for both functionality and performance, and technical testing focusing on key single points-of-failure within the PACS product. Tools and resources that provide assistance in performing AT are discussed. In addition, implementation of the AT within the clinical environment and the overall implementation timeline of the PACS process are presented. Finally, case studies of actual AT of clinical PACS performed in the healthcare environment will be reviewed. The methodology for designing and implementing a robust AT plan for PACS was documented and has been used in PACS acceptance tests in several sites. This methodology can be applied to any PACS and can be used as a validation for the PACS product being acquired by radiology departments and hospitals. A methodology for AT design and implementation was presented that can be applied to future PACS installations. A robust AT plan for a PACS installation can increase both the utilization and satisfaction of a successful implementation of a PACS product that benefits both vendor and customer.

Fault Accommodation in Control of Flexible Systems

NASA Technical Reports Server (NTRS)

Maghami, Peiman G.; Sparks, Dean W., Jr.; Lim, Kyong B.

1998-01-01

New synthesis techniques for the design of fault accommodating controllers for flexible systems are developed. Three robust control design strategies, static dissipative, dynamic dissipative and mu-synthesis, are used in the approach. The approach provides techniques for designing controllers that maximize, in some sense, the tolerance of the closed-loop system against faults in actuators and sensors, while guaranteeing performance robustness at a specified performance level, measured in terms of the proximity of the closed-loop poles to the imaginary axis (the degree of stability). For dissipative control designs, nonlinear programming is employed to synthesize the controllers, whereas in mu-synthesis, the traditional D-K iteration is used. To demonstrate the feasibility of the proposed techniques, they are applied to the control design of a structural model of a flexible laboratory test structure.

Robust and fast characterization of OCT-based optical attenuation using a novel frequency-domain algorithm for brain cancer detection

NASA Astrophysics Data System (ADS)

Yuan, Wu; Kut, Carmen; Liang, Wenxuan; Li, Xingde

2017-03-01

Cancer is known to alter the local optical properties of tissues. The detection of OCT-based optical attenuation provides a quantitative method to efficiently differentiate cancer from non-cancer tissues. In particular, the intraoperative use of quantitative OCT is able to provide a direct visual guidance in real time for accurate identification of cancer tissues, especially these without any obvious structural layers, such as brain cancer. However, current methods are suboptimal in providing high-speed and accurate OCT attenuation mapping for intraoperative brain cancer detection. In this paper, we report a novel frequency-domain (FD) algorithm to enable robust and fast characterization of optical attenuation as derived from OCT intensity images. The performance of this FD algorithm was compared with traditional fitting methods by analyzing datasets containing images from freshly resected human brain cancer and from a silica phantom acquired by a 1310 nm swept-source OCT (SS-OCT) system. With graphics processing unit (GPU)-based CUDA C/C++ implementation, this new attenuation mapping algorithm can offer robust and accurate quantitative interpretation of OCT images in real time during brain surgery.

Robust and accurate vectorization of line drawings.

PubMed

Hilaire, Xavier; Tombre, Karl

2006-06-01

This paper presents a method for vectorizing the graphical parts of paper-based line drawings. The method consists of separating the input binary image into layers of homogeneous thickness, skeletonizing each layer, segmenting the skeleton by a method based on random sampling, and simplifying the result. The segmentation method is robust with a best bound of 50 percent noise reached for indefinitely long primitives. Accurate estimation of the recognized vector's parameters is enabled by explicitly computing their feasibility domains. Theoretical performance analysis and expression of the complexity of the segmentation method are derived. Experimental results and comparisons with other vectorization systems are also provided.

Noise-robust speech recognition through auditory feature detection and spike sequence decoding.

PubMed

Schafer, Phillip B; Jin, Dezhe Z

2014-03-01

Speech recognition in noisy conditions is a major challenge for computer systems, but the human brain performs it routinely and accurately. Automatic speech recognition (ASR) systems that are inspired by neuroscience can potentially bridge the performance gap between humans and machines. We present a system for noise-robust isolated word recognition that works by decoding sequences of spikes from a population of simulated auditory feature-detecting neurons. Each neuron is trained to respond selectively to a brief spectrotemporal pattern, or feature, drawn from the simulated auditory nerve response to speech. The neural population conveys the time-dependent structure of a sound by its sequence of spikes. We compare two methods for decoding the spike sequences--one using a hidden Markov model-based recognizer, the other using a novel template-based recognition scheme. In the latter case, words are recognized by comparing their spike sequences to template sequences obtained from clean training data, using a similarity measure based on the length of the longest common sub-sequence. Using isolated spoken digits from the AURORA-2 database, we show that our combined system outperforms a state-of-the-art robust speech recognizer at low signal-to-noise ratios. Both the spike-based encoding scheme and the template-based decoding offer gains in noise robustness over traditional speech recognition methods. Our system highlights potential advantages of spike-based acoustic coding and provides a biologically motivated framework for robust ASR development.

Nonlinear Dynamics in Gene Regulation Promote Robustness and Evolvability of Gene Expression Levels.

PubMed

Steinacher, Arno; Bates, Declan G; Akman, Ozgur E; Soyer, Orkun S

2016-01-01

Cellular phenotypes underpinned by regulatory networks need to respond to evolutionary pressures to allow adaptation, but at the same time be robust to perturbations. This creates a conflict in which mutations affecting regulatory networks must both generate variance but also be tolerated at the phenotype level. Here, we perform mathematical analyses and simulations of regulatory networks to better understand the potential trade-off between robustness and evolvability. Examining the phenotypic effects of mutations, we find an inverse correlation between robustness and evolvability that breaks only with nonlinearity in the network dynamics, through the creation of regions presenting sudden changes in phenotype with small changes in genotype. For genotypes embedding low levels of nonlinearity, robustness and evolvability correlate negatively and almost perfectly. By contrast, genotypes embedding nonlinear dynamics allow expression levels to be robust to small perturbations, while generating high diversity (evolvability) under larger perturbations. Thus, nonlinearity breaks the robustness-evolvability trade-off in gene expression levels by allowing disparate responses to different mutations. Using analytical derivations of robustness and system sensitivity, we show that these findings extend to a large class of gene regulatory network architectures and also hold for experimentally observed parameter regimes. Further, the effect of nonlinearity on the robustness-evolvability trade-off is ensured as long as key parameters of the system display specific relations irrespective of their absolute values. We find that within this parameter regime genotypes display low and noisy expression levels. Examining the phenotypic effects of mutations, we find an inverse correlation between robustness and evolvability that breaks only with nonlinearity in the network dynamics. Our results provide a possible solution to the robustness-evolvability trade-off, suggest an explanation for the ubiquity of nonlinear dynamics in gene expression networks, and generate useful guidelines for the design of synthetic gene circuits.

Adaptive integral robust control and application to electromechanical servo systems.

PubMed

Deng, Wenxiang; Yao, Jianyong

2017-03-01

This paper proposes a continuous adaptive integral robust control with robust integral of the sign of the error (RISE) feedback for a class of uncertain nonlinear systems, in which the RISE feedback gain is adapted online to ensure the robustness against disturbances without the prior bound knowledge of the additive disturbances. In addition, an adaptive compensation integrated with the proposed adaptive RISE feedback term is also constructed to further reduce design conservatism when the system also exists parametric uncertainties. Lyapunov analysis reveals the proposed controllers could guarantee the tracking errors are asymptotically converging to zero with continuous control efforts. To illustrate the high performance nature of the developed controllers, numerical simulations are provided. At the end, an application case of an actual electromechanical servo system driven by motor is also studied, with some specific design consideration, and comparative experimental results are obtained to verify the effectiveness of the proposed controllers. Copyright © 2017 ISA. Published by Elsevier Ltd. All rights reserved.

Linear, multivariable robust control with a mu perspective

NASA Technical Reports Server (NTRS)

Packard, Andy; Doyle, John; Balas, Gary

1993-01-01

The structured singular value is a linear algebra tool developed to study a particular class of matrix perturbation problems arising in robust feedback control of multivariable systems. These perturbations are called linear fractional, and are a natural way to model many types of uncertainty in linear systems, including state-space parameter uncertainty, multiplicative and additive unmodeled dynamics uncertainty, and coprime factor and gap metric uncertainty. The structured singular value theory provides a natural extension of classical SISO robustness measures and concepts to MIMO systems. The structured singular value analysis, coupled with approximate synthesis methods, make it possible to study the tradeoff between performance and uncertainty that occurs in all feedback systems. In MIMO systems, the complexity of the spatial interactions in the loop gains make it difficult to heuristically quantify the tradeoffs that must occur. This paper examines the role played by the structured singular value (and its computable bounds) in answering these questions, as well as its role in the general robust, multivariable control analysis and design problem.

Optimal strategy analysis based on robust predictive control for inventory system with random demand

NASA Astrophysics Data System (ADS)

Saputra, Aditya; Widowati, Sutrisno

2017-12-01

In this paper, the optimal strategy for a single product single supplier inventory system with random demand is analyzed by using robust predictive control with additive random parameter. We formulate the dynamical system of this system as a linear state space with additive random parameter. To determine and analyze the optimal strategy for the given inventory system, we use robust predictive control approach which gives the optimal strategy i.e. the optimal product volume that should be purchased from the supplier for each time period so that the expected cost is minimal. A numerical simulation is performed with some generated random inventory data. We simulate in MATLAB software where the inventory level must be controlled as close as possible to a set point decided by us. From the results, robust predictive control model provides the optimal strategy i.e. the optimal product volume that should be purchased and the inventory level was followed the given set point.

Registration of MRI to Intraoperative Radiographs for Target Localization in Spinal Interventions

PubMed Central

De Silva, T; Uneri, A; Ketcha, M D; Reaungamornrat, S; Goerres, J; Jacobson, M W; Vogt, S; Kleinszig, G; Khanna, A J; Wolinsky, J-P; Siewerdsen, J H

2017-01-01

Purpose Decision support to assist in target vertebra localization could provide a useful aid to safe and effective spine surgery. Previous solutions have shown 3D-2D registration of preoperative CT to intraoperative radiographs to reliably annotate vertebral labels for assistance during level localization. We present an algorithm (referred to as MR-LevelCheck) to perform 3D-2D registration based on a preoperative MRI to accommodate the increasingly common clinical scenario in which MRI is used instead of CT for preoperative planning. Methods Straightforward adaptation of gradient/intensity-based methods appropriate to CT-to-radiograph registration is confounded by large mismatch and noncorrespondence in image intensity between MRI and radiographs. The proposed method overcomes such challenges with a simple vertebrae segmentation step using vertebra centroids as seed points (automatically defined within existing workflow). Forwards projections are computed using segmented MRI and registered to radiographs via gradient orientation (GO) similarity and the CMA-ES (Covariance-Matrix-Adaptation Evolutionary-Strategy) optimizer. The method was tested in an IRB-approved study involving 10 patients undergoing cervical, thoracic, or lumbar spine surgery following preoperative MRI. Results The method successfully registered each preoperative MRI to intraoperative radiographs and maintained desirable properties of robustness against image content mismatch and large capture range. Robust registration performance was achieved with projection distance error (PDE) (median ± iqr) = 4.3 ± 2.6 mm (median ± iqr) and 0% failure rate. Segmentation accuracy for the continuous max-flow method yielded Dice coefficient = 88.1 ± 5.2, Accuracy = 90.6 ± 5.7, RMSE = 1.8 ± 0.6 mm, and contour affinity ratio (CAR) = 0.82 ± 0.08. Registration performance was found to be robust for segmentation methods exhibiting RMSE < 3 mm and CAR > 0.50. Conclusion The MR-LevelCheck method provides a potentially valuable extension to a previously developed decision support tool for spine surgery target localization by extending its utility to preoperative MRI while maintaining characteristics of accuracy and robustness. PMID:28050972

Robustness of speckle imaging techniques applied to horizontal imaging scenarios

NASA Astrophysics Data System (ADS)

Bos, Jeremy P.

Atmospheric turbulence near the ground severely limits the quality of imagery acquired over long horizontal paths. In defense, surveillance, and border security applications, there is interest in deploying man-portable, embedded systems incorporating image reconstruction to improve the quality of imagery available to operators. To be effective, these systems must operate over significant variations in turbulence conditions while also subject to other variations due to operation by novice users. Systems that meet these requirements and are otherwise designed to be immune to the factors that cause variation in performance are considered robust. In addition to robustness in design, the portable nature of these systems implies a preference for systems with a minimum level of computational complexity. Speckle imaging methods are one of a variety of methods recently been proposed for use in man-portable horizontal imagers. In this work, the robustness of speckle imaging methods is established by identifying a subset of design parameters that provide immunity to the expected variations in operating conditions while minimizing the computation time necessary for image recovery. This performance evaluation is made possible using a novel technique for simulating anisoplanatic image formation. I find that incorporate as few as 15 image frames and 4 estimates of the object phase per reconstructed frame provide an average reduction of 45% reduction in Mean Squared Error (MSE) and 68% reduction in deviation in MSE. In addition, the Knox-Thompson phase recovery method is demonstrated to produce images in half the time required by the bispectrum. Finally, it is shown that certain blind image quality metrics can be used in place of the MSE to evaluate reconstruction quality in field scenarios. Using blind metrics rather depending on user estimates allows for reconstruction quality that differs from the minimum MSE by as little as 1%, significantly reducing the deviation in performance due to user action.

Robust Angle Estimation for MIMO Radar with the Coexistence of Mutual Coupling and Colored Noise.

PubMed

Wang, Junxiang; Wang, Xianpeng; Xu, Dingjie; Bi, Guoan

2018-03-09

This paper deals with joint estimation of direction-of-departure (DOD) and direction-of- arrival (DOA) in bistatic multiple-input multiple-output (MIMO) radar with the coexistence of unknown mutual coupling and spatial colored noise by developing a novel robust covariance tensor-based angle estimation method. In the proposed method, a third-order tensor is firstly formulated for capturing the multidimensional nature of the received data. Then taking advantage of the temporal uncorrelated characteristic of colored noise and the banded complex symmetric Toeplitz structure of the mutual coupling matrices, a novel fourth-order covariance tensor is constructed for eliminating the influence of both spatial colored noise and mutual coupling. After a robust signal subspace estimation is obtained by using the higher-order singular value decomposition (HOSVD) technique, the rotational invariance technique is applied to achieve the DODs and DOAs. Compared with the existing HOSVD-based subspace methods, the proposed method can provide superior angle estimation performance and automatically jointly perform the DODs and DOAs. Results from numerical experiments are presented to verify the effectiveness of the proposed method.

A closed-form solution to tensor voting: theory and applications.

PubMed

Wu, Tai-Pang; Yeung, Sai-Kit; Jia, Jiaya; Tang, Chi-Keung; Medioni, Gérard

2012-08-01

We prove a closed-form solution to tensor voting (CFTV): Given a point set in any dimensions, our closed-form solution provides an exact, continuous, and efficient algorithm for computing a structure-aware tensor that simultaneously achieves salient structure detection and outlier attenuation. Using CFTV, we prove the convergence of tensor voting on a Markov random field (MRF), thus termed as MRFTV, where the structure-aware tensor at each input site reaches a stationary state upon convergence in structure propagation. We then embed structure-aware tensor into expectation maximization (EM) for optimizing a single linear structure to achieve efficient and robust parameter estimation. Specifically, our EMTV algorithm optimizes both the tensor and fitting parameters and does not require random sampling consensus typically used in existing robust statistical techniques. We performed quantitative evaluation on its accuracy and robustness, showing that EMTV performs better than the original TV and other state-of-the-art techniques in fundamental matrix estimation for multiview stereo matching. The extensions of CFTV and EMTV for extracting multiple and nonlinear structures are underway.

Robust Angle Estimation for MIMO Radar with the Coexistence of Mutual Coupling and Colored Noise

PubMed Central

Wang, Junxiang; Wang, Xianpeng; Xu, Dingjie; Bi, Guoan

2018-01-01

This paper deals with joint estimation of direction-of-departure (DOD) and direction-of- arrival (DOA) in bistatic multiple-input multiple-output (MIMO) radar with the coexistence of unknown mutual coupling and spatial colored noise by developing a novel robust covariance tensor-based angle estimation method. In the proposed method, a third-order tensor is firstly formulated for capturing the multidimensional nature of the received data. Then taking advantage of the temporal uncorrelated characteristic of colored noise and the banded complex symmetric Toeplitz structure of the mutual coupling matrices, a novel fourth-order covariance tensor is constructed for eliminating the influence of both spatial colored noise and mutual coupling. After a robust signal subspace estimation is obtained by using the higher-order singular value decomposition (HOSVD) technique, the rotational invariance technique is applied to achieve the DODs and DOAs. Compared with the existing HOSVD-based subspace methods, the proposed method can provide superior angle estimation performance and automatically jointly perform the DODs and DOAs. Results from numerical experiments are presented to verify the effectiveness of the proposed method. PMID:29522499

Sparse alignment for robust tensor learning.

PubMed

Lai, Zhihui; Wong, Wai Keung; Xu, Yong; Zhao, Cairong; Sun, Mingming

2014-10-01

Multilinear/tensor extensions of manifold learning based algorithms have been widely used in computer vision and pattern recognition. This paper first provides a systematic analysis of the multilinear extensions for the most popular methods by using alignment techniques, thereby obtaining a general tensor alignment framework. From this framework, it is easy to show that the manifold learning based tensor learning methods are intrinsically different from the alignment techniques. Based on the alignment framework, a robust tensor learning method called sparse tensor alignment (STA) is then proposed for unsupervised tensor feature extraction. Different from the existing tensor learning methods, L1- and L2-norms are introduced to enhance the robustness in the alignment step of the STA. The advantage of the proposed technique is that the difficulty in selecting the size of the local neighborhood can be avoided in the manifold learning based tensor feature extraction algorithms. Although STA is an unsupervised learning method, the sparsity encodes the discriminative information in the alignment step and provides the robustness of STA. Extensive experiments on the well-known image databases as well as action and hand gesture databases by encoding object images as tensors demonstrate that the proposed STA algorithm gives the most competitive performance when compared with the tensor-based unsupervised learning methods.

Teachable, high-content analytics for live-cell, phase contrast movies.

PubMed

Alworth, Samuel V; Watanabe, Hirotada; Lee, James S J

2010-09-01

CL-Quant is a new solution platform for broad, high-content, live-cell image analysis. Powered by novel machine learning technologies and teach-by-example interfaces, CL-Quant provides a platform for the rapid development and application of scalable, high-performance, and fully automated analytics for a broad range of live-cell microscopy imaging applications, including label-free phase contrast imaging. The authors used CL-Quant to teach off-the-shelf universal analytics, called standard recipes, for cell proliferation, wound healing, cell counting, and cell motility assays using phase contrast movies collected on the BioStation CT and BioStation IM platforms. Similar to application modules, standard recipes are intended to work robustly across a wide range of imaging conditions without requiring customization by the end user. The authors validated the performance of the standard recipes by comparing their performance with truth created manually, or by custom analytics optimized for each individual movie (and therefore yielding the best possible result for the image), and validated by independent review. The validation data show that the standard recipes' performance is comparable with the validated truth with low variation. The data validate that the CL-Quant standard recipes can provide robust results without customization for live-cell assays in broad cell types and laboratory settings.

A parallel-processing approach to computing for the geographic sciences; applications and systems enhancements

USGS Publications Warehouse

Crane, Michael; Steinwand, Dan; Beckmann, Tim; Krpan, Greg; Liu, Shu-Guang; Nichols, Erin; Haga, Jim; Maddox, Brian; Bilderback, Chris; Feller, Mark; Homer, George

2001-01-01

The overarching goal of this project is to build a spatially distributed infrastructure for information science research by forming a team of information science researchers and providing them with similar hardware and software tools to perform collaborative research. Four geographically distributed Centers of the U.S. Geological Survey (USGS) are developing their own clusters of low-cost, personal computers into parallel computing environments that provide a costeffective way for the USGS to increase participation in the high-performance computing community. Referred to as Beowulf clusters, these hybrid systems provide the robust computing power required for conducting information science research into parallel computing systems and applications.

Robust Planning for Effects-Based Operations

DTIC Science & Technology

2006-06-01

Algorithm ......................................... 34 2.6 Robust Optimization Literature ..................................... 36 2.6.1 Protecting Against...Model Formulation ...................... 55 3.1.5 Deterministic EBO Model Example and Performance ............. 59 3.1.6 Greedy Algorithm ...111 4.1.9 Conclusions on Robust EBO Model Performance .................... 116 4.2 Greedy Algorithm versus EBO Models

Advances in Adaptive Control Methods

NASA Technical Reports Server (NTRS)

Nguyen, Nhan

2009-01-01

This poster presentation describes recent advances in adaptive control technology developed by NASA. Optimal Control Modification is a novel adaptive law that can improve performance and robustness of adaptive control systems. A new technique has been developed to provide an analytical method for computing time delay stability margin for adaptive control systems.

Robust Control Systems.

DTIC Science & Technology

1981-12-01

time control system algorithms that will perform adequately (i.e., at least maintain closed-loop system stability) when ucertain parameters in the...system design models vary significantly. Such a control algorithm is said to have stability robustness-or more simply is said to be "robust". This...cas6s above, the performance is analyzed using a covariance analysis. The development of all the controllers and the performance analysis algorithms is

A H∞/μ solution for microvibration mitigation in satellites: A case study

NASA Astrophysics Data System (ADS)

Preda, Valentin; Cieslak, Jérôme; Henry, David; Bennani, Samir; Falcoz, Alexandre

2017-07-01

The research work presented in this paper focuses on the development of a mixed active-passive microvibration mitigation solution capable of attenuating the transmitted vibrations generated by reaction wheels to a satellite structure. A representative benchmark provided by the European Space Agency (ESA) and Airbus Defence and Space, serves as a support for testing the proposed solution. The paper also covers modeling and design issues as well as a deep analysis of the solution within the H∞ / μ setting. Especially, an uncertainty modeling strategy is proposed to extract a Linear Fractional Transformation (LFT) model. Insight is naturally provided into various dynamical interactions between the plant elements such as bearing and isolator flexibility, gyroscopic effects, actuator dynamics and feedback-loop delays. The design of the mitigation solution is formulated into the H∞ / μ framework leading to a robust H∞ control strategy capable of achieving exemplary active attenuation performance across a wide range of reaction wheel speeds. A systematic analysis procedure based on the structured singular value μ is used to assess and demonstrate the robust stability and robust performance of the microvibration mitigation strategy. The proposed analysis method is also shown to be a powerful and reliable solution to identify worst-case scenarios without relying on traditional Monte Carlo campaigns. Time domain simulations based on a nonlinear high-fidelity industrial simulator are included as a validation step.

Robustness analysis of non-ordinary Petri nets for flexible assembly systems

NASA Astrophysics Data System (ADS)

Hsieh, Fu-Shiung

2010-05-01

Non-ordinary controlled Petri nets (NCPNs) have the advantages to model flexible assembly systems in which multiple identical resources may be required to perform an operation. However, existing studies on NCPNs are still limited. For example, the robustness properties of NCPNs have not been studied. This motivates us to develop an analysis method for NCPNs. Robustness analysis concerns the ability for a system to maintain operation in the presence of uncertainties. It provides an alternative way to analyse a perturbed system without reanalysis. In our previous research, we have analysed the robustness properties of several subclasses of ordinary controlled Petri nets. To study the robustness properties of NCPNs, we augment NCPNs with an uncertainty model, which specifies an upper bound on the uncertainties for each reachable marking. The resulting PN models are called non-ordinary controlled Petri nets with uncertainties (NCPNU). Based on NCPNU, the problem is to characterise the maximal tolerable uncertainties for each reachable marking. The computational complexities to characterise maximal tolerable uncertainties for each reachable marking grow exponentially with the size of the nets. Instead of considering general NCPNU, we limit our scope to a subclass of PN models called non-ordinary controlled flexible assembly Petri net with uncertainties (NCFAPNU) for assembly systems and study its robustness. We will extend the robustness analysis to NCFAPNU. We identify two types of uncertainties under which the liveness of NCFAPNU can be maintained.

Tuning Monotonic Basin Hopping: Improving the Efficiency of Stochastic Search as Applied to Low-Thrust Trajectory Optimization

NASA Technical Reports Server (NTRS)

Englander, Jacob A.; Englander, Arnold C.

2014-01-01

Trajectory optimization methods using monotonic basin hopping (MBH) have become well developed during the past decade [1, 2, 3, 4, 5, 6]. An essential component of MBH is a controlled random search through the multi-dimensional space of possible solutions. Historically, the randomness has been generated by drawing random variable (RV)s from a uniform probability distribution. Here, we investigate the generating the randomness by drawing the RVs from Cauchy and Pareto distributions, chosen because of their characteristic long tails. We demonstrate that using Cauchy distributions (as first suggested by J. Englander [3, 6]) significantly improves monotonic basin hopping (MBH) performance, and that Pareto distributions provide even greater improvements. Improved performance is defined in terms of efficiency and robustness. Efficiency is finding better solutions in less time. Robustness is efficiency that is undiminished by (a) the boundary conditions and internal constraints of the optimization problem being solved, and (b) by variations in the parameters of the probability distribution. Robustness is important for achieving performance improvements that are not problem specific. In this work we show that the performance improvements are the result of how these long-tailed distributions enable MBH to search the solution space faster and more thoroughly. In developing this explanation, we use the concepts of sub-diffusive, normally-diffusive, and super-diffusive random walks (RWs) originally developed in the field of statistical physics.

Demonstration of Robustness and Integrated Operation of a Series-Bosch System

NASA Technical Reports Server (NTRS)

Abney, Morgan B.; Mansell, Matthew J.; Stanley, Christine; Barnett, Bill; Junaedi, Christian; Vilekar, Saurabh A.; Ryan, Kent

2016-01-01

Manned missions beyond low Earth orbit will require highly robust, reliable, and maintainable life support systems that maximize recycling of water and oxygen. Bosch technology is one option to maximize oxygen recovery, in the form of water, from metabolically-produced carbon dioxide (CO2). A two stage approach to Bosch, called Series-Bosch, reduces metabolic CO2 with hydrogen (H2) to produce water and solid carbon using two reactors: a Reverse Water-Gas Shift (RWGS) reactor and a carbon formation (CF) reactor. Previous development efforts demonstrated the stand-alone performance of a NASA-designed RWGS reactor designed for robustness against carbon formation, two membrane separators intended to maximize single pass conversion of reactants, and a batch CF reactor with both transit and surface catalysts. In the past year, Precision Combustion, Inc. (PCI) developed and delivered a RWGS reactor for testing at NASA. The reactor design was based on their patented Microlith® technology and was first evaluated under a Phase I Small Business Innovative Research (SBIR) effort in 2010. The RWGS reactor was recently evaluated at NASA to compare its performance and operating conditions with NASA's RWGS reactor. The test results will be provided in this paper. Separately, in 2015, a semi-continuous CF reactor was designed and fabricated at NASA based on the results from batch CF reactor testing. The batch CF reactor and the semi-continuous CF reactor were individually integrated with an upstream RWGS reactor to demonstrate the system operation and to evaluate performance. Here, we compare the performance and robustness to carbon formation of both RWGS reactors. We report the results of the integrated operation of a Series-Bosch system and we discuss the technology readiness level.

Robust modulation of arousal regulation, performance, and frontostriatal activity through central thalamic deep brain stimulation in healthy nonhuman primates

PubMed Central

Ryou, Jae-Wook; Wei, Xuefeng F.; Butson, Christopher R.; Schiff, Nicholas D.; Purpura, Keith P.

2016-01-01

The central thalamus (CT) is a key component of the brain-wide network underlying arousal regulation and sensory-motor integration during wakefulness in the mammalian brain. Dysfunction of the CT, typically a result of severe brain injury (SBI), leads to long-lasting impairments in arousal regulation and subsequent deficits in cognition. Central thalamic deep brain stimulation (CT-DBS) is proposed as a therapy to reestablish and maintain arousal regulation to improve cognition in select SBI patients. However, a mechanistic understanding of CT-DBS and an optimal method of implementing this promising therapy are unknown. Here we demonstrate in two healthy nonhuman primates (NHPs), Macaca mulatta, that location-specific CT-DBS improves performance in visuomotor tasks and is associated with physiological effects consistent with enhancement of endogenous arousal. Specifically, CT-DBS within the lateral wing of the central lateral nucleus and the surrounding medial dorsal thalamic tegmental tract (DTTm) produces a rapid and robust modulation of performance and arousal, as measured by neuronal activity in the frontal cortex and striatum. Notably, the most robust and reliable behavioral and physiological responses resulted when we implemented a novel method of CT-DBS that orients and shapes the electric field within the DTTm using spatially separated DBS leads. Collectively, our results demonstrate that selective activation within the DTTm of the CT robustly regulates endogenous arousal and enhances cognitive performance in the intact NHP; these findings provide insights into the mechanism of CT-DBS and further support the development of CT-DBS as a therapy for reestablishing arousal regulation to support cognition in SBI patients. PMID:27582298

Composite Robust $$H_\\infty$$ Control for Uncertain Stochastic Nonlinear Systems with State Delay via Disturbance Observer

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

Liu, Yunlong; Wang, Hong; Guo, Lei

Here in this note, the robust stochastic stabilization and robust H_infinity control problems are investigated for uncertain stochastic time-delay systems with nonlinearity and multiple disturbances. By estimating the disturbance, which can be described by an exogenous model, a composite hierarchical control scheme is proposed that integrates the output of the disturbance observer with state feedback control law. Sufficient conditions for the existence of the disturbance observer and composite hierarchical controller are established in terms of linear matrix inequalities, which ensure the mean-square asymptotic stability of the resulting closed-loop system and the disturbance attenuation. It has been shown that the disturbancemore » rejection performance can also be achieved. A numerical example is provided to show the potential of the proposed techniques and encouraging results have been obtained.« less

Composite Robust $$H_\\infty$$ Control for Uncertain Stochastic Nonlinear Systems with State Delay via Disturbance Observer

DOE PAGES

Liu, Yunlong; Wang, Hong; Guo, Lei

2018-03-26

Here in this note, the robust stochastic stabilization and robust H_infinity control problems are investigated for uncertain stochastic time-delay systems with nonlinearity and multiple disturbances. By estimating the disturbance, which can be described by an exogenous model, a composite hierarchical control scheme is proposed that integrates the output of the disturbance observer with state feedback control law. Sufficient conditions for the existence of the disturbance observer and composite hierarchical controller are established in terms of linear matrix inequalities, which ensure the mean-square asymptotic stability of the resulting closed-loop system and the disturbance attenuation. It has been shown that the disturbancemore » rejection performance can also be achieved. A numerical example is provided to show the potential of the proposed techniques and encouraging results have been obtained.« less

Application of stakeholder-based and modelling approaches for supporting robust adaptation decision making under future climatic uncertainty and changing urban-agricultural water demand

NASA Astrophysics Data System (ADS)

Bhave, Ajay; Dessai, Suraje; Conway, Declan; Stainforth, David

2016-04-01

Deep uncertainty in future climate change and socio-economic conditions necessitates the use of assess-risk-of-policy approaches over predict-then-act approaches for adaptation decision making. Robust Decision Making (RDM) approaches embody this principle and help evaluate the ability of adaptation options to satisfy stakeholder preferences under wide-ranging future conditions. This study involves the simultaneous application of two RDM approaches; qualitative and quantitative, in the Cauvery River Basin in Karnataka (population ~23 million), India. The study aims to (a) determine robust water resources adaptation options for the 2030s and 2050s and (b) compare the usefulness of a qualitative stakeholder-driven approach with a quantitative modelling approach. For developing a large set of future scenarios a combination of climate narratives and socio-economic narratives was used. Using structured expert elicitation with a group of climate experts in the Indian Summer Monsoon, climatic narratives were developed. Socio-economic narratives were developed to reflect potential future urban and agricultural water demand. In the qualitative RDM approach, a stakeholder workshop helped elicit key vulnerabilities, water resources adaptation options and performance criteria for evaluating options. During a second workshop, stakeholders discussed and evaluated adaptation options against the performance criteria for a large number of scenarios of climatic and socio-economic change in the basin. In the quantitative RDM approach, a Water Evaluation And Planning (WEAP) model was forced by precipitation and evapotranspiration data, coherent with the climatic narratives, together with water demand data based on socio-economic narratives. We find that compared to business-as-usual conditions options addressing urban water demand satisfy performance criteria across scenarios and provide co-benefits like energy savings and reduction in groundwater depletion, while options reducing agricultural water demand significantly affect downstream water availability. Water demand options demonstrate potential to improve environmental flow conditions and satisfy legal water supply requirements for downstream riparian states. On the other hand, currently planned large scale infrastructural projects demonstrate reduced value in certain scenarios, illustrating the impacts of lock-in effects of large scale infrastructure. From a methodological perspective, we find that while the stakeholder-driven approach revealed robust options in a resource-light manner and helped initiate much needed interaction amongst stakeholders, the modelling approach provides complementary quantitative information. The study reveals robust adaptation options for this important basin and provides a strong methodological basis for carrying out future studies that support adaptation decision making.

Robust efficient video fingerprinting

NASA Astrophysics Data System (ADS)

Puri, Manika; Lubin, Jeffrey

2009-02-01

We have developed a video fingerprinting system with robustness and efficiency as the primary and secondary design criteria. In extensive testing, the system has shown robustness to cropping, letter-boxing, sub-titling, blur, drastic compression, frame rate changes, size changes and color changes, as well as to the geometric distortions often associated with camcorder capture in cinema settings. Efficiency is afforded by a novel two-stage detection process in which a fast matching process first computes a number of likely candidates, which are then passed to a second slower process that computes the overall best match with minimal false alarm probability. One key component of the algorithm is a maximally stable volume computation - a three-dimensional generalization of maximally stable extremal regions - that provides a content-centric coordinate system for subsequent hash function computation, independent of any affine transformation or extensive cropping. Other key features include an efficient bin-based polling strategy for initial candidate selection, and a final SIFT feature-based computation for final verification. We describe the algorithm and its performance, and then discuss additional modifications that can provide further improvement to efficiency and accuracy.

Robust optimization of front members in a full frontal car impact

NASA Astrophysics Data System (ADS)

Aspenberg (né Lönn), David; Jergeus, Johan; Nilsson, Larsgunnar

2013-03-01

In the search for lightweight automobile designs, it is necessary to assure that robust crashworthiness performance is achieved. Structures that are optimized to handle a finite number of load cases may perform poorly when subjected to various dispersions. Thus, uncertainties must be accounted for in the optimization process. This article presents an approach to optimization where all design evaluations include an evaluation of the robustness. Metamodel approximations are applied both to the design space and the robustness evaluations, using artifical neural networks and polynomials, respectively. The features of the robust optimization approach are displayed in an analytical example, and further demonstrated in a large-scale design example of front side members of a car. Different optimization formulations are applied and it is shown that the proposed approach works well. It is also concluded that a robust optimization puts higher demands on the finite element model performance than normally.

Robust Control Design for Systems With Probabilistic Uncertainty

NASA Technical Reports Server (NTRS)

Crespo, Luis G.; Kenny, Sean P.

2005-01-01

This paper presents a reliability- and robustness-based formulation for robust control synthesis for systems with probabilistic uncertainty. In a reliability-based formulation, the probability of violating design requirements prescribed by inequality constraints is minimized. In a robustness-based formulation, a metric which measures the tendency of a random variable/process to cluster close to a target scalar/function is minimized. A multi-objective optimization procedure, which combines stability and performance requirements in time and frequency domains, is used to search for robustly optimal compensators. Some of the fundamental differences between the proposed strategy and conventional robust control methods are: (i) unnecessary conservatism is eliminated since there is not need for convex supports, (ii) the most likely plants are favored during synthesis allowing for probabilistic robust optimality, (iii) the tradeoff between robust stability and robust performance can be explored numerically, (iv) the uncertainty set is closely related to parameters with clear physical meaning, and (v) compensators with improved robust characteristics for a given control structure can be synthesized.

Structured Uncertainty Bound Determination From Data for Control and Performance Validation

NASA Technical Reports Server (NTRS)

Lim, Kyong B.

2003-01-01

This report attempts to document the broad scope of issues that must be satisfactorily resolved before one can expect to methodically obtain, with a reasonable confidence, a near-optimal robust closed loop performance in physical applications. These include elements of signal processing, noise identification, system identification, model validation, and uncertainty modeling. Based on a recently developed methodology involving a parameterization of all model validating uncertainty sets for a given linear fractional transformation (LFT) structure and noise allowance, a new software, Uncertainty Bound Identification (UBID) toolbox, which conveniently executes model validation tests and determine uncertainty bounds from data, has been designed and is currently available. This toolbox also serves to benchmark the current state-of-the-art in uncertainty bound determination and in turn facilitate benchmarking of robust control technology. To help clarify the methodology and use of the new software, two tutorial examples are provided. The first involves the uncertainty characterization of a flexible structure dynamics, and the second example involves a closed loop performance validation of a ducted fan based on an uncertainty bound from data. These examples, along with other simulation and experimental results, also help describe the many factors and assumptions that determine the degree of success in applying robust control theory to practical problems.

Improving Robustness of Hydrologic Ensemble Predictions Through Probabilistic Pre- and Post-Processing in Sequential Data Assimilation

NASA Astrophysics Data System (ADS)

Wang, S.; Ancell, B. C.; Huang, G. H.; Baetz, B. W.

2018-03-01

Data assimilation using the ensemble Kalman filter (EnKF) has been increasingly recognized as a promising tool for probabilistic hydrologic predictions. However, little effort has been made to conduct the pre- and post-processing of assimilation experiments, posing a significant challenge in achieving the best performance of hydrologic predictions. This paper presents a unified data assimilation framework for improving the robustness of hydrologic ensemble predictions. Statistical pre-processing of assimilation experiments is conducted through the factorial design and analysis to identify the best EnKF settings with maximized performance. After the data assimilation operation, statistical post-processing analysis is also performed through the factorial polynomial chaos expansion to efficiently address uncertainties in hydrologic predictions, as well as to explicitly reveal potential interactions among model parameters and their contributions to the predictive accuracy. In addition, the Gaussian anamorphosis is used to establish a seamless bridge between data assimilation and uncertainty quantification of hydrologic predictions. Both synthetic and real data assimilation experiments are carried out to demonstrate feasibility and applicability of the proposed methodology in the Guadalupe River basin, Texas. Results suggest that statistical pre- and post-processing of data assimilation experiments provide meaningful insights into the dynamic behavior of hydrologic systems and enhance robustness of hydrologic ensemble predictions.

Designing Flood Management Systems for Joint Economic and Ecological Robustness

NASA Astrophysics Data System (ADS)

Spence, C. M.; Grantham, T.; Brown, C. M.; Poff, N. L.

2015-12-01

Freshwater ecosystems across the United States are threatened by hydrologic change caused by water management operations and non-stationary climate trends. Nonstationary hydrology also threatens flood management systems' performance. Ecosystem managers and flood risk managers need tools to design systems that achieve flood risk reduction objectives while sustaining ecosystem functions and services in an uncertain hydrologic future. Robust optimization is used in water resources engineering to guide system design under climate change uncertainty. Using principles introduced by Eco-Engineering Decision Scaling (EEDS), we extend robust optimization techniques to design flood management systems that meet both economic and ecological goals simultaneously across a broad range of future climate conditions. We use three alternative robustness indices to identify flood risk management solutions that preserve critical ecosystem functions in a case study from the Iowa River, where recent severe flooding has tested the limits of the existing flood management system. We seek design modifications to the system that both reduce expected cost of flood damage while increasing ecologically beneficial inundation of riparian floodplains across a wide range of plausible climate futures. The first robustness index measures robustness as the fraction of potential climate scenarios in which both engineering and ecological performance goals are met, implicitly weighting each climate scenario equally. The second index builds on the first by using climate projections to weight each climate scenario, prioritizing acceptable performance in climate scenarios most consistent with climate projections. The last index measures robustness as mean performance across all climate scenarios, but penalizes scenarios with worse performance than average, rewarding consistency. Results stemming from alternate robustness indices reflect implicit assumptions about attitudes toward risk and reveal the tradeoffs between using structural and non-structural flood management strategies to ensure economic and ecological robustness.

Design and analysis of a model predictive controller for active queue management.

PubMed

Wang, Ping; Chen, Hong; Yang, Xiaoping; Ma, Yan

2012-01-01

Model predictive (MP) control as a novel active queue management (AQM) algorithm in dynamic computer networks is proposed. According to the predicted future queue length in the data buffer, early packets at the router are dropped reasonably by the MPAQM controller so that the queue length reaches the desired value with minimal tracking error. The drop probability is obtained by optimizing the network performance. Further, randomized algorithms are applied to analyze the robustness of MPAQM successfully, and also to provide the stability domain of systems with uncertain network parameters. The performances of MPAQM are evaluated through a series of simulations in NS2. The simulation results show that the MPAQM algorithm outperforms RED, PI, and REM algorithms in terms of stability, disturbance rejection, and robustness. Copyright © 2011 ISA. Published by Elsevier Ltd. All rights reserved.

A Highly Stretchable and Robust Non-fluorinated Superhydrophobic Surface.

PubMed

Ju, Jie; Yao, Xi; Hou, Xu; Liu, Qihan; Zhang, Yu Shrike; Khademhosseini, Ali

2017-08-21

Superhydrophobic surface simultaneously possessing exceptional stretchability, robustness, and non-fluorination is highly desirable in applications ranging from wearable devices to artificial skins. While conventional superhydrophobic surfaces typically feature stretchability, robustness, or non-fluorination individually, co-existence of all these features still remains a great challenge. Here we report a multi-performance superhydrophobic surface achieved through incorporating hydrophilic micro-sized particles with pre-stretched silicone elastomer. The commercial silicone elastomer (Ecoflex) endowed the resulting surface with high stretchability; the densely packed micro-sized particles in multi-layers contributed to the preservation of the large surface roughness even under large strains; and the physical encapsulation of the microparticles by silicone elastomer due to the capillary dragging effect and the chemical interaction between the hydrophilic silica and the elastomer gave rise to the robust and non-fluorinated superhydrophobicity. It was demonstrated that the as-prepared fluorine-free surface could preserve the superhydrophobicity under repeated stretching-relaxing cycles. Most importantly, the surface's superhydrophobicity can be well maintained after severe rubbing process, indicating wear-resistance. Our novel superhydrophobic surface integrating multiple key properties, i.e. stretchability, robustness, and non-fluorination, is expected to provide unique advantages for a wide range of applications in biomedicine, energy, and electronics.

An Advanced Computational Approach to System of Systems Analysis & Architecting Using Agent-Based Behavioral Model

DTIC Science & Technology

2012-09-30

System N Agent « datatype » SoS Architecture -Receives Capabilities1 -Provides Capabilities1 1 -Provides Capabilities1 1 -Provides Capabilities1 -Updates 1...fitness, or objective function. The structure of the SoS Agent is depicted in Figure 10. SoS Agent Architecture « datatype » Initial SoS...Architecture «subsystem» Fuzzy Inference Engine FAM « datatype » Affordability « datatype » Flexibility « datatype » Performance « datatype » Robustness Input Input

Force control compensation method with variable load stiffness and damping of the hydraulic drive unit force control system

NASA Astrophysics Data System (ADS)

Kong, Xiangdong; Ba, Kaixian; Yu, Bin; Cao, Yuan; Zhu, Qixin; Zhao, Hualong

2016-05-01

Each joint of hydraulic drive quadruped robot is driven by the hydraulic drive unit (HDU), and the contacting between the robot foot end and the ground is complex and variable, which increases the difficulty of force control inevitably. In the recent years, although many scholars researched some control methods such as disturbance rejection control, parameter self-adaptive control, impedance control and so on, to improve the force control performance of HDU, the robustness of the force control still needs improving. Therefore, how to simulate the complex and variable load characteristics of the environment structure and how to ensure HDU having excellent force control performance with the complex and variable load characteristics are key issues to be solved in this paper. The force control system mathematic model of HDU is established by the mechanism modeling method, and the theoretical models of a novel force control compensation method and a load characteristics simulation method under different environment structures are derived, considering the dynamic characteristics of the load stiffness and the load damping under different environment structures. Then, simulation effects of the variable load stiffness and load damping under the step and sinusoidal load force are analyzed experimentally on the HDU force control performance test platform, which provides the foundation for the force control compensation experiment research. In addition, the optimized PID control parameters are designed to make the HDU have better force control performance with suitable load stiffness and load damping, under which the force control compensation method is introduced, and the robustness of the force control system with several constant load characteristics and the variable load characteristics respectively are comparatively analyzed by experiment. The research results indicate that if the load characteristics are known, the force control compensation method presented in this paper has positive compensation effects on the load characteristics variation, i.e., this method decreases the effects of the load characteristics variation on the force control performance and enhances the force control system robustness with the constant PID parameters, thereby, the online PID parameters tuning control method which is complex needs not be adopted. All the above research provides theoretical and experimental foundation for the force control method of the quadruped robot joints with high robustness.

A comparative study of multivariable robustness analysis methods as applied to integrated flight and propulsion control

NASA Technical Reports Server (NTRS)

Schierman, John D.; Lovell, T. A.; Schmidt, David K.

1993-01-01

Three multivariable robustness analysis methods are compared and contrasted. The focus of the analysis is on system stability and performance robustness to uncertainty in the coupling dynamics between two interacting subsystems. Of particular interest is interacting airframe and engine subsystems, and an example airframe/engine vehicle configuration is utilized in the demonstration of these approaches. The singular value (SV) and structured singular value (SSV) analysis methods are compared to a method especially well suited for analysis of robustness to uncertainties in subsystem interactions. This approach is referred to here as the interacting subsystem (IS) analysis method. This method has been used previously to analyze airframe/engine systems, emphasizing the study of stability robustness. However, performance robustness is also investigated here, and a new measure of allowable uncertainty for acceptable performance robustness is introduced. The IS methodology does not require plant uncertainty models to measure the robustness of the system, and is shown to yield valuable information regarding the effects of subsystem interactions. In contrast, the SV and SSV methods allow for the evaluation of the robustness of the system to particular models of uncertainty, and do not directly indicate how the airframe (engine) subsystem interacts with the engine (airframe) subsystem.

Manufacturing Execution Systems: Examples of Performance Indicator and Operational Robustness Tools.

PubMed

Gendre, Yannick; Waridel, Gérard; Guyon, Myrtille; Demuth, Jean-François; Guelpa, Hervé; Humbert, Thierry

Manufacturing Execution Systems (MES) are computerized systems used to measure production performance in terms of productivity, yield, and quality. In the first part, performance indicator and overall equipment effectiveness (OEE), process robustness tools and statistical process control are described. The second part details some tools to help process robustness and control by operators by preventing deviations from target control charts. MES was developed by Syngenta together with CIMO for automation.

Homographic Patch Feature Transform: A Robustness Registration for Gastroscopic Surgery.

PubMed

Hu, Weiling; Zhang, Xu; Wang, Bin; Liu, Jiquan; Duan, Huilong; Dai, Ning; Si, Jianmin

2016-01-01

Image registration is a key component of computer assistance in image guided surgery, and it is a challenging topic in endoscopic environments. In this study, we present a method for image registration named Homographic Patch Feature Transform (HPFT) to match gastroscopic images. HPFT can be used for tracking lesions and augmenting reality applications during gastroscopy. Furthermore, an overall evaluation scheme is proposed to validate the precision, robustness and uniformity of the registration results, which provides a standard for rejection of false matching pairs from corresponding results. Finally, HPFT is applied for processing in vivo gastroscopic data. The experimental results show that HPFT has stable performance in gastroscopic applications.

Measuring Learning Progressions Using Bayesian Modeling in Complex Assessments

ERIC Educational Resources Information Center

Rutstein, Daisy Wise

2012-01-01

This research examines issues regarding model estimation and robustness in the use of Bayesian Inference Networks (BINs) for measuring Learning Progressions (LPs). It provides background information on LPs and how they might be used in practice. Two simulation studies are performed, along with real data examples. The first study examines the case…

Distributed Learning Enhances Relational Memory Consolidation

ERIC Educational Resources Information Center

Litman, Leib; Davachi, Lila

2008-01-01

It has long been known that distributed learning (DL) provides a mnemonic advantage over massed learning (ML). However, the underlying mechanisms that drive this robust mnemonic effect remain largely unknown. In two experiments, we show that DL across a 24 hr interval does not enhance immediate memory performance but instead slows the rate of…

SU-F-BRD-05: Robustness of Dose Painting by Numbers in Proton Therapy

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

Montero, A Barragan; Sterpin, E; Lee, J

Purpose: Proton range uncertainties may cause important dose perturbations within the target volume, especially when steep dose gradients are present as in dose painting. The aim of this study is to assess the robustness against setup and range errors for high heterogeneous dose prescriptions (i.e., dose painting by numbers), delivered by proton pencil beam scanning. Methods: An automatic workflow, based on MATLAB functions, was implemented through scripting in RayStation (RaySearch Laboratories). It performs a gradient-based segmentation of the dose painting volume from 18FDG-PET images (GTVPET), and calculates the dose prescription as a linear function of the FDG-uptake value on eachmore » voxel. The workflow was applied to two patients with head and neck cancer. Robustness against setup and range errors of the conventional PTV margin strategy (prescription dilated by 2.5 mm) versus CTV-based (minimax) robust optimization (2.5 mm setup, 3% range error) was assessed by comparing the prescription with the planned dose for a set of error scenarios. Results: In order to ensure dose coverage above 95% of the prescribed dose in more than 95% of the GTVPET voxels while compensating for the uncertainties, the plans with a PTV generated a high overdose. For the nominal case, up to 35% of the GTVPET received doses 5% beyond prescription. For the worst of the evaluated error scenarios, the volume with 5% overdose increased to 50%. In contrast, for CTV-based plans this 5% overdose was present only in a small fraction of the GTVPET, which ranged from 7% in the nominal case to 15% in the worst of the evaluated scenarios. Conclusion: The use of a PTV leads to non-robust dose distributions with excessive overdose in the painted volume. In contrast, robust optimization yields robust dose distributions with limited overdose. RaySearch Laboratories is sincerely acknowledged for providing us with RayStation treatment planning system and for the support provided.« less

Development of robust building energy demand-side control strategy under uncertainty

NASA Astrophysics Data System (ADS)

Kim, Sean Hay

The potential of carbon emission regulations applied to an individual building will encourage building owners to purchase utility-provided green power or to employ onsite renewable energy generation. As both cases are based on intermittent renewable energy sources, demand side control is a fundamental precondition for maximizing the effectiveness of using renewable energy sources. Such control leads to a reduction in peak demand and/or in energy demand variability, therefore, such reduction in the demand profile eventually enhances the efficiency of an erratic supply of renewable energy. The combined operation of active thermal energy storage and passive building thermal mass has shown substantial improvement in demand-side control performance when compared to current state-of-the-art demand-side control measures. Specifically, "model-based" optimal control for this operation has the potential to significantly increase performance and bring economic advantages. However, due to the uncertainty in certain operating conditions in the field its control effectiveness could be diminished and/or seriously damaged, which results in poor performance. This dissertation pursues improvements of current demand-side controls under uncertainty by proposing a robust supervisory demand-side control strategy that is designed to be immune from uncertainty and perform consistently under uncertain conditions. Uniqueness and superiority of the proposed robust demand-side controls are found as below: a. It is developed based on fundamental studies about uncertainty and a systematic approach to uncertainty analysis. b. It reduces variability of performance under varied conditions, and thus avoids the worst case scenario. c. It is reactive in cases of critical "discrepancies" observed caused by the unpredictable uncertainty that typically scenario uncertainty imposes, and thus it increases control efficiency. This is obtainable by means of i) multi-source composition of weather forecasts including both historical archive and online sources and ii) adaptive Multiple model-based controls (MMC) to mitigate detrimental impacts of varying scenario uncertainties. The proposed robust demand-side control strategy verifies its outstanding demand-side control performance in varied and non-indigenous conditions compared to the existing control strategies including deterministic optimal controls. This result reemphasizes importance of the demand-side control for a building in the global carbon economy. It also demonstrates a capability of risk management of the proposed robust demand-side controls in highly uncertain situations, which eventually attains the maximum benefit in both theoretical and practical perspectives.

Linear quadratic servo control of a reusable rocket engine

NASA Technical Reports Server (NTRS)

Musgrave, Jeffrey L.

1991-01-01

A design method for a servo compensator is developed in the frequency domain using singular values. The method is applied to a reusable rocket engine. An intelligent control system for reusable rocket engines was proposed which includes a diagnostic system, a control system, and an intelligent coordinator which determines engine control strategies based on the identified failure modes. The method provides a means of generating various linear multivariable controllers capable of meeting performance and robustness specifications and accommodating failure modes identified by the diagnostic system. Command following with set point control is necessary for engine operation. A Kalman filter reconstructs the state while loop transfer recovery recovers the required degree of robustness while maintaining satisfactory rejection of sensor noise from the command error. The approach is applied to the design of a controller for a rocket engine satisfying performance constraints in the frequency domain. Simulation results demonstrate the performance of the linear design on a nonlinear engine model over all power levels during mainstage operation.

A multi-center study benchmarks software tools for label-free proteome quantification

PubMed Central

Gillet, Ludovic C; Bernhardt, Oliver M.; MacLean, Brendan; Röst, Hannes L.; Tate, Stephen A.; Tsou, Chih-Chiang; Reiter, Lukas; Distler, Ute; Rosenberger, George; Perez-Riverol, Yasset; Nesvizhskii, Alexey I.; Aebersold, Ruedi; Tenzer, Stefan

2016-01-01

The consistent and accurate quantification of proteins by mass spectrometry (MS)-based proteomics depends on the performance of instruments, acquisition methods and data analysis software. In collaboration with the software developers, we evaluated OpenSWATH, SWATH2.0, Skyline, Spectronaut and DIA-Umpire, five of the most widely used software methods for processing data from SWATH-MS (sequential window acquisition of all theoretical fragment ion spectra), a method that uses data-independent acquisition (DIA) for label-free protein quantification. We analyzed high-complexity test datasets from hybrid proteome samples of defined quantitative composition acquired on two different MS instruments using different SWATH isolation windows setups. For consistent evaluation we developed LFQbench, an R-package to calculate metrics of precision and accuracy in label-free quantitative MS, and report the identification performance, robustness and specificity of each software tool. Our reference datasets enabled developers to improve their software tools. After optimization, all tools provided highly convergent identification and reliable quantification performance, underscoring their robustness for label-free quantitative proteomics. PMID:27701404

A multicenter study benchmarks software tools for label-free proteome quantification.

PubMed

Navarro, Pedro; Kuharev, Jörg; Gillet, Ludovic C; Bernhardt, Oliver M; MacLean, Brendan; Röst, Hannes L; Tate, Stephen A; Tsou, Chih-Chiang; Reiter, Lukas; Distler, Ute; Rosenberger, George; Perez-Riverol, Yasset; Nesvizhskii, Alexey I; Aebersold, Ruedi; Tenzer, Stefan

2016-11-01

Consistent and accurate quantification of proteins by mass spectrometry (MS)-based proteomics depends on the performance of instruments, acquisition methods and data analysis software. In collaboration with the software developers, we evaluated OpenSWATH, SWATH 2.0, Skyline, Spectronaut and DIA-Umpire, five of the most widely used software methods for processing data from sequential window acquisition of all theoretical fragment-ion spectra (SWATH)-MS, which uses data-independent acquisition (DIA) for label-free protein quantification. We analyzed high-complexity test data sets from hybrid proteome samples of defined quantitative composition acquired on two different MS instruments using different SWATH isolation-window setups. For consistent evaluation, we developed LFQbench, an R package, to calculate metrics of precision and accuracy in label-free quantitative MS and report the identification performance, robustness and specificity of each software tool. Our reference data sets enabled developers to improve their software tools. After optimization, all tools provided highly convergent identification and reliable quantification performance, underscoring their robustness for label-free quantitative proteomics.

Robustness evaluation of transactional audio watermarking systems

NASA Astrophysics Data System (ADS)

Neubauer, Christian; Steinebach, Martin; Siebenhaar, Frank; Pickel, Joerg

2003-06-01

Distribution via Internet is of increasing importance. Easy access, transmission and consumption of digitally represented music is very attractive to the consumer but led also directly to an increasing problem of illegal copying. To cope with this problem watermarking is a promising concept since it provides a useful mechanism to track illicit copies by persistently attaching property rights information to the material. Especially for online music distribution the use of so-called transaction watermarking, also denoted with the term bitstream watermarking, is beneficial since it offers the opportunity to embed watermarks directly into perceptually encoded material without the need of full decompression/compression. Besides the concept of bitstream watermarking, former publications presented the complexity, the audio quality and the detection performance. These results are now extended by an assessment of the robustness of such schemes. The detection performance before and after applying selected attacks is presented for MPEG-1/2 Layer 3 (MP3) and MPEG-2/4 AAC bitstream watermarking, contrasted to the performance of PCM spread spectrum watermarking.

Employment of telemedicine in emergency medicine. Clinical requirement analysis, system development and first test results.

PubMed

Czaplik, M; Bergrath, S; Rossaint, R; Thelen, S; Brodziak, T; Valentin, B; Hirsch, F; Beckers, S K; Brokmann, J C

2014-01-01

Demographic change, rising co-morbidity and an increasing number of emergencies are the main challenges that emergency medical services (EMS) in several countries worldwide are facing. In order to improve quality in EMS, highly trained personnel and well-equipped ambulances are essential. However several studies have shown a deficiency in qualified EMS physicians. Telemedicine emerges as a complementary system in EMS that may provide expertise and improve quality of medical treatment on the scene. Hence our aim is to develop and test a specific teleconsultation system. During the development process several use cases were defined and technically specified by medical experts and engineers in the areas of: system administration, start-up of EMS assistance systems, audio communication, data transfer, routine tele-EMS physician activities and research capabilities. Upon completion, technical field tests were performed under realistic conditions to test system properties such as robustness, feasibility and usability, providing end-to-end measurements. Six ambulances were equipped with telemedical facilities based on the results of the requirement analysis and 55 scenarios were tested under realistic conditions in one month. The results indicate that the developed system performed well in terms of usability and robustness. The major challenges were, as expected, mobile communication and data network availability. Third generation networks were only available in 76.4% of the cases. Although 3G (third generation), such as Universal Mobile Telecommunications System (UMTS), provides beneficial conditions for higher bandwidth, system performance for most features was also acceptable under adequate 2G (second generation) test conditions. An innovative concept for the use of telemedicine for medical consultations in EMS was developed. Organisational and technical aspects were considered and practical requirements specified. Since technical feasibility was demonstrated in these technical field tests, the next step would be to prove medical usefulness and technical robustness under real conditions in a clinical trial.

Takagi-Sugeno fuzzy model based robust dissipative control for uncertain flexible spacecraft with saturated time-delay input.

PubMed

Xu, Shidong; Sun, Guanghui; Sun, Weichao

2017-01-01

In this paper, the problem of robust dissipative control is investigated for uncertain flexible spacecraft based on Takagi-Sugeno (T-S) fuzzy model with saturated time-delay input. Different from most existing strategies, T-S fuzzy approximation approach is used to model the nonlinear dynamics of flexible spacecraft. Simultaneously, the physical constraints of system, like input delay, input saturation, and parameter uncertainties, are also taken care of in the fuzzy model. By employing Lyapunov-Krasovskii method and convex optimization technique, a novel robust controller is proposed to implement rest-to-rest attitude maneuver for flexible spacecraft, and the guaranteed dissipative performance enables the uncertain closed-loop system to reject the influence of elastic vibrations and external disturbances. Finally, an illustrative design example integrated with simulation results are provided to confirm the applicability and merits of the developed control strategy. Copyright © 2016 ISA. Published by Elsevier Ltd. All rights reserved.

Prepreg and Melt Infiltration Technology Developed for Affordable, Robust Manufacturing of Ceramic Matrix Composites

NASA Technical Reports Server (NTRS)

Singh, Mrityunjay; Petko, Jeannie F.

2004-01-01

Affordable fiber-reinforced ceramic matrix composites with multifunctional properties are critically needed for high-temperature aerospace and space transportation applications. These materials have various applications in advanced high-efficiency and high-performance engines, airframe and propulsion components for next-generation launch vehicles, and components for land-based systems. A number of these applications require materials with specific functional characteristics: for example, thick component, hybrid layups for environmental durability and stress management, and self-healing and smart composite matrices. At present, with limited success and very high cost, traditional composite fabrication technologies have been utilized to manufacture some large, complex-shape components of these materials. However, many challenges still remain in developing affordable, robust, and flexible manufacturing technologies for large, complex-shape components with multifunctional properties. The prepreg and melt infiltration (PREMI) technology provides an affordable and robust manufacturing route for low-cost, large-scale production of multifunctional ceramic composite components.

Efficient robust reconstruction of dynamic PET activity maps with radioisotope decay constraints.

PubMed

Gao, Fei; Liu, Huafeng; Shi, Pengcheng

2010-01-01

Dynamic PET imaging performs sequence of data acquisition in order to provide visualization and quantification of physiological changes in specific tissues and organs. The reconstruction of activity maps is generally the first step in dynamic PET. State space Hinfinity approaches have been proved to be a robust method for PET image reconstruction where, however, temporal constraints are not considered during the reconstruction process. In addition, the state space strategies for PET image reconstruction have been computationally prohibitive for practical usage because of the need for matrix inversion. In this paper, we present a minimax formulation of the dynamic PET imaging problem where a radioisotope decay model is employed as physics-based temporal constraints on the photon counts. Furthermore, a robust steady state Hinfinity filter is developed to significantly improve the computational efficiency with minimal loss of accuracy. Experiments are conducted on Monte Carlo simulated image sequences for quantitative analysis and validation.

Robust estimation for partially linear models with large-dimensional covariates

PubMed Central

Zhu, LiPing; Li, RunZe; Cui, HengJian

2014-01-01

We are concerned with robust estimation procedures to estimate the parameters in partially linear models with large-dimensional covariates. To enhance the interpretability, we suggest implementing a noncon-cave regularization method in the robust estimation procedure to select important covariates from the linear component. We establish the consistency for both the linear and the nonlinear components when the covariate dimension diverges at the rate of o(n), where n is the sample size. We show that the robust estimate of linear component performs asymptotically as well as its oracle counterpart which assumes the baseline function and the unimportant covariates were known a priori. With a consistent estimator of the linear component, we estimate the nonparametric component by a robust local linear regression. It is proved that the robust estimate of nonlinear component performs asymptotically as well as if the linear component were known in advance. Comprehensive simulation studies are carried out and an application is presented to examine the finite-sample performance of the proposed procedures. PMID:24955087

Robust estimation for partially linear models with large-dimensional covariates.

PubMed

Zhu, LiPing; Li, RunZe; Cui, HengJian

2013-10-01

We are concerned with robust estimation procedures to estimate the parameters in partially linear models with large-dimensional covariates. To enhance the interpretability, we suggest implementing a noncon-cave regularization method in the robust estimation procedure to select important covariates from the linear component. We establish the consistency for both the linear and the nonlinear components when the covariate dimension diverges at the rate of [Formula: see text], where n is the sample size. We show that the robust estimate of linear component performs asymptotically as well as its oracle counterpart which assumes the baseline function and the unimportant covariates were known a priori. With a consistent estimator of the linear component, we estimate the nonparametric component by a robust local linear regression. It is proved that the robust estimate of nonlinear component performs asymptotically as well as if the linear component were known in advance. Comprehensive simulation studies are carried out and an application is presented to examine the finite-sample performance of the proposed procedures.

Robust Fixed-Structure Controller Synthesis

NASA Technical Reports Server (NTRS)

Corrado, Joseph R.; Haddad, Wassim M.; Gupta, Kajal (Technical Monitor)

2000-01-01

The ability to develop an integrated control system design methodology for robust high performance controllers satisfying multiple design criteria and real world hardware constraints constitutes a challenging task. The increasingly stringent performance specifications required for controlling such systems necessitates a trade-off between controller complexity and robustness. The principle challenge of the minimal complexity robust control design is to arrive at a tractable control design formulation in spite of the extreme complexity of such systems. Hence, design of minimal complexitY robust controllers for systems in the face of modeling errors has been a major preoccupation of system and control theorists and practitioners for the past several decades.

Robust Constrained Optimization Approach to Control Design for International Space Station Centrifuge Rotor Auto Balancing Control System

NASA Technical Reports Server (NTRS)

Postma, Barry Dirk

2005-01-01

This thesis discusses application of a robust constrained optimization approach to control design to develop an Auto Balancing Controller (ABC) for a centrifuge rotor to be implemented on the International Space Station. The design goal is to minimize a performance objective of the system, while guaranteeing stability and proper performance for a range of uncertain plants. The Performance objective is to minimize the translational response of the centrifuge rotor due to a fixed worst-case rotor imbalance. The robustness constraints are posed with respect to parametric uncertainty in the plant. The proposed approach to control design allows for both of these objectives to be handled within the framework of constrained optimization. The resulting controller achieves acceptable performance and robustness characteristics.

Design optimization for cost and quality: The robust design approach

NASA Technical Reports Server (NTRS)

Unal, Resit

1990-01-01

Designing reliable, low cost, and operable space systems has become the key to future space operations. Designing high quality space systems at low cost is an economic and technological challenge to the designer. A systematic and efficient way to meet this challenge is a new method of design optimization for performance, quality, and cost, called Robust Design. Robust Design is an approach for design optimization. It consists of: making system performance insensitive to material and subsystem variation, thus allowing the use of less costly materials and components; making designs less sensitive to the variations in the operating environment, thus improving reliability and reducing operating costs; and using a new structured development process so that engineering time is used most productively. The objective in Robust Design is to select the best combination of controllable design parameters so that the system is most robust to uncontrollable noise factors. The robust design methodology uses a mathematical tool called an orthogonal array, from design of experiments theory, to study a large number of decision variables with a significantly small number of experiments. Robust design also uses a statistical measure of performance, called a signal-to-noise ratio, from electrical control theory, to evaluate the level of performance and the effect of noise factors. The purpose is to investigate the Robust Design methodology for improving quality and cost, demonstrate its application by the use of an example, and suggest its use as an integral part of space system design process.

Robust Airfoil Optimization in High Resolution Design Space

NASA Technical Reports Server (NTRS)

Li, Wu; Padula, Sharon L.

2003-01-01

The robust airfoil shape optimization is a direct method for drag reduction over a given range of operating conditions and has three advantages: (1) it prevents severe degradation in the off-design performance by using a smart descent direction in each optimization iteration, (2) it uses a large number of B-spline control points as design variables yet the resulting airfoil shape is fairly smooth, and (3) it allows the user to make a trade-off between the level of optimization and the amount of computing time consumed. The robust optimization method is demonstrated by solving a lift-constrained drag minimization problem for a two-dimensional airfoil in viscous flow with a large number of geometric design variables. Our experience with robust optimization indicates that our strategy produces reasonable airfoil shapes that are similar to the original airfoils, but these new shapes provide drag reduction over the specified range of Mach numbers. We have tested this strategy on a number of advanced airfoil models produced by knowledgeable aerodynamic design team members and found that our strategy produces airfoils better or equal to any designs produced by traditional design methods.

Robustness and Vulnerability of Networks with Dynamical Dependency Groups.

PubMed

Bai, Ya-Nan; Huang, Ning; Wang, Lei; Wu, Zhi-Xi

2016-11-28

The dependency property and self-recovery of failure nodes both have great effects on the robustness of networks during the cascading process. Existing investigations focused mainly on the failure mechanism of static dependency groups without considering the time-dependency of interdependent nodes and the recovery mechanism in reality. In this study, we present an evolving network model consisting of failure mechanisms and a recovery mechanism to explore network robustness, where the dependency relations among nodes vary over time. Based on generating function techniques, we provide an analytical framework for random networks with arbitrary degree distribution. In particular, we theoretically find that an abrupt percolation transition exists corresponding to the dynamical dependency groups for a wide range of topologies after initial random removal. Moreover, when the abrupt transition point is above the failure threshold of dependency groups, the evolving network with the larger dependency groups is more vulnerable; when below it, the larger dependency groups make the network more robust. Numerical simulations employing the Erdős-Rényi network and Barabási-Albert scale free network are performed to validate our theoretical results.

Robustness trade-offs and host–microbial symbiosis in the immune system

PubMed Central

Kitano, Hiroaki; Oda, Kanae

2006-01-01

The immune system provides organisms with robustness against pathogen threats, yet it also often adversely affects the organism as in autoimmune diseases. Recently, the molecular interactions involved in the immune system have been uncovered. At the same time, the role of the bacterial flora and its interactions with the host immune system have been identified. In this article, we try to reconcile these findings to draw a consistent picture of the host defense system. Specifically, we first argue that the network of molecular interactions involved in immune functions has a bow-tie architecture that entails inherent trade-offs among robustness, fragility, resource limitation, and performance. Second, we discuss the possibility that commensal bacteria and the host immune system constitute an integrated defense system. This symbiotic association has evolved to optimize its robustness against pathogen attacks and nutrient perturbations by harboring a broad range of microorganisms. Owing to the inherent propensity of a host immune system toward hyperactivity, maintenance of bacterial flora homeostasis might be particularly important in the development of preventive strategies against immune disorders such as autoimmune diseases. PMID:16738567

Kevlar based nanofibrous particles as robust, effective and recyclable absorbents for water purification.

PubMed

Nie, Chuanxiong; Peng, Zihang; Yang, Ye; Cheng, Chong; Ma, Lang; Zhao, Changsheng

2016-11-15

Developing robust and recyclable absorbents for water purification is of great demand to control water pollution and to provide sustainable water resources. Herein, for the first time, we reported the fabrication of Kevlar nanofiber (KNF) based composite particles for water purification. Both the KNF and KNF-carbon nanotube composite particles can be produced in large-scale by automatic injection of casting solution into ethanol. The resulted nanofibrous particles showed high adsorption capacities towards various pollutants, including metal ions, phenylic compounds and various dyes. Meanwhile, the adsorption process towards dyes was found to fit well with the pseudo-second-order model, while the adsorption speed was controlled by intraparticle diffusion. Furthermore, the adsorption capacities of the nanofibrous particles could be easily recovered by washing with ethanol. In general, the KNF based particles integrate the advantages of easy production, robust and effective adsorption performances, as well as good recyclability, which can be used as robust absorbents to remove toxic molecules and forward the application of absorbents in water purification. Copyright © 2016 Elsevier B.V. All rights reserved.

Robustness of linear quadratic state feedback designs in the presence of system uncertainty. [applied to STOL autopilot design

NASA Technical Reports Server (NTRS)

Patel, R. V.; Toda, M.; Sridhar, B.

1977-01-01

In connection with difficulties concerning an accurate mathematical representation of a linear quadratic state feedback (LQSF) system, it is often necessary to investigate the robustness (stability) of an LQSF design in the presence of system uncertainty and obtain some quantitative measure of the perturbations which such a design can tolerate. A study is conducted concerning the problem of expressing the robustness property of an LQSF design quantitatively in terms of bounds on the perturbations (modeling errors or parameter variations) in the system matrices. Bounds are obtained for the general case of nonlinear, time-varying perturbations. It is pointed out that most of the presented results are readily applicable to practical situations for which a designer has estimates of the bounds on the system parameter perturbations. Relations are provided which help the designer to select appropriate weighting matrices in the quadratic performance index to attain a robust design. The developed results are employed in the design of an autopilot logic for the flare maneuver of the Augmentor Wing Jet STOL Research Aircraft.

Application of Dual-Tree Complex Wavelet Transforms to Burst Detection and RF Fingerprint Classification

DTIC Science & Technology

2009-09-01

prior to Traditional VT pro- iv cessing. This proves to be effective and provides more robust burst detection for −3 ≤ SNR ≤ 10 dB. Performance of a...TD and WD Dimensionality . . . . . 74 4.4 Performance Sensitivity Analysis . . . . . . . . . . . . . 77 4.4.1 Effect of Burst Location Error...78 4.4.2 Effect of Dissimilar Signal SNRs . . . . . . . . . 84 4.4.3 Effect of Dissimilar Signal Types . . . . . . . . 86 V. Conclusion

Efficient Parallel Levenberg-Marquardt Model Fitting towards Real-Time Automated Parametric Imaging Microscopy

PubMed Central

Zhu, Xiang; Zhang, Dianwen

2013-01-01

We present a fast, accurate and robust parallel Levenberg-Marquardt minimization optimizer, GPU-LMFit, which is implemented on graphics processing unit for high performance scalable parallel model fitting processing. GPU-LMFit can provide a dramatic speed-up in massive model fitting analyses to enable real-time automated pixel-wise parametric imaging microscopy. We demonstrate the performance of GPU-LMFit for the applications in superresolution localization microscopy and fluorescence lifetime imaging microscopy. PMID:24130785

Robust automated mass spectra interpretation and chemical formula calculation using mixed integer linear programming.

PubMed

Baran, Richard; Northen, Trent R

2013-10-15

Untargeted metabolite profiling using liquid chromatography and mass spectrometry coupled via electrospray ionization is a powerful tool for the discovery of novel natural products, metabolic capabilities, and biomarkers. However, the elucidation of the identities of uncharacterized metabolites from spectral features remains challenging. A critical step in the metabolite identification workflow is the assignment of redundant spectral features (adducts, fragments, multimers) and calculation of the underlying chemical formula. Inspection of the data by experts using computational tools solving partial problems (e.g., chemical formula calculation for individual ions) can be performed to disambiguate alternative solutions and provide reliable results. However, manual curation is tedious and not readily scalable or standardized. Here we describe an automated procedure for the robust automated mass spectra interpretation and chemical formula calculation using mixed integer linear programming optimization (RAMSI). Chemical rules among related ions are expressed as linear constraints and both the spectra interpretation and chemical formula calculation are performed in a single optimization step. This approach is unbiased in that it does not require predefined sets of neutral losses and positive and negative polarity spectra can be combined in a single optimization. The procedure was evaluated with 30 experimental mass spectra and was found to effectively identify the protonated or deprotonated molecule ([M + H](+) or [M - H](-)) while being robust to the presence of background ions. RAMSI provides a much-needed standardized tool for interpreting ions for subsequent identification in untargeted metabolomics workflows.

Robust binder-free anodes assembled with ultralong mischcrystal TiO2 nanowires and reduced graphene oxide for high-rate and long cycle life lithium-ion storage

NASA Astrophysics Data System (ADS)

Shi, Yongzheng; Yang, Dongzhi; Yu, Ruomeng; Liu, Yaxin; Hao, Shu-Meng; Zhang, Shiyi; Qu, Jin; Yu, Zhong-Zhen

2018-04-01

To satisfy increasing power demands of mobile devices and electric vehicles, rationally designed electrodes with short diffusion length are highly imperative to provide highly efficient ion and electron transport paths for high-rate and long-life lithium-ion batteries. Herein, binder-free electrodes with the robust three-dimensional conductive network are prepared by assembling ultralong TiO2 nanowires with reduced graphene oxide (RGO) sheets for high-performance lithium-ion storage. Ultralong TiO2 nanowires are synthesized and used to construct an interconnecting network that avoids the use of inert auxiliary additives of polymer binders and conductive agents. By thermal annealing, a small amount of anatase is generated in situ in the TiO2(B) nanowires to form abundant TiO2(B)/anatase interfaces for accommodating additional lithium ions. Simultaneously, RGO sheets efficiently enhance the electronic conductivity and enlarge the specific surface area of the TiO2/RGO nanocomposite. The robust 3D network in the binder-free electrode not only effectively avoids the agglomeration of TiO2/RGO components during the long-term charging/discharging process, but also provides direct and fast ion/electron transport paths. The binder-free electrode exhibits a high reversible capacity of 259.9 mA h g-1 at 0.1 C and an excellent cycling performance with a high reversible capacity of 111.9 mA h g-1 at 25 C after 5000 cycles.

A Hybrid One-Way ANOVA Approach for the Robust and Efficient Estimation of Differential Gene Expression with Multiple Patterns

PubMed Central

Mollah, Mohammad Manir Hossain; Jamal, Rahman; Mokhtar, Norfilza Mohd; Harun, Roslan; Mollah, Md. Nurul Haque

2015-01-01

Background Identifying genes that are differentially expressed (DE) between two or more conditions with multiple patterns of expression is one of the primary objectives of gene expression data analysis. Several statistical approaches, including one-way analysis of variance (ANOVA), are used to identify DE genes. However, most of these methods provide misleading results for two or more conditions with multiple patterns of expression in the presence of outlying genes. In this paper, an attempt is made to develop a hybrid one-way ANOVA approach that unifies the robustness and efficiency of estimation using the minimum β-divergence method to overcome some problems that arise in the existing robust methods for both small- and large-sample cases with multiple patterns of expression. Results The proposed method relies on a β-weight function, which produces values between 0 and 1. The β-weight function with β = 0.2 is used as a measure of outlier detection. It assigns smaller weights (≥ 0) to outlying expressions and larger weights (≤ 1) to typical expressions. The distribution of the β-weights is used to calculate the cut-off point, which is compared to the observed β-weight of an expression to determine whether that gene expression is an outlier. This weight function plays a key role in unifying the robustness and efficiency of estimation in one-way ANOVA. Conclusion Analyses of simulated gene expression profiles revealed that all eight methods (ANOVA, SAM, LIMMA, EBarrays, eLNN, KW, robust BetaEB and proposed) perform almost identically for m = 2 conditions in the absence of outliers. However, the robust BetaEB method and the proposed method exhibited considerably better performance than the other six methods in the presence of outliers. In this case, the BetaEB method exhibited slightly better performance than the proposed method for the small-sample cases, but the the proposed method exhibited much better performance than the BetaEB method for both the small- and large-sample cases in the presence of more than 50% outlying genes. The proposed method also exhibited better performance than the other methods for m > 2 conditions with multiple patterns of expression, where the BetaEB was not extended for this condition. Therefore, the proposed approach would be more suitable and reliable on average for the identification of DE genes between two or more conditions with multiple patterns of expression. PMID:26413858

Covariate selection with group lasso and doubly robust estimation of causal effects

PubMed Central

Koch, Brandon; Vock, David M.; Wolfson, Julian

2017-01-01

Summary The efficiency of doubly robust estimators of the average causal effect (ACE) of a treatment can be improved by including in the treatment and outcome models only those covariates which are related to both treatment and outcome (i.e., confounders) or related only to the outcome. However, it is often challenging to identify such covariates among the large number that may be measured in a given study. In this paper, we propose GLiDeR (Group Lasso and Doubly Robust Estimation), a novel variable selection technique for identifying confounders and predictors of outcome using an adaptive group lasso approach that simultaneously performs coefficient selection, regularization, and estimation across the treatment and outcome models. The selected variables and corresponding coefficient estimates are used in a standard doubly robust ACE estimator. We provide asymptotic results showing that, for a broad class of data generating mechanisms, GLiDeR yields a consistent estimator of the ACE when either the outcome or treatment model is correctly specified. A comprehensive simulation study shows that GLiDeR is more efficient than doubly robust methods using standard variable selection techniques and has substantial computational advantages over a recently proposed doubly robust Bayesian model averaging method. We illustrate our method by estimating the causal treatment effect of bilateral versus single-lung transplant on forced expiratory volume in one year after transplant using an observational registry. PMID:28636276

Covariate selection with group lasso and doubly robust estimation of causal effects.

PubMed

Koch, Brandon; Vock, David M; Wolfson, Julian

2018-03-01

The efficiency of doubly robust estimators of the average causal effect (ACE) of a treatment can be improved by including in the treatment and outcome models only those covariates which are related to both treatment and outcome (i.e., confounders) or related only to the outcome. However, it is often challenging to identify such covariates among the large number that may be measured in a given study. In this article, we propose GLiDeR (Group Lasso and Doubly Robust Estimation), a novel variable selection technique for identifying confounders and predictors of outcome using an adaptive group lasso approach that simultaneously performs coefficient selection, regularization, and estimation across the treatment and outcome models. The selected variables and corresponding coefficient estimates are used in a standard doubly robust ACE estimator. We provide asymptotic results showing that, for a broad class of data generating mechanisms, GLiDeR yields a consistent estimator of the ACE when either the outcome or treatment model is correctly specified. A comprehensive simulation study shows that GLiDeR is more efficient than doubly robust methods using standard variable selection techniques and has substantial computational advantages over a recently proposed doubly robust Bayesian model averaging method. We illustrate our method by estimating the causal treatment effect of bilateral versus single-lung transplant on forced expiratory volume in one year after transplant using an observational registry. © 2017, The International Biometric Society.

Discriminative object tracking via sparse representation and online dictionary learning.

PubMed

Xie, Yuan; Zhang, Wensheng; Li, Cuihua; Lin, Shuyang; Qu, Yanyun; Zhang, Yinghua

2014-04-01

We propose a robust tracking algorithm based on local sparse coding with discriminative dictionary learning and new keypoint matching schema. This algorithm consists of two parts: the local sparse coding with online updated discriminative dictionary for tracking (SOD part), and the keypoint matching refinement for enhancing the tracking performance (KP part). In the SOD part, the local image patches of the target object and background are represented by their sparse codes using an over-complete discriminative dictionary. Such discriminative dictionary, which encodes the information of both the foreground and the background, may provide more discriminative power. Furthermore, in order to adapt the dictionary to the variation of the foreground and background during the tracking, an online learning method is employed to update the dictionary. The KP part utilizes refined keypoint matching schema to improve the performance of the SOD. With the help of sparse representation and online updated discriminative dictionary, the KP part are more robust than the traditional method to reject the incorrect matches and eliminate the outliers. The proposed method is embedded into a Bayesian inference framework for visual tracking. Experimental results on several challenging video sequences demonstrate the effectiveness and robustness of our approach.

A Robust Sound Source Localization Approach for Microphone Array with Model Errors

NASA Astrophysics Data System (ADS)

Xiao, Hua; Shao, Huai-Zong; Peng, Qi-Cong

In this paper, a robust sound source localization approach is proposed. The approach retains good performance even when model errors exist. Compared with previous work in this field, the contributions of this paper are as follows. First, an improved broad-band and near-field array model is proposed. It takes array gain, phase perturbations into account and is based on the actual positions of the elements. It can be used in arbitrary planar geometry arrays. Second, a subspace model errors estimation algorithm and a Weighted 2-Dimension Multiple Signal Classification (W2D-MUSIC) algorithm are proposed. The subspace model errors estimation algorithm estimates unknown parameters of the array model, i. e., gain, phase perturbations, and positions of the elements, with high accuracy. The performance of this algorithm is improved with the increasing of SNR or number of snapshots. The W2D-MUSIC algorithm based on the improved array model is implemented to locate sound sources. These two algorithms compose the robust sound source approach. The more accurate steering vectors can be provided for further processing such as adaptive beamforming algorithm. Numerical examples confirm effectiveness of this proposed approach.

Robust Control of a Cable-Driven Soft Exoskeleton Joint for Intrinsic Human-Robot Interaction.

PubMed

Jarrett, C; McDaid, A J

2017-07-01

A novel, cable-driven soft joint is presented for use in robotic rehabilitation exoskeletons to provide intrinsic, comfortable human-robot interaction. The torque-displacement characteristics of the soft elastomeric core contained within the joint are modeled. This knowledge is used in conjunction with a dynamic system model to derive a sliding mode controller (SMC) to implement low-level torque control of the joint. The SMC controller is experimentally compared with a baseline feedback-linearised proportional-derivative controller across a range of conditions and shown to be robust to un-modeled disturbances. The torque controller is then tested with six healthy subjects while they perform a selection of activities of daily living, which has validated its range of performance. Finally, a case study with a participant with spastic cerebral palsy is presented to illustrate the potential of both the joint and controller to be used in a physiotherapy setting to assist clinical populations.

Robust decentralized control laws for the ACES structure

NASA Technical Reports Server (NTRS)

Collins, Emmanuel G., Jr.; Phillips, Douglas J.; Hyland, David C.

1991-01-01

Control system design for the Active Control Technique Evaluation for Spacecraft (ACES) structure at NASA Marshall Space Flight Center is discussed. The primary objective of this experiment is to design controllers that provide substantial reduction of the line-of-sight pointing errors. Satisfaction of this objective requires the controllers to attenuate beam vibration significantly. The primary method chosen for control design is the optimal projection approach for uncertain systems (OPUS). The OPUS design process allows the simultaneous tradeoff of five fundamental issues in control design: actuator sizing, sensor accuracy, controller order, robustness, and system performance. A brief description of the basic ACES configuration is given. The development of the models used for control design and control design for eight system loops that were selected by analysis of test data collected from the structure are discussed. Experimental results showing that very significant performance improvement is achieved when all eight feedback loops are closed are presented.

Robust Combining of Disparate Classifiers Through Order Statistics

NASA Technical Reports Server (NTRS)

Tumer, Kagan; Ghosh, Joydeep

2001-01-01

Integrating the outputs of multiple classifiers via combiners or meta-learners has led to substantial improvements in several difficult pattern recognition problems. In this article we investigate a family of combiners based on order statistics, for robust handling of situations where there are large discrepancies in performance of individual classifiers. Based on a mathematical modeling of how the decision boundaries are affected by order statistic combiners, we derive expressions for the reductions in error expected when simple output combination methods based on the the median, the maximum and in general, the ith order statistic, are used. Furthermore, we analyze the trim and spread combiners, both based on linear combinations of the ordered classifier outputs, and show that in the presence of uneven classifier performance, they often provide substantial gains over both linear and simple order statistics combiners. Experimental results on both real world data and standard public domain data sets corroborate these findings.

UWE-3, in-orbit performance and lessons learned of a modular and flexible satellite bus for future pico-satellite formations

NASA Astrophysics Data System (ADS)

Busch, S.; Bangert, P.; Dombrovski, S.; Schilling, K.

2015-12-01

Formations of small satellites offer promising perspectives due to improved temporal and spatial coverage and resolution at reasonable costs. The UWE-program addresses in-orbit demonstrations of key technologies to enable formations of cooperating distributed spacecraft at pico-satellite level. In this context, the CubeSat UWE-3 addresses experiments for evaluation of real-time attitude determination and control. UWE-3 introduces also a modular and flexible pico-satellite bus as a robust and extensible base for future missions. Technical objective was a very low power consumption of the COTS-based system, nevertheless providing a robust performance of this miniature satellite by advanced microprocessor redundancy and fault detection, identification and recovery software. This contribution addresses the UWE-3 design and mission results with emphasis on the operational experiences of the attitude determination and control system.

Robust fitting for neuroreceptor mapping.

PubMed

Chang, Chung; Ogden, R Todd

2009-03-15

Among many other uses, positron emission tomography (PET) can be used in studies to estimate the density of a neuroreceptor at each location throughout the brain by measuring the concentration of a radiotracer over time and modeling its kinetics. There are a variety of kinetic models in common usage and these typically rely on nonlinear least-squares (LS) algorithms for parameter estimation. However, PET data often contain artifacts (such as uncorrected head motion) and so the assumptions on which the LS methods are based may be violated. Quantile regression (QR) provides a robust alternative to LS methods and has been used successfully in many applications. We consider fitting various kinetic models to PET data using QR and study the relative performance of the methods via simulation. A data adaptive method for choosing between LS and QR is proposed and the performance of this method is also studied.

Color sensor and neural processor on one chip

NASA Astrophysics Data System (ADS)

Fiesler, Emile; Campbell, Shannon R.; Kempem, Lother; Duong, Tuan A.

1998-10-01

Low-cost, compact, and robust color sensor that can operate in real-time under various environmental conditions can benefit many applications, including quality control, chemical sensing, food production, medical diagnostics, energy conservation, monitoring of hazardous waste, and recycling. Unfortunately, existing color sensor are either bulky and expensive or do not provide the required speed and accuracy. In this publication we describe the design of an accurate real-time color classification sensor, together with preprocessing and a subsequent neural network processor integrated on a single complementary metal oxide semiconductor (CMOS) integrated circuit. This one-chip sensor and information processor will be low in cost, robust, and mass-producible using standard commercial CMOS processes. The performance of the chip and the feasibility of its manufacturing is proven through computer simulations based on CMOS hardware parameters. Comparisons with competing methodologies show a significantly higher performance for our device.

A stochastic optimal feedforward and feedback control methodology for superagility

NASA Technical Reports Server (NTRS)

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

1992-01-01

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

Linkage disequilibrium interval mapping of quantitative trait loci.

PubMed

Boitard, Simon; Abdallah, Jihad; de Rochambeau, Hubert; Cierco-Ayrolles, Christine; Mangin, Brigitte

2006-03-16

For many years gene mapping studies have been performed through linkage analyses based on pedigree data. Recently, linkage disequilibrium methods based on unrelated individuals have been advocated as powerful tools to refine estimates of gene location. Many strategies have been proposed to deal with simply inherited disease traits. However, locating quantitative trait loci is statistically more challenging and considerable research is needed to provide robust and computationally efficient methods. Under a three-locus Wright-Fisher model, we derived approximate expressions for the expected haplotype frequencies in a population. We considered haplotypes comprising one trait locus and two flanking markers. Using these theoretical expressions, we built a likelihood-maximization method, called HAPim, for estimating the location of a quantitative trait locus. For each postulated position, the method only requires information from the two flanking markers. Over a wide range of simulation scenarios it was found to be more accurate than a two-marker composite likelihood method. It also performed as well as identity by descent methods, whilst being valuable in a wider range of populations. Our method makes efficient use of marker information, and can be valuable for fine mapping purposes. Its performance is increased if multiallelic markers are available. Several improvements can be developed to account for more complex evolution scenarios or provide robust confidence intervals for the location estimates.

Mechanisms for Robust Cognition.

PubMed

Walsh, Matthew M; Gluck, Kevin A

2015-08-01

To function well in an unpredictable environment using unreliable components, a system must have a high degree of robustness. Robustness is fundamental to biological systems and is an objective in the design of engineered systems such as airplane engines and buildings. Cognitive systems, like biological and engineered systems, exist within variable environments. This raises the question, how do cognitive systems achieve similarly high degrees of robustness? The aim of this study was to identify a set of mechanisms that enhance robustness in cognitive systems. We identify three mechanisms that enhance robustness in biological and engineered systems: system control, redundancy, and adaptability. After surveying the psychological literature for evidence of these mechanisms, we provide simulations illustrating how each contributes to robust cognition in a different psychological domain: psychomotor vigilance, semantic memory, and strategy selection. These simulations highlight features of a mathematical approach for quantifying robustness, and they provide concrete examples of mechanisms for robust cognition. © 2014 Cognitive Science Society, Inc.

Performance of Modified Test Statistics in Covariance and Correlation Structure Analysis under Conditions of Multivariate Nonnormality.

ERIC Educational Resources Information Center

Fouladi, Rachel T.

2000-01-01

Provides an overview of standard and modified normal theory and asymptotically distribution-free covariance and correlation structure analysis techniques and details Monte Carlo simulation results on Type I and Type II error control. Demonstrates through the simulation that robustness and nonrobustness of structure analysis techniques vary as a…

An Atom-Economic Synthesis of Nitrogen Heterocycles from Alkynes

PubMed Central

Trost, Barry M.; Lumb, Jean-Philip; Azzarelli, Joseph M.

2011-01-01

A robust route to 2,4-disubstituted pyrrole heterocycles relying upon a cascade reaction is reported. The reaction benefits from operational simplicity: it is air and moisture tolerant and is performed at ambient temperature. Control over the reaction conditions provides ready access to isopyrroles, 2,3,4- trisubstituted pyrroles and 3- substituted pyrollidin-2-ones. PMID:21175138

Review and evaluation of performance measures for survival prediction models in external validation settings.

PubMed

Rahman, M Shafiqur; Ambler, Gareth; Choodari-Oskooei, Babak; Omar, Rumana Z

2017-04-18

When developing a prediction model for survival data it is essential to validate its performance in external validation settings using appropriate performance measures. Although a number of such measures have been proposed, there is only limited guidance regarding their use in the context of model validation. This paper reviewed and evaluated a wide range of performance measures to provide some guidelines for their use in practice. An extensive simulation study based on two clinical datasets was conducted to investigate the performance of the measures in external validation settings. Measures were selected from categories that assess the overall performance, discrimination and calibration of a survival prediction model. Some of these have been modified to allow their use with validation data, and a case study is provided to describe how these measures can be estimated in practice. The measures were evaluated with respect to their robustness to censoring and ease of interpretation. All measures are implemented, or are straightforward to implement, in statistical software. Most of the performance measures were reasonably robust to moderate levels of censoring. One exception was Harrell's concordance measure which tended to increase as censoring increased. We recommend that Uno's concordance measure is used to quantify concordance when there are moderate levels of censoring. Alternatively, Gönen and Heller's measure could be considered, especially if censoring is very high, but we suggest that the prediction model is re-calibrated first. We also recommend that Royston's D is routinely reported to assess discrimination since it has an appealing interpretation. The calibration slope is useful for both internal and external validation settings and recommended to report routinely. Our recommendation would be to use any of the predictive accuracy measures and provide the corresponding predictive accuracy curves. In addition, we recommend to investigate the characteristics of the validation data such as the level of censoring and the distribution of the prognostic index derived in the validation setting before choosing the performance measures.

Robustness and Reliability of Synergy-Based Myocontrol of a Multiple Degree of Freedom Robotic Arm.

PubMed

Lunardini, Francesca; Casellato, Claudia; d'Avella, Andrea; Sanger, Terence D; Pedrocchi, Alessandra

2016-09-01

In this study, we test the feasibility of the synergy- based approach for application in the realistic and clinically oriented framework of multi-degree of freedom (DOF) robotic control. We developed and tested online ten able-bodied subjects in a semi-supervised method to achieve simultaneous, continuous control of two DOFs of a robotic arm, using muscle synergies extracted from upper limb muscles while performing flexion-extension movements of the elbow and shoulder joints in the horizontal plane. To validate the efficacy of the synergy-based approach in extracting reliable control signals, compared to the simple muscle-pair method typically used in commercial applications, we evaluated the repeatability of the algorithm over days, the effect of the arm dynamics on the control performance, and the robustness of the control scheme to the presence of co-contraction between pairs of antagonist muscles. Results showed that, without the need for a daily calibration, all subjects were able to intuitively and easily control the synergy-based myoelectric interface in different scenarios, using both dynamic and isometric muscle contractions. The proposed control scheme was shown to be robust to co-contraction between antagonist muscles, providing better performance compared to the traditional muscle-pair approach. The current study is a first step toward user-friendly application of synergy-based myocontrol of assistive robotic devices.

Assessing the Robustness of Green Infrastructure under Stochastic Design Storms and Climate Change Scenarios

NASA Astrophysics Data System (ADS)

Chui, T. F. M.; Yang, Y.

2017-12-01

Green infrastructures (GI) have been widely used to mitigate flood risk, improve surface water quality, and to restore predevelopment hydrologic regimes. Commonly-used GI include, bioretention system, porous pavement and green roof, etc. They are normally sized to fulfil different design criteria (e.g. providing certain storage depths, limiting peak surface flow rates) that are formulated for current climate conditions. While GI commonly have long lifespan, the sensitivity of their performance to climate change is however unclear. This study first proposes a method to formulate suitable design criteria to meet different management interests (e.g. different levels of first flush reduction and peak flow reduction). Then typical designs of GI are proposed. In addition, a high resolution stochastic design storm generator using copulas and random cascade model is developed, which is calibrated using recorded rainfall time series. Then, few climate change scenarios are generated by varying the duration and depth of design storms, and changing the parameters of the calibrated storm generator. Finally, the performance of GI with typical designs under the random synthesized design storms are then assessed using numerical modeling. The robustness of the designs is obtained by the comparing their performance in the future scenarios to the current one. This study overall examines the robustness of the current GI design criteria under uncertain future climate conditions, demonstrating whether current GI design criteria should be modified to account for climate change.

Impact of MPEG-4 3D mesh coding on watermarking algorithms for polygonal 3D meshes

NASA Astrophysics Data System (ADS)

Funk, Wolfgang

2004-06-01

The MPEG-4 multimedia standard addresses the scene-based composition of audiovisual objects. Natural and synthetic multimedia content can be mixed and transmitted over narrow and broadband communication channels. Synthetic natural hybrid coding (SNHC) within MPEG-4 provides tools for 3D mesh coding (3DMC). We investigate the robustness of two different 3D watermarking algorithms for polygonal meshes with respect to 3DMC. The first algorithm is a blind detection scheme designed for labelling applications that require high bandwidth and low robustness. The second algorithm is a robust non-blind one-bit watermarking scheme intended for copyright protection applications. Both algorithms have been proposed by Benedens. We expect 3DMC to have an impact on the watermarked 3D meshes, as the algorithms used for our simulations work on vertex coordinates to encode the watermark. We use the 3DMC implementation provided with the MPEG-4 reference software and the Princeton Shape Benchmark model database for our simulations. The watermarked models are sent through the 3DMC encoder and decoder, and the watermark decoding process is performed. For each algorithm under consideration we examine the detection properties as a function of the quantization of the vertex coordinates.

Identification of robust adaptation gene regulatory network parameters using an improved particle swarm optimization algorithm.

PubMed

Huang, X N; Ren, H P

2016-05-13

Robust adaptation is a critical ability of gene regulatory network (GRN) to survive in a fluctuating environment, which represents the system responding to an input stimulus rapidly and then returning to its pre-stimulus steady state timely. In this paper, the GRN is modeled using the Michaelis-Menten rate equations, which are highly nonlinear differential equations containing 12 undetermined parameters. The robust adaption is quantitatively described by two conflicting indices. To identify the parameter sets in order to confer the GRNs with robust adaptation is a multi-variable, multi-objective, and multi-peak optimization problem, which is difficult to acquire satisfactory solutions especially high-quality solutions. A new best-neighbor particle swarm optimization algorithm is proposed to implement this task. The proposed algorithm employs a Latin hypercube sampling method to generate the initial population. The particle crossover operation and elitist preservation strategy are also used in the proposed algorithm. The simulation results revealed that the proposed algorithm could identify multiple solutions in one time running. Moreover, it demonstrated a superior performance as compared to the previous methods in the sense of detecting more high-quality solutions within an acceptable time. The proposed methodology, owing to its universality and simplicity, is useful for providing the guidance to design GRN with superior robust adaptation.

Accurate object tracking system by integrating texture and depth cues

NASA Astrophysics Data System (ADS)

Chen, Ju-Chin; Lin, Yu-Hang

2016-03-01

A robust object tracking system that is invariant to object appearance variations and background clutter is proposed. Multiple instance learning with a boosting algorithm is applied to select discriminant texture information between the object and background data. Additionally, depth information, which is important to distinguish the object from a complicated background, is integrated. We propose two depth-based models that can compensate texture information to cope with both appearance variants and background clutter. Moreover, in order to reduce the risk of drifting problem increased for the textureless depth templates, an update mechanism is proposed to select more precise tracking results to avoid incorrect model updates. In the experiments, the robustness of the proposed system is evaluated and quantitative results are provided for performance analysis. Experimental results show that the proposed system can provide the best success rate and has more accurate tracking results than other well-known algorithms.

Robust and stretchable indium gallium zinc oxide-based electronic textiles formed by cilia-assisted transfer printing

PubMed Central

Yoon, Jongwon; Jeong, Yunkyung; Kim, Heeje; Yoo, Seonggwang; Jung, Hoon Sun; Kim, Yonghun; Hwang, Youngkyu; Hyun, Yujun; Hong, Woong-Ki; Lee, Byoung Hun; Choa, Sung-Hoon; Ko, Heung Cho

2016-01-01

Electronic textile (e-textile) allows for high-end wearable electronic devices that provide easy access for carrying, handling and using. However, the related technology does not seem to be mature because the woven fabric hampers not only the device fabrication process directly on the complex surface but also the transfer printing of ultrathin planar electronic devices. Here we report an indirect method that enables conformal wrapping of surface with arbitrary yet complex shapes. Artificial cilia are introduced in the periphery of electronic devices as adhesive elements. The cilia also play an important role in confining a small amount of glue and damping mechanical stress to maintain robust electronic performance under mechanical deformation. The example of electronic applications depicts the feasibility of cilia for ‘stick-&-play' systems, which provide electronic functions by transfer printing on unconventional complex surfaces. PMID:27248982

Measure of robustness for complex networks

NASA Astrophysics Data System (ADS)

Youssef, Mina Nabil

Critical infrastructures are repeatedly attacked by external triggers causing tremendous amount of damages. Any infrastructure can be studied using the powerful theory of complex networks. A complex network is composed of extremely large number of different elements that exchange commodities providing significant services. The main functions of complex networks can be damaged by different types of attacks and failures that degrade the network performance. These attacks and failures are considered as disturbing dynamics, such as the spread of viruses in computer networks, the spread of epidemics in social networks, and the cascading failures in power grids. Depending on the network structure and the attack strength, every network differently suffers damages and performance degradation. Hence, quantifying the robustness of complex networks becomes an essential task. In this dissertation, new metrics are introduced to measure the robustness of technological and social networks with respect to the spread of epidemics, and the robustness of power grids with respect to cascading failures. First, we introduce a new metric called the Viral Conductance (VCSIS ) to assess the robustness of networks with respect to the spread of epidemics that are modeled through the susceptible/infected/susceptible (SIS) epidemic approach. In contrast to assessing the robustness of networks based on a classical metric, the epidemic threshold, the new metric integrates the fraction of infected nodes at steady state for all possible effective infection strengths. Through examples, VCSIS provides more insights about the robustness of networks than the epidemic threshold. In addition, both the paradoxical robustness of Barabasi-Albert preferential attachment networks and the effect of the topology on the steady state infection are studied, to show the importance of quantifying the robustness of networks. Second, a new metric VCSIR is introduced to assess the robustness of networks with respect to the spread of susceptible/infected/recovered (SIR) epidemics. To compute VCSIR, we propose a novel individual-based approach to model the spread of SIR epidemics in networks, which captures the infection size for a given effective infection rate. Thus, VCSIR quantitatively integrates the infection strength with the corresponding infection size. To optimize the VCSIR metric, a new mitigation strategy is proposed, based on a temporary reduction of contacts in social networks. The social contact network is modeled as a weighted graph that describes the frequency of contacts among the individuals. Thus, we consider the spread of an epidemic as a dynamical system, and the total number of infection cases as the state of the system, while the weight reduction in the social network is the controller variable leading to slow/reduce the spread of epidemics. Using optimal control theory, the obtained solution represents an optimal adaptive weighted network defined over a finite time interval. Moreover, given the high complexity of the optimization problem, we propose two heuristics to find the near optimal solutions by reducing the contacts among the individuals in a decentralized way. Finally, the cascading failures that can take place in power grids and have recently caused several blackouts are studied. We propose a new metric to assess the robustness of the power grid with respect to the cascading failures. The power grid topology is modeled as a network, which consists of nodes and links representing power substations and transmission lines, respectively. We also propose an optimal islanding strategy to protect the power grid when a cascading failure event takes place in the grid. The robustness metrics are numerically evaluated using real and synthetic networks to quantify their robustness with respect to disturbing dynamics. We show that the proposed metrics outperform the classical metrics in quantifying the robustness of networks and the efficiency of the mitigation strategies. In summary, our work advances the network science field in assessing the robustness of complex networks with respect to various disturbing dynamics.

Noise-immune multisensor transduction of speech

NASA Astrophysics Data System (ADS)

Viswanathan, Vishu R.; Henry, Claudia M.; Derr, Alan G.; Roucos, Salim; Schwartz, Richard M.

1986-08-01

Two types of configurations of multiple sensors were developed, tested and evaluated in speech recognition application for robust performance in high levels of acoustic background noise: One type combines the individual sensor signals to provide a single speech signal input, and the other provides several parallel inputs. For single-input systems, several configurations of multiple sensors were developed and tested. Results from formal speech intelligibility and quality tests in simulated fighter aircraft cockpit noise show that each of the two-sensor configurations tested outperforms the constituent individual sensors in high noise. Also presented are results comparing the performance of two-sensor configurations and individual sensors in speaker-dependent, isolated-word speech recognition tests performed using a commercial recognizer (Verbex 4000) in simulated fighter aircraft cockpit noise.

An Efficient, Robust, and Inexpensive Grinding Device for Herbal Samples like Cinchona Bark.

PubMed

Hansen, Steen Honoré; Holmfred, Else; Cornett, Claus; Maldonado, Carla; Rønsted, Nina

2015-01-01

An effective, robust, and inexpensive grinding device for the grinding of herb samples like bark and roots was developed by rebuilding a commercially available coffee grinder. The grinder was constructed to be able to provide various particle sizes, to be easy to clean, and to have a minimum of dead volume. The recovery of the sample when grinding as little as 50 mg of crude Cinchona bark was about 60%. Grinding is performed in seconds with no rise in temperature, and the grinder is easily disassembled to be cleaned. The influence of the particle size of the obtained powders on the recovery of analytes in extracts of Cinchona bark was investigated using HPLC.

Robust Foot Clearance Estimation Based on the Integration of Foot-Mounted IMU Acceleration Data

PubMed Central

Benoussaad, Mourad; Sijobert, Benoît; Mombaur, Katja; Azevedo Coste, Christine

2015-01-01

This paper introduces a method for the robust estimation of foot clearance during walking, using a single inertial measurement unit (IMU) placed on the subject’s foot. The proposed solution is based on double integration and drift cancellation of foot acceleration signals. The method is insensitive to misalignment of IMU axes with respect to foot axes. Details are provided regarding calibration and signal processing procedures. Experimental validation was performed on 10 healthy subjects under three walking conditions: normal, fast and with obstacles. Foot clearance estimation results were compared to measurements from an optical motion capture system. The mean error between them is significantly less than 15% under the various walking conditions. PMID:26703622

A methodology for designing robust multivariable nonlinear control systems. Ph.D. Thesis

NASA Technical Reports Server (NTRS)

Grunberg, D. B.

1986-01-01

A new methodology is described for the design of nonlinear dynamic controllers for nonlinear multivariable systems providing guarantees of closed-loop stability, performance, and robustness. The methodology is an extension of the Linear-Quadratic-Gaussian with Loop-Transfer-Recovery (LQG/LTR) methodology for linear systems, thus hinging upon the idea of constructing an approximate inverse operator for the plant. A major feature of the methodology is a unification of both the state-space and input-output formulations. In addition, new results on stability theory, nonlinear state estimation, and optimal nonlinear regulator theory are presented, including the guaranteed global properties of the extended Kalman filter and optimal nonlinear regulators.

Multiple template-based image matching using alpha-rooted quaternion phase correlation

NASA Astrophysics Data System (ADS)

DelMarco, Stephen

2010-04-01

In computer vision applications, image matching performed on quality-degraded imagery is difficult due to image content distortion and noise effects. State-of-the art keypoint based matchers, such as SURF and SIFT, work very well on clean imagery. However, performance can degrade significantly in the presence of high noise and clutter levels. Noise and clutter cause the formation of false features which can degrade recognition performance. To address this problem, previously we developed an extension to the classical amplitude and phase correlation forms, which provides improved robustness and tolerance to image geometric misalignments and noise. This extension, called Alpha-Rooted Phase Correlation (ARPC), combines Fourier domain-based alpha-rooting enhancement with classical phase correlation. ARPC provides tunable parameters to control the alpha-rooting enhancement. These parameter values can be optimized to tradeoff between high narrow correlation peaks, and more robust wider, but smaller peaks. Previously, we applied ARPC in the radon transform domain for logo image recognition in the presence of rotational image misalignments. In this paper, we extend ARPC to incorporate quaternion Fourier transforms, thereby creating Alpha-Rooted Quaternion Phase Correlation (ARQPC). We apply ARQPC to the logo image recognition problem. We use ARQPC to perform multiple-reference logo template matching by representing multiple same-class reference templates as quaternion-valued images. We generate recognition performance results on publicly-available logo imagery, and compare recognition results to results generated from standard approaches. We show that small deviations in reference templates of sameclass logos can lead to improved recognition performance using the joint matching inherent in ARQPC.

QFT Multi-Input, Multi-Output Design with Non-Diagonal, Non-Square Compensation Matrices

NASA Technical Reports Server (NTRS)

Hess, R. A.; Henderson, D. K.

1996-01-01

A technique for obtaining a non-diagonal compensator for the control of a multi-input, multi-output plant is presented. The technique, which uses Quantitative Feedback Theory, provides guaranteed stability and performance robustness in the presence of parametric uncertainty. An example is given involving the lateral-directional control of an uncertain model of a high-performance fighter aircraft in which redundant control effectors are in evidence, i.e. more control effectors than output variables are used.

Robust spike classification based on frequency domain neural waveform features.

PubMed

Yang, Chenhui; Yuan, Yuan; Si, Jennie

2013-12-01

We introduce a new spike classification algorithm based on frequency domain features of the spike snippets. The goal for the algorithm is to provide high classification accuracy, low false misclassification, ease of implementation, robustness to signal degradation, and objectivity in classification outcomes. In this paper, we propose a spike classification algorithm based on frequency domain features (CFDF). It makes use of frequency domain contents of the recorded neural waveforms for spike classification. The self-organizing map (SOM) is used as a tool to determine the cluster number intuitively and directly by viewing the SOM output map. After that, spike classification can be easily performed using clustering algorithms such as the k-Means. In conjunction with our previously developed multiscale correlation of wavelet coefficient (MCWC) spike detection algorithm, we show that the MCWC and CFDF detection and classification system is robust when tested on several sets of artificial and real neural waveforms. The CFDF is comparable to or outperforms some popular automatic spike classification algorithms with artificial and real neural data. The detection and classification of neural action potentials or neural spikes is an important step in single-unit-based neuroscientific studies and applications. After the detection of neural snippets potentially containing neural spikes, a robust classification algorithm is applied for the analysis of the snippets to (1) extract similar waveforms into one class for them to be considered coming from one unit, and to (2) remove noise snippets if they do not contain any features of an action potential. Usually, a snippet is a small 2 or 3 ms segment of the recorded waveform, and differences in neural action potentials can be subtle from one unit to another. Therefore, a robust, high performance classification system like the CFDF is necessary. In addition, the proposed algorithm does not require any assumptions on statistical properties of the noise and proves to be robust under noise contamination.

Robust control for uncertain structures

NASA Technical Reports Server (NTRS)

Douglas, Joel; Athans, Michael

1991-01-01

Viewgraphs on robust control for uncertain structures are presented. Topics covered include: robust linear quadratic regulator (RLQR) formulas; mismatched LQR design; RLQR design; interpretations of RLQR design; disturbance rejection; and performance comparisons: RLQR vs. mismatched LQR.

Optimally robust redundancy relations for failure detection in uncertain systems

NASA Technical Reports Server (NTRS)

Lou, X.-C.; Willsky, A. S.; Verghese, G. C.

1986-01-01

All failure detection methods are based, either explicitly or implicitly, on the use of redundancy, i.e. on (possibly dynamic) relations among the measured variables. The robustness of the failure detection process consequently depends to a great degree on the reliability of the redundancy relations, which in turn is affected by the inevitable presence of model uncertainties. In this paper the problem of determining redundancy relations that are optimally robust is addressed in a sense that includes several major issues of importance in practical failure detection and that provides a significant amount of intuition concerning the geometry of robust failure detection. A procedure is given involving the construction of a single matrix and its singular value decomposition for the determination of a complete sequence of redundancy relations, ordered in terms of their level of robustness. This procedure also provides the basis for comparing levels of robustness in redundancy provided by different sets of sensors.

Robust Vision-Based Pose Estimation Algorithm for AN Uav with Known Gravity Vector

NASA Astrophysics Data System (ADS)

Kniaz, V. V.

2016-06-01

Accurate estimation of camera external orientation with respect to a known object is one of the central problems in photogrammetry and computer vision. In recent years this problem is gaining an increasing attention in the field of UAV autonomous flight. Such application requires a real-time performance and robustness of the external orientation estimation algorithm. The accuracy of the solution is strongly dependent on the number of reference points visible on the given image. The problem only has an analytical solution if 3 or more reference points are visible. However, in limited visibility conditions it is often needed to perform external orientation with only 2 visible reference points. In such case the solution could be found if the gravity vector direction in the camera coordinate system is known. A number of algorithms for external orientation estimation for the case of 2 known reference points and a gravity vector were developed to date. Most of these algorithms provide analytical solution in the form of polynomial equation that is subject to large errors in the case of complex reference points configurations. This paper is focused on the development of a new computationally effective and robust algorithm for external orientation based on positions of 2 known reference points and a gravity vector. The algorithm implementation for guidance of a Parrot AR.Drone 2.0 micro-UAV is discussed. The experimental evaluation of the algorithm proved its computational efficiency and robustness against errors in reference points positions and complex configurations.

Optimal Robust Motion Controller Design Using Multiobjective Genetic Algorithm

PubMed Central

Svečko, Rajko

2014-01-01

This paper describes the use of a multiobjective genetic algorithm for robust motion controller design. Motion controller structure is based on a disturbance observer in an RIC framework. The RIC approach is presented in the form with internal and external feedback loops, in which an internal disturbance rejection controller and an external performance controller must be synthesised. This paper involves novel objectives for robustness and performance assessments for such an approach. Objective functions for the robustness property of RIC are based on simple even polynomials with nonnegativity conditions. Regional pole placement method is presented with the aims of controllers' structures simplification and their additional arbitrary selection. Regional pole placement involves arbitrary selection of central polynomials for both loops, with additional admissible region of the optimized pole location. Polynomial deviation between selected and optimized polynomials is measured with derived performance objective functions. A multiobjective function is composed of different unrelated criteria such as robust stability, controllers' stability, and time-performance indexes of closed loops. The design of controllers and multiobjective optimization procedure involve a set of the objectives, which are optimized simultaneously with a genetic algorithm—differential evolution. PMID:24987749

Robust Network Design - Connectivity and Beyond

DTIC Science & Technology

2015-01-15

utilize a heterogeneous set of physical links (RF, Optical/Laser and SATCOM), for interconnecting a set of terrestrial, space and highly mobile airborne...design of mobility patterns of airborne platforms to provide stable operating conditions,  the design of networks that enable graceful performance...research effort, Airborne Network research was primarily directed towards Mobile Ad-hoc Networks (MANET). From our experience in design and

Creating Cost-Effective DNA Size Standards for Use in Teaching and Research Laboratories

ERIC Educational Resources Information Center

Shultz, Jeff

2011-01-01

I have devised a method with which a molecular size standard can be readily manufactured using Lambda DNA and PCR. This method allows the production of specific sized DNA fragments and is easily performed in a standard molecular biology laboratory. The material required to create these markers can also be used to provide a highly robust and…

The Electrooculogram and a New Blink Detection Algorithm

DTIC Science & Technology

2015-10-30

applications, and physiological monitoring has proven quite helpful with this assessment. One such physiological signal , the electrooculogram ( EOG ...significantly improve performance. One such physiological signal , the electrooculogram ( EOG ), can provide blink rate and blink duration measures. Blink...that such variability substantiates the need for blink detection algorithms, using the EOG signal , that are robust to noise, artifacts, and intra- and

Radiometer on a Chip

NASA Technical Reports Server (NTRS)

Chattopadhyay, Goutam; Gill, John J.; Mehdi, Imran; Lee, Choonsup; Schlecht, Erich T.; Skalare, Anders; Ward, John S.; Siegel, Peter H.; Thomas, Bertrand C.

2009-01-01

The radiometer on a chip (ROC) integrates whole wafers together to p rovide a robust, extremely powerful way of making submillimeter rece ivers that provide vertically integrated functionality. By integratin g at the wafer level, customizing the interconnects, and planarizing the transmission media, it is possible to create a lightweight asse mbly performing the function of several pieces in a more conventiona l radiometer.

Development and application of a robust N-glycan profiling method for heightened characterization of monoclonal antibodies and related glycoproteins.

PubMed

Shang, Tanya Q; Saati, Andrew; Toler, Kelly N; Mo, Jianming; Li, Heyi; Matlosz, Tonya; Lin, Xi; Schenk, Jennifer; Ng, Chee-Keng; Duffy, Toni; Porter, Thomas J; Rouse, Jason C

2014-07-01

A highly robust hydrophilic interaction liquid chromatography (HILIC) method that involves both fluorescence and mass spectrometric detection was developed for profiling and characterizing enzymatically released and 2-aminobenzamide (2-AB)-derivatized mAb N-glycans. Online HILIC/mass spectrometry (MS) with a quadrupole time-of-flight mass spectrometer provides accurate mass identifications of the separated, 2-AB-labeled N-glycans. The method features a high-resolution, low-shedding HILIC column with acetonitrile and water-based mobile phases containing trifluoroacetic acid (TFA) as a modifier. This column and solvent system ensures the combination of robust chromatographic performance and full compatibility and sensitivity with online MS in addition to the baseline separation of all typical mAb N-glycans. The use of TFA provided distinct advantages over conventional ammonium formate as a mobile phase additive, such as, optimal elution order for sialylated N-glycans, reproducible chromatographic profiles, and matching total ion current chromatograms, as well as minimal signal splitting, analyte adduction, and fragmentation during HILIC/MS, maximizing sensitivity for trace-level species. The robustness and selectivity of HILIC for N-glycan analyses allowed for method qualification. The method is suitable for bioprocess development activities, heightened characterization, and clinical drug substance release. Application of this HILIC/MS method to the detailed characterization of a marketed therapeutic mAb, Rituxan(®), is described. © 2014 Wiley Periodicals, Inc. and the American Pharmacists Association.

A novel spatial performance metric for robust pattern optimization of distributed hydrological models

NASA Astrophysics Data System (ADS)

Stisen, S.; Demirel, C.; Koch, J.

2017-12-01

Evaluation of performance is an integral part of model development and calibration as well as it is of paramount importance when communicating modelling results to stakeholders and the scientific community. There exists a comprehensive and well tested toolbox of metrics to assess temporal model performance in the hydrological modelling community. On the contrary, the experience to evaluate spatial performance is not corresponding to the grand availability of spatial observations readily available and to the sophisticate model codes simulating the spatial variability of complex hydrological processes. This study aims at making a contribution towards advancing spatial pattern oriented model evaluation for distributed hydrological models. This is achieved by introducing a novel spatial performance metric which provides robust pattern performance during model calibration. The promoted SPAtial EFficiency (spaef) metric reflects three equally weighted components: correlation, coefficient of variation and histogram overlap. This multi-component approach is necessary in order to adequately compare spatial patterns. spaef, its three components individually and two alternative spatial performance metrics, i.e. connectivity analysis and fractions skill score, are tested in a spatial pattern oriented model calibration of a catchment model in Denmark. The calibration is constrained by a remote sensing based spatial pattern of evapotranspiration and discharge timeseries at two stations. Our results stress that stand-alone metrics tend to fail to provide holistic pattern information to the optimizer which underlines the importance of multi-component metrics. The three spaef components are independent which allows them to complement each other in a meaningful way. This study promotes the use of bias insensitive metrics which allow comparing variables which are related but may differ in unit in order to optimally exploit spatial observations made available by remote sensing platforms. We see great potential of spaef across environmental disciplines dealing with spatially distributed modelling.

Virtual DRI dataset development

NASA Astrophysics Data System (ADS)

Hixson, Jonathan G.; Teaney, Brian P.; May, Christopher; Maurer, Tana; Nelson, Michael B.; Pham, Justin R.

2017-05-01

The U.S. Army RDECOM CERDEC NVESD MSD's target acquisition models have been used for many years by the military analysis community for sensor design, trade studies, and field performance prediction. This paper analyzes the results of perception tests performed to compare the results of a field DRI (Detection, Recognition, and Identification Test) performed in 2009 to current Soldier performance viewing the same imagery in a laboratory environment and simulated imagery of the same data set. The purpose of the experiment is to build a robust data set for use in the virtual prototyping of infrared sensors. This data set will provide a strong foundation relating, model predictions, field DRI results and simulated imagery.

Decentralized adaptive robust control based on sliding mode and nonlinear compensator for the control of ankle movement using functional electrical stimulation of agonist-antagonist muscles

NASA Astrophysics Data System (ADS)

Kobravi, Hamid-Reza; Erfanian, Abbas

2009-08-01

A decentralized control methodology is designed for the control of ankle dorsiflexion and plantarflexion in paraplegic subjects with electrical stimulation of tibialis anterior and calf muscles. Each muscle joint is considered as a subsystem and individual controllers are designed for each subsystem. Each controller operates solely on its associated subsystem, with no exchange of information between the subsystems. The interactions between the subsystems are taken as external disturbances for each isolated subsystem. In order to achieve robustness with respect to external disturbances, unmodeled dynamics, model uncertainty and time-varying properties of muscle-joint dynamics, a robust control framework is proposed which is based on the synergistic combination of an adaptive nonlinear compensator with a sliding mode control and is referred to as an adaptive robust control. Extensive simulations and experiments on healthy and paraplegic subjects were performed to demonstrate the robustness against the time-varying properties of muscle-joint dynamics, day-to-day variations, subject-to-subject variations, fast convergence, stability and tracking accuracy of the proposed method. The results indicate that the decentralized robust control provides excellent tracking control for different reference trajectories and can generate control signals to compensate the muscle fatigue and reject the external disturbance. Moreover, the controller is able to automatically regulate the interaction between agonist and antagonist muscles under different conditions of operating without any preprogrammed antagonist activities.

Decentralized adaptive robust control based on sliding mode and nonlinear compensator for the control of ankle movement using functional electrical stimulation of agonist-antagonist muscles.

PubMed

Kobravi, Hamid-Reza; Erfanian, Abbas

2009-08-01

A decentralized control methodology is designed for the control of ankle dorsiflexion and plantarflexion in paraplegic subjects with electrical stimulation of tibialis anterior and calf muscles. Each muscle joint is considered as a subsystem and individual controllers are designed for each subsystem. Each controller operates solely on its associated subsystem, with no exchange of information between the subsystems. The interactions between the subsystems are taken as external disturbances for each isolated subsystem. In order to achieve robustness with respect to external disturbances, unmodeled dynamics, model uncertainty and time-varying properties of muscle-joint dynamics, a robust control framework is proposed which is based on the synergistic combination of an adaptive nonlinear compensator with a sliding mode control and is referred to as an adaptive robust control. Extensive simulations and experiments on healthy and paraplegic subjects were performed to demonstrate the robustness against the time-varying properties of muscle-joint dynamics, day-to-day variations, subject-to-subject variations, fast convergence, stability and tracking accuracy of the proposed method. The results indicate that the decentralized robust control provides excellent tracking control for different reference trajectories and can generate control signals to compensate the muscle fatigue and reject the external disturbance. Moreover, the controller is able to automatically regulate the interaction between agonist and antagonist muscles under different conditions of operating without any preprogrammed antagonist activities.

Reliability of simulated robustness testing in fast liquid chromatography, using state-of-the-art column technology, instrumentation and modelling software.

PubMed

Kormány, Róbert; Fekete, Jenő; Guillarme, Davy; Fekete, Szabolcs

2014-02-01

The goal of this study was to evaluate the accuracy of simulated robustness testing using commercial modelling software (DryLab) and state-of-the-art stationary phases. For this purpose, a mixture of amlodipine and its seven related impurities was analyzed on short narrow bore columns (50×2.1mm, packed with sub-2μm particles) providing short analysis times. The performance of commercial modelling software for robustness testing was systematically compared to experimental measurements and DoE based predictions. We have demonstrated that the reliability of predictions was good, since the predicted retention times and resolutions were in good agreement with the experimental ones at the edges of the design space. In average, the retention time relative errors were <1.0%, while the predicted critical resolution errors were comprised between 6.9 and 17.2%. Because the simulated robustness testing requires significantly less experimental work than the DoE based predictions, we think that robustness could now be investigated in the early stage of method development. Moreover, the column interchangeability, which is also an important part of robustness testing, was investigated considering five different C8 and C18 columns packed with sub-2μm particles. Again, thanks to modelling software, we proved that the separation was feasible on all columns within the same analysis time (less than 4min), by proper adjustments of variables. Copyright © 2013 Elsevier B.V. All rights reserved.

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.

Protocol for Uniformly Measuring and Expressing the Performance of Energy Storage Systems

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

Conover, David R.; Crawford, Aladsair J.; Fuller, Jason C.

The Protocol for Uniformly Measuring and Expressing the Performance of Energy Storage Systems (PNNL-22010) was first issued in November 2012 as a first step toward providing a foundational basis for developing an initial standard for the uniform measurement and expression of energy storage system (ESS) performance. Based on experiences with the application and use of that document, and to include additional ESS applications and associated duty cycles, test procedures and performance metrics, a first revision of the November 2012 Protocol was issued in June 2014 (PNNL 22010 Rev. 1). As an update of the 2014 revision 1 to the Protocol,more » this document (the March 2016 revision 2 to the Protocol) is intended to supersede the June 2014 revision 1 to the Protocol and provide a more user-friendly yet more robust and comprehensive basis for measuring and expressing ESS performance.« less

Robust Variable Selection with Exponential Squared Loss.

PubMed

Wang, Xueqin; Jiang, Yunlu; Huang, Mian; Zhang, Heping

2013-04-01

Robust variable selection procedures through penalized regression have been gaining increased attention in the literature. They can be used to perform variable selection and are expected to yield robust estimates. However, to the best of our knowledge, the robustness of those penalized regression procedures has not been well characterized. In this paper, we propose a class of penalized robust regression estimators based on exponential squared loss. The motivation for this new procedure is that it enables us to characterize its robustness that has not been done for the existing procedures, while its performance is near optimal and superior to some recently developed methods. Specifically, under defined regularity conditions, our estimators are [Formula: see text] and possess the oracle property. Importantly, we show that our estimators can achieve the highest asymptotic breakdown point of 1/2 and that their influence functions are bounded with respect to the outliers in either the response or the covariate domain. We performed simulation studies to compare our proposed method with some recent methods, using the oracle method as the benchmark. We consider common sources of influential points. Our simulation studies reveal that our proposed method performs similarly to the oracle method in terms of the model error and the positive selection rate even in the presence of influential points. In contrast, other existing procedures have a much lower non-causal selection rate. Furthermore, we re-analyze the Boston Housing Price Dataset and the Plasma Beta-Carotene Level Dataset that are commonly used examples for regression diagnostics of influential points. Our analysis unravels the discrepancies of using our robust method versus the other penalized regression method, underscoring the importance of developing and applying robust penalized regression methods.

Robust Variable Selection with Exponential Squared Loss

PubMed Central

Wang, Xueqin; Jiang, Yunlu; Huang, Mian; Zhang, Heping

2013-01-01

Robust variable selection procedures through penalized regression have been gaining increased attention in the literature. They can be used to perform variable selection and are expected to yield robust estimates. However, to the best of our knowledge, the robustness of those penalized regression procedures has not been well characterized. In this paper, we propose a class of penalized robust regression estimators based on exponential squared loss. The motivation for this new procedure is that it enables us to characterize its robustness that has not been done for the existing procedures, while its performance is near optimal and superior to some recently developed methods. Specifically, under defined regularity conditions, our estimators are n-consistent and possess the oracle property. Importantly, we show that our estimators can achieve the highest asymptotic breakdown point of 1/2 and that their influence functions are bounded with respect to the outliers in either the response or the covariate domain. We performed simulation studies to compare our proposed method with some recent methods, using the oracle method as the benchmark. We consider common sources of influential points. Our simulation studies reveal that our proposed method performs similarly to the oracle method in terms of the model error and the positive selection rate even in the presence of influential points. In contrast, other existing procedures have a much lower non-causal selection rate. Furthermore, we re-analyze the Boston Housing Price Dataset and the Plasma Beta-Carotene Level Dataset that are commonly used examples for regression diagnostics of influential points. Our analysis unravels the discrepancies of using our robust method versus the other penalized regression method, underscoring the importance of developing and applying robust penalized regression methods. PMID:23913996

Inducer analysis/pump model development

NASA Astrophysics Data System (ADS)

Cheng, Gary C.

1994-03-01

Current design of high performance turbopumps for rocket engines requires effective and robust analytical tools to provide design information in a productive manner. The main goal of this study was to develop a robust and effective computational fluid dynamics (CFD) pump model for general turbopump design and analysis applications. A finite difference Navier-Stokes flow solver, FDNS, which includes an extended k-epsilon turbulence model and appropriate moving zonal interface boundary conditions, was developed to analyze turbulent flows in turbomachinery devices. In the present study, three key components of the turbopump, the inducer, impeller, and diffuser, were investigated by the proposed pump model, and the numerical results were benchmarked by the experimental data provided by Rocketdyne. For the numerical calculation of inducer flows with tip clearance, the turbulence model and grid spacing are very important. Meanwhile, the development of the cross-stream secondary flow, generated by curved blade passage and the flow through tip leakage, has a strong effect on the inducer flow. Hence, the prediction of the inducer performance critically depends on whether the numerical scheme of the pump model can simulate the secondary flow pattern accurately or not. The impeller and diffuser, however, are dominated by pressure-driven flows such that the effects of turbulence model and grid spacing (except near leading and trailing edges of blades) are less sensitive. The present CFD pump model has been proved to be an efficient and robust analytical tool for pump design due to its very compact numerical structure (requiring small memory), fast turnaround computing time, and versatility for different geometries.

Inducer analysis/pump model development

NASA Technical Reports Server (NTRS)

Cheng, Gary C.

1994-01-01

Current design of high performance turbopumps for rocket engines requires effective and robust analytical tools to provide design information in a productive manner. The main goal of this study was to develop a robust and effective computational fluid dynamics (CFD) pump model for general turbopump design and analysis applications. A finite difference Navier-Stokes flow solver, FDNS, which includes an extended k-epsilon turbulence model and appropriate moving zonal interface boundary conditions, was developed to analyze turbulent flows in turbomachinery devices. In the present study, three key components of the turbopump, the inducer, impeller, and diffuser, were investigated by the proposed pump model, and the numerical results were benchmarked by the experimental data provided by Rocketdyne. For the numerical calculation of inducer flows with tip clearance, the turbulence model and grid spacing are very important. Meanwhile, the development of the cross-stream secondary flow, generated by curved blade passage and the flow through tip leakage, has a strong effect on the inducer flow. Hence, the prediction of the inducer performance critically depends on whether the numerical scheme of the pump model can simulate the secondary flow pattern accurately or not. The impeller and diffuser, however, are dominated by pressure-driven flows such that the effects of turbulence model and grid spacing (except near leading and trailing edges of blades) are less sensitive. The present CFD pump model has been proved to be an efficient and robust analytical tool for pump design due to its very compact numerical structure (requiring small memory), fast turnaround computing time, and versatility for different geometries.

Robust Skull-Stripping Segmentation Based on Irrational Mask for Magnetic Resonance Brain Images.

PubMed

Moldovanu, Simona; Moraru, Luminița; Biswas, Anjan

2015-12-01

This paper proposes a new method for simple, efficient, and robust removal of the non-brain tissues in MR images based on an irrational mask for filtration within a binary morphological operation framework. The proposed skull-stripping segmentation is based on two irrational 3 × 3 and 5 × 5 masks, having the sum of its weights equal to the transcendental number π value provided by the Gregory-Leibniz infinite series. It allows maintaining a lower rate of useful pixel loss. The proposed method has been tested in two ways. First, it has been validated as a binary method by comparing and contrasting with Otsu's, Sauvola's, Niblack's, and Bernsen's binary methods. Secondly, its accuracy has been verified against three state-of-the-art skull-stripping methods: the graph cuts method, the method based on Chan-Vese active contour model, and the simplex mesh and histogram analysis skull stripping. The performance of the proposed method has been assessed using the Dice scores, overlap and extra fractions, and sensitivity and specificity as statistical methods. The gold standard has been provided by two neurologist experts. The proposed method has been tested and validated on 26 image series which contain 216 images from two publicly available databases: the Whole Brain Atlas and the Internet Brain Segmentation Repository that include a highly variable sample population (with reference to age, sex, healthy/diseased). The approach performs accurately on both standardized databases. The main advantage of the proposed method is its robustness and speed.

Cortex Inspired Model for Inverse Kinematics Computation for a Humanoid Robotic Finger

PubMed Central

Gentili, Rodolphe J.; Oh, Hyuk; Molina, Javier; Reggia, James A.; Contreras-Vidal, José L.

2013-01-01

In order to approach human hand performance levels, artificial anthropomorphic hands/fingers have increasingly incorporated human biomechanical features. However, the performance of finger reaching movements to visual targets involving the complex kinematics of multi-jointed, anthropomorphic actuators is a difficult problem. This is because the relationship between sensory and motor coordinates is highly nonlinear, and also often includes mechanical coupling of the two last joints. Recently, we developed a cortical model that learns the inverse kinematics of a simulated anthropomorphic finger. Here, we expand this previous work by assessing if this cortical model is able to learn the inverse kinematics for an actual anthropomorphic humanoid finger having its two last joints coupled and controlled by pneumatic muscles. The findings revealed that single 3D reaching movements, as well as more complex patterns of motion of the humanoid finger, were accurately and robustly performed by this cortical model while producing kinematics comparable to those of humans. This work contributes to the development of a bioinspired controller providing adaptive, robust and flexible control of dexterous robotic and prosthetic hands. PMID:23366569

Object tracking on mobile devices using binary descriptors

NASA Astrophysics Data System (ADS)

Savakis, Andreas; Quraishi, Mohammad Faiz; Minnehan, Breton

2015-03-01

With the growing ubiquity of mobile devices, advanced applications are relying on computer vision techniques to provide novel experiences for users. Currently, few tracking approaches take into consideration the resource constraints on mobile devices. Designing efficient tracking algorithms and optimizing performance for mobile devices can result in better and more efficient tracking for applications, such as augmented reality. In this paper, we use binary descriptors, including Fast Retina Keypoint (FREAK), Oriented FAST and Rotated BRIEF (ORB), Binary Robust Independent Features (BRIEF), and Binary Robust Invariant Scalable Keypoints (BRISK) to obtain real time tracking performance on mobile devices. We consider both Google's Android and Apple's iOS operating systems to implement our tracking approach. The Android implementation is done using Android's Native Development Kit (NDK), which gives the performance benefits of using native code as well as access to legacy libraries. The iOS implementation was created using both the native Objective-C and the C++ programing languages. We also introduce simplified versions of the BRIEF and BRISK descriptors that improve processing speed without compromising tracking accuracy.

Boeing's variable geometry chevron: morphing aerospace structures for jet noise reduction

NASA Astrophysics Data System (ADS)

Calkins, Frederick T.; Mabe, James H.; Butler, George W.

2006-03-01

Boeing is applying cutting edge smart material actuators to the next generation morphing technologies for aircraft. This effort has led to the Variable Geometry Chevrons (VGC), which utilize compact, light weight, and robust shape memory alloy (SMA) actuators. These actuators morph the shape of chevrons on the trailing edge of a jet engine in order to optimize acoustic and performance objectives at multiple flight conditions. We have demonstrated a technical readiness level of 7 by successfully flight testing the VGCs on a Boeing 777-300ER with GE-115B engines. In this paper we describe the VGC design, development and performance during flight test. Autonomous operation of the VGCs, which did not require a control system or aircraft power, was demonstrated. A parametric study was conducted showing the influence of VGC configurations on shockcell generated cabin noise reduction during cruise. The VGC system provided a robust test vehicle to explore chevron configurations for community and shockcell noise reduction. Most importantly, the VGC concept demonstrated an exciting capability to optimize jet nozzle performance at multiple flight conditions.

Integration of the Response Surface Methodology with the Compromise Decision Support Problem in Developing a General Robust Design Procedure

NASA Technical Reports Server (NTRS)

Chen, Wei; Tsui, Kwok-Leung; Allen, Janet K.; Mistree, Farrokh

1994-01-01

In this paper we introduce a comprehensive and rigorous robust design procedure to overcome some limitations of the current approaches. A comprehensive approach is general enough to model the two major types of robust design applications, namely, robust design associated with the minimization of the deviation of performance caused by the deviation of noise factors (uncontrollable parameters), and robust design due to the minimization of the deviation of performance caused by the deviation of control factors (design variables). We achieve mathematical rigor by using, as a foundation, principles from the design of experiments and optimization. Specifically, we integrate the Response Surface Method (RSM) with the compromise Decision Support Problem (DSP). Our approach is especially useful for design problems where there are no closed-form solutions and system performance is computationally expensive to evaluate. The design of a solar powered irrigation system is used as an example. Our focus in this paper is on illustrating our approach rather than on the results per se.

Sequential defense against random and intentional attacks in complex networks.

PubMed

Chen, Pin-Yu; Cheng, Shin-Ming

2015-02-01

Network robustness against attacks is one of the most fundamental researches in network science as it is closely associated with the reliability and functionality of various networking paradigms. However, despite the study on intrinsic topological vulnerabilities to node removals, little is known on the network robustness when network defense mechanisms are implemented, especially for networked engineering systems equipped with detection capabilities. In this paper, a sequential defense mechanism is first proposed in complex networks for attack inference and vulnerability assessment, where the data fusion center sequentially infers the presence of an attack based on the binary attack status reported from the nodes in the network. The network robustness is evaluated in terms of the ability to identify the attack prior to network disruption under two major attack schemes, i.e., random and intentional attacks. We provide a parametric plug-in model for performance evaluation on the proposed mechanism and validate its effectiveness and reliability via canonical complex network models and real-world large-scale network topology. The results show that the sequential defense mechanism greatly improves the network robustness and mitigates the possibility of network disruption by acquiring limited attack status information from a small subset of nodes in the network.

Robust Optimal Adaptive Control Method with Large Adaptive Gain

NASA Technical Reports Server (NTRS)

Nguyen, Nhan T.

2009-01-01

In the presence of large uncertainties, a control system needs to be able to adapt rapidly to regain performance. Fast adaptation is referred to the implementation of adaptive control with a large adaptive gain to reduce the tracking error rapidly. However, a large adaptive gain can lead to high-frequency oscillations which can adversely affect robustness of an adaptive control law. A new adaptive control modification is presented that can achieve robust adaptation with a large adaptive gain without incurring high-frequency oscillations as with the standard model-reference adaptive control. The modification is based on the minimization of the Y2 norm of the tracking error, which is formulated as an optimal control problem. The optimality condition is used to derive the modification using the gradient method. The optimal control modification results in a stable adaptation and allows a large adaptive gain to be used for better tracking while providing sufficient stability robustness. Simulations were conducted for a damaged generic transport aircraft with both standard adaptive control and the adaptive optimal control modification technique. The results demonstrate the effectiveness of the proposed modification in tracking a reference model while maintaining a sufficient time delay margin.

Effective real-time vehicle tracking using discriminative sparse coding on local patches

NASA Astrophysics Data System (ADS)

Chen, XiangJun; Ye, Feiyue; Ruan, Yaduan; Chen, Qimei

2016-01-01

A visual tracking framework that provides an object detector and tracker, which focuses on effective and efficient visual tracking in surveillance of real-world intelligent transport system applications, is proposed. The framework casts the tracking task as problems of object detection, feature representation, and classification, which is different from appearance model-matching approaches. Through a feature representation of discriminative sparse coding on local patches called DSCLP, which trains a dictionary on local clustered patches sampled from both positive and negative datasets, the discriminative power and robustness has been improved remarkably, which makes our method more robust to a complex realistic setting with all kinds of degraded image quality. Moreover, by catching objects through one-time background subtraction, along with offline dictionary training, computation time is dramatically reduced, which enables our framework to achieve real-time tracking performance even in a high-definition sequence with heavy traffic. Experiment results show that our work outperforms some state-of-the-art methods in terms of speed, accuracy, and robustness and exhibits increased robustness in a complex real-world scenario with degraded image quality caused by vehicle occlusion, image blur of rain or fog, and change in viewpoint or scale.

Gradient descent for robust kernel-based regression

NASA Astrophysics Data System (ADS)

Guo, Zheng-Chu; Hu, Ting; Shi, Lei

2018-06-01

In this paper, we study the gradient descent algorithm generated by a robust loss function over a reproducing kernel Hilbert space (RKHS). The loss function is defined by a windowing function G and a scale parameter σ, which can include a wide range of commonly used robust losses for regression. There is still a gap between theoretical analysis and optimization process of empirical risk minimization based on loss: the estimator needs to be global optimal in the theoretical analysis while the optimization method can not ensure the global optimality of its solutions. In this paper, we aim to fill this gap by developing a novel theoretical analysis on the performance of estimators generated by the gradient descent algorithm. We demonstrate that with an appropriately chosen scale parameter σ, the gradient update with early stopping rules can approximate the regression function. Our elegant error analysis can lead to convergence in the standard L 2 norm and the strong RKHS norm, both of which are optimal in the mini-max sense. We show that the scale parameter σ plays an important role in providing robustness as well as fast convergence. The numerical experiments implemented on synthetic examples and real data set also support our theoretical results.

Strong and Robust Polyaniline-Based Supramolecular Hydrogels for Flexible Supercapacitors.

PubMed

Li, Wanwan; Gao, Fengxian; Wang, Xiaoqian; Zhang, Ning; Ma, Mingming

2016-08-01

We report a supramolecular strategy to prepare conductive hydrogels with outstanding mechanical and electrochemical properties, which are utilized for flexible solid-state supercapacitors (SCs) with high performance. The supramolecular assembly of polyaniline and polyvinyl alcohol through dynamic boronate bond yields the polyaniline-polyvinyl alcohol hydrogel (PPH), which shows remarkable tensile strength (5.3 MPa) and electrochemical capacitance (928 F g(-1) ). The flexible solid-state supercapacitor based on PPH provides a large capacitance (306 mF cm(-2) and 153 F g(-1) ) and a high energy density of 13.6 Wh kg(-1) , superior to other flexible supercapacitors. The robustness of the PPH-based supercapacitor is demonstrated by the 100 % capacitance retention after 1000 mechanical folding cycles, and the 90 % capacitance retention after 1000 galvanostatic charge-discharge cycles. The high activity and robustness enable the PPH-based supercapacitor as a promising power device for flexible electronics. © 2016 WILEY-VCH Verlag GmbH & Co. KGaA, Weinheim.

Cooperative vehicles for robust traffic congestion reduction: An analysis based on algorithmic, environmental and agent behavioral factors

PubMed Central

Desai, Prajakta; Desai, Aniruddha

2017-01-01

Traffic congestion continues to be a persistent problem throughout the world. As vehicle-to-vehicle communication develops, there is an opportunity of using cooperation among close proximity vehicles to tackle the congestion problem. The intuition is that if vehicles could cooperate opportunistically when they come close enough to each other, they could, in effect, spread themselves out among alternative routes so that vehicles do not all jam up on the same roads. Our previous work proposed a decentralized multiagent based vehicular congestion management algorithm entitled Congestion Avoidance and Route Allocation using Virtual Agent Negotiation (CARAVAN), wherein the vehicles acting as intelligent agents perform cooperative route allocation using inter-vehicular communication. This paper focuses on evaluating the practical applicability of this approach by testing its robustness and performance (in terms of travel time reduction), across variations in: (a) environmental parameters such as road network topology and configuration; (b) algorithmic parameters such as vehicle agent preferences and route cost/preference multipliers; and (c) agent-related parameters such as equipped/non-equipped vehicles and compliant/non-compliant agents. Overall, the results demonstrate the adaptability and robustness of the decentralized cooperative vehicles approach to providing global travel time reduction using simple local coordination strategies. PMID:28792513

Cooperative vehicles for robust traffic congestion reduction: An analysis based on algorithmic, environmental and agent behavioral factors.

PubMed

Desai, Prajakta; Loke, Seng W; Desai, Aniruddha

2017-01-01

Traffic congestion continues to be a persistent problem throughout the world. As vehicle-to-vehicle communication develops, there is an opportunity of using cooperation among close proximity vehicles to tackle the congestion problem. The intuition is that if vehicles could cooperate opportunistically when they come close enough to each other, they could, in effect, spread themselves out among alternative routes so that vehicles do not all jam up on the same roads. Our previous work proposed a decentralized multiagent based vehicular congestion management algorithm entitled Congestion Avoidance and Route Allocation using Virtual Agent Negotiation (CARAVAN), wherein the vehicles acting as intelligent agents perform cooperative route allocation using inter-vehicular communication. This paper focuses on evaluating the practical applicability of this approach by testing its robustness and performance (in terms of travel time reduction), across variations in: (a) environmental parameters such as road network topology and configuration; (b) algorithmic parameters such as vehicle agent preferences and route cost/preference multipliers; and (c) agent-related parameters such as equipped/non-equipped vehicles and compliant/non-compliant agents. Overall, the results demonstrate the adaptability and robustness of the decentralized cooperative vehicles approach to providing global travel time reduction using simple local coordination strategies.

Glass Solder Approach for Robust, Low-Loss, Fiber-to-Waveguide Coupling

NASA Technical Reports Server (NTRS)

McNeil, Shirley; Battle, Philip; Hawthorne, Todd; Lower, John; Wiley, Robert; Clark, Brett

2012-01-01

The key advantages of this approach include the fact that the index of interface glass (such as Pb glass n = 1.66) greatly reduces Fresnel losses at the fiber-to-waveguide interface, resulting in lower optical losses. A contiguous structure cannot be misaligned and readily lends itself for use on aircraft or space operation. The epoxy-free, fiber-to-waveguide interface provides an optically pure, sealed interface for low-loss, highpower coupling. Proof of concept of this approach has included successful attachment of the low-melting-temperature glass to the x-y plane of the crystal, successful attachment of the low-meltingtemperature glass to the end face of a standard SMF (single-mode fiber), and successful attachment of a wetted lowmelting- temperature glass SMF to the end face of a KTP crystal. There are many photonic components on the market whose performance and robustness could benefit from this coupling approach once fully developed. It can be used in a variety of fibercoupled waveguide-based components, such as frequency conversion modules, and amplitude and phase modulators. A robust, epoxy-free, contiguous optical interface lends itself to components that require low-loss, high-optical-power handling capability, and good performance in adverse environments such as flight or space operation.

Analysis and improvements of Adaptive Particle Refinement (APR) through CPU time, accuracy and robustness considerations

NASA Astrophysics Data System (ADS)

Chiron, L.; Oger, G.; de Leffe, M.; Le Touzé, D.

2018-02-01

While smoothed-particle hydrodynamics (SPH) simulations are usually performed using uniform particle distributions, local particle refinement techniques have been developed to concentrate fine spatial resolutions in identified areas of interest. Although the formalism of this method is relatively easy to implement, its robustness at coarse/fine interfaces can be problematic. Analysis performed in [16] shows that the radius of refined particles should be greater than half the radius of unrefined particles to ensure robustness. In this article, the basics of an Adaptive Particle Refinement (APR) technique, inspired by AMR in mesh-based methods, are presented. This approach ensures robustness with alleviated constraints. Simulations applying the new formalism proposed achieve accuracy comparable to fully refined spatial resolutions, together with robustness, low CPU times and maintained parallel efficiency.

Projection-slice theorem based 2D-3D registration

NASA Astrophysics Data System (ADS)

van der Bom, M. J.; Pluim, J. P. W.; Homan, R.; Timmer, J.; Bartels, L. W.

2007-03-01

In X-ray guided procedures, the surgeon or interventionalist is dependent on his or her knowledge of the patient's specific anatomy and the projection images acquired during the procedure by a rotational X-ray source. Unfortunately, these X-ray projections fail to give information on the patient's anatomy in the dimension along the projection axis. It would be very profitable to provide the surgeon or interventionalist with a 3D insight of the patient's anatomy that is directly linked to the X-ray images acquired during the procedure. In this paper we present a new robust 2D-3D registration method based on the Projection-Slice Theorem. This theorem gives us a relation between the pre-operative 3D data set and the interventional projection images. Registration is performed by minimizing a translation invariant similarity measure that is applied to the Fourier transforms of the images. The method was tested by performing multiple exhaustive searches on phantom data of the Circle of Willis and on a post-mortem human skull. Validation was performed visually by comparing the test projections to the ones that corresponded to the minimal value of the similarity measure. The Projection-Slice Theorem Based method was shown to be very effective and robust, and provides capture ranges up to 62 degrees. Experiments have shown that the method is capable of retrieving similar results when translations are applied to the projection images.

Problem-Solving Phase Transitions During Team Collaboration.

PubMed

Wiltshire, Travis J; Butner, Jonathan E; Fiore, Stephen M

2018-01-01

Multiple theories of problem-solving hypothesize that there are distinct qualitative phases exhibited during effective problem-solving. However, limited research has attempted to identify when transitions between phases occur. We integrate theory on collaborative problem-solving (CPS) with dynamical systems theory suggesting that when a system is undergoing a phase transition it should exhibit a peak in entropy and that entropy levels should also relate to team performance. Communications from 40 teams that collaborated on a complex problem were coded for occurrence of problem-solving processes. We applied a sliding window entropy technique to each team's communications and specified criteria for (a) identifying data points that qualify as peaks and (b) determining which peaks were robust. We used multilevel modeling, and provide a qualitative example, to evaluate whether phases exhibit distinct distributions of communication processes. We also tested whether there was a relationship between entropy values at transition points and CPS performance. We found that a proportion of entropy peaks was robust and that the relative occurrence of communication codes varied significantly across phases. Peaks in entropy thus corresponded to qualitative shifts in teams' CPS communications, providing empirical evidence that teams exhibit phase transitions during CPS. Also, lower average levels of entropy at the phase transition points predicted better CPS performance. We specify future directions to improve understanding of phase transitions during CPS, and collaborative cognition, more broadly. Copyright © 2017 Cognitive Science Society, Inc.

Molecular inspired models for prediction and control of directional FSO/RF wireless networks

NASA Astrophysics Data System (ADS)

Llorca, Jaime; Milner, Stuart D.; Davis, Christopher C.

2010-08-01

Directional wireless networks using FSO and RF transmissions provide wireless backbone support for mobile communications in dynamic environments. The heterogeneous and dynamic nature of such networks challenges their robustness and requires self-organization mechanisms to assure end-to-end broadband connectivity. We developed a framework based on the definition of a potential energy function to characterize robustness in communication networks and the study of first and second order variations of the potential energy to provide prediction and control strategies for network performance optimization. In this paper, we present non-convex molecular potentials such as the Morse Potential, used to describe the potential energy of bonds within molecules, for the characterization of communication links in the presence of physical constraints such as the power available at the network nodes. The inclusion of the Morse Potential translates into adaptive control strategies where forces on network nodes drive the release, retention or reconfiguration of communication links for network performance optimization. Simulation results show the effectiveness of our self-organized control mechanism, where the physical topology reorganizes to maximize the number of source to destination communicating pairs. Molecular Normal Mode Analysis (NMA) techniques for assessing network performance degradation in dynamic networks are also presented. Preliminary results show correlation between peaks in the eigenvalues of the Hessian of the network potential and network degradation.

Research in robust control for hypersonic aircraft

NASA Technical Reports Server (NTRS)

Calise, A. J.

1993-01-01

The research during the second reporting period has focused on robust control design for hypersonic vehicles. An already existing design for the Hypersonic Winged-Cone Configuration has been enhanced. Uncertainty models for the effects of propulsion system perturbations due to angle of attack variations, structural vibrations, and uncertainty in control effectiveness were developed. Using H(sub infinity) and mu-synthesis techniques, various control designs were performed in order to investigate the impact of these effects on achievable robust performance.

Assessing climate change-robustness of protected area management plans-The case of Germany.

PubMed

Geyer, Juliane; Kreft, Stefan; Jeltsch, Florian; Ibisch, Pierre L

2017-01-01

Protected areas are arguably the most important instrument of biodiversity conservation. To keep them fit under climate change, their management needs to be adapted to address related direct and indirect changes. In our study we focus on the adaptation of conservation management planning, evaluating management plans of 60 protected areas throughout Germany with regard to their climate change-robustness. First, climate change-robust conservation management was defined using 11 principles and 44 criteria, which followed an approach similar to sustainability standards. We then evaluated the performance of individual management plans concerning the climate change-robustness framework. We found that climate change-robustness of protected areas hardly exceeded 50 percent of the potential performance, with most plans ranking in the lower quarter. Most Natura 2000 protected areas, established under conservation legislation of the European Union, belong to the sites with especially poor performance, with lower values in smaller areas. In general, the individual principles showed very different rates of accordance with our principles, but similarly low intensity. Principles with generally higher performance values included holistic knowledge management, public accountability and acceptance as well as systemic and strategic coherence. Deficiencies were connected to dealing with the future and uncertainty. Lastly, we recommended the presented principles and criteria as essential guideposts that can be used as a checklist for working towards more climate change-robust planning.

Assessing climate change-robustness of protected area management plans—The case of Germany

PubMed Central

Geyer, Juliane; Kreft, Stefan; Jeltsch, Florian; Ibisch, Pierre L.

2017-01-01

Protected areas are arguably the most important instrument of biodiversity conservation. To keep them fit under climate change, their management needs to be adapted to address related direct and indirect changes. In our study we focus on the adaptation of conservation management planning, evaluating management plans of 60 protected areas throughout Germany with regard to their climate change-robustness. First, climate change-robust conservation management was defined using 11 principles and 44 criteria, which followed an approach similar to sustainability standards. We then evaluated the performance of individual management plans concerning the climate change-robustness framework. We found that climate change-robustness of protected areas hardly exceeded 50 percent of the potential performance, with most plans ranking in the lower quarter. Most Natura 2000 protected areas, established under conservation legislation of the European Union, belong to the sites with especially poor performance, with lower values in smaller areas. In general, the individual principles showed very different rates of accordance with our principles, but similarly low intensity. Principles with generally higher performance values included holistic knowledge management, public accountability and acceptance as well as systemic and strategic coherence. Deficiencies were connected to dealing with the future and uncertainty. Lastly, we recommended the presented principles and criteria as essential guideposts that can be used as a checklist for working towards more climate change-robust planning. PMID:28982187

Meta-T: TetrisⓇ as an experimental paradigm for cognitive skills research.

PubMed

Lindstedt, John K; Gray, Wayne D

2015-12-01

Studies of human performance in complex tasks using video games are an attractive prospect, but many existing games lack a comprehensive way to modify the game and track performance beyond basic levels of analysis. Meta-T provides experimenters a tool to study behavior in a dynamic task environment with time-stressed decision-making and strong perceptual-motor elements, offering a host of experimental manipulations with a robust and detailed logging system for all user events, system events, and screen objects. Its experimenter-friendly interface provides control over detailed parameters of the task environment without need for programming expertise. Support for eye-tracking and computational cognitive modeling extend the paradigm's scope.

An Efficient, Robust, and Inexpensive Grinding Device for Herbal Samples like Cinchona Bark

PubMed Central

Hansen, Steen Honoré; Holmfred, Else; Cornett, Claus; Maldonado, Carla; Rønsted, Nina

2015-01-01

An effective, robust, and inexpensive grinding device for the grinding of herb samples like bark and roots was developed by rebuilding a commercially available coffee grinder. The grinder was constructed to be able to provide various particle sizes, to be easy to clean, and to have a minimum of dead volume. The recovery of the sample when grinding as little as 50 mg of crude Cinchona bark was about 60%. Grinding is performed in seconds with no rise in temperature, and the grinder is easily disassembled to be cleaned. The influence of the particle size of the obtained powders on the recovery of analytes in extracts of Cinchona bark was investigated using HPLC. PMID:26839823

Design and implementation of a 2-DOF PID compensation for magnetic levitation systems.

PubMed

Ghosh, Arun; Rakesh Krishnan, T; Tejaswy, Pailla; Mandal, Abhisek; Pradhan, Jatin K; Ranasingh, Subhakant

2014-07-01

This paper employs a 2-DOF (degree of freedom) PID controller for compensating a physical magnetic levitation system. It is shown that because of having a feedforward gain in the proposed 2-DOF PID control, the transient performance of the compensated system can be changed in a desired manner unlike the conventional 1-DOF PID control. It is also shown that for a choice of PID parameters, although the theoretical loop robustness is the same for both the compensated systems, in real-time, 2-DOF PID control may provide superior robustness if a suitable choice of the feedforward parameter is made. The results are verified through simulations and experiments. Copyright © 2014 ISA. Published by Elsevier Ltd. All rights reserved.

Improved BDF Relaying Scheme Using Time Diversity over Atmospheric Turbulence and Misalignment Fading Channels

PubMed Central

García-Zambrana, Antonio; Castillo-Vázquez, Carmen; Castillo-Vázquez, Beatriz

2014-01-01

A novel bit-detect-and-forward (BDF) relaying scheme based on repetition coding with the relay is proposed, significantly improving the robustness to impairments proper to free-space optical (FSO) communications such as unsuitable alignment between transmitter and receiver as well as fluctuations in the irradiance of the transmitted optical beam due to the atmospheric turbulence. Closed-form asymptotic bit-error-rate (BER) expressions are derived for a 3-way FSO communication setup. Fully exploiting the potential time-diversity available in the relay turbulent channel, a relevant better performance is achieved, showing a greater robustness to the relay location since a high diversity gain is provided regardless of the source-destination link distance. PMID:24587711

Selective robust optimization: A new intensity-modulated proton therapy optimization strategy

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

Li, Yupeng; Niemela, Perttu; Siljamaki, Sami

2015-08-15

Purpose: To develop a new robust optimization strategy for intensity-modulated proton therapy as an important step in translating robust proton treatment planning from research to clinical applications. Methods: In selective robust optimization, a worst-case-based robust optimization algorithm is extended, and terms of the objective function are selectively computed from either the worst-case dose or the nominal dose. Two lung cancer cases and one head and neck cancer case were used to demonstrate the practical significance of the proposed robust planning strategy. The lung cancer cases had minimal tumor motion less than 5 mm, and, for the demonstration of the methodology,more » are assumed to be static. Results: Selective robust optimization achieved robust clinical target volume (CTV) coverage and at the same time increased nominal planning target volume coverage to 95.8%, compared to the 84.6% coverage achieved with CTV-based robust optimization in one of the lung cases. In the other lung case, the maximum dose in selective robust optimization was lowered from a dose of 131.3% in the CTV-based robust optimization to 113.6%. Selective robust optimization provided robust CTV coverage in the head and neck case, and at the same time improved controls over isodose distribution so that clinical requirements may be readily met. Conclusions: Selective robust optimization may provide the flexibility and capability necessary for meeting various clinical requirements in addition to achieving the required plan robustness in practical proton treatment planning settings.« less

Category-length and category-strength effects using images of scenes.

PubMed

Baumann, Oliver; Vromen, Joyce M G; Boddy, Adam C; Crawshaw, Eloise; Humphreys, Michael S

2018-06-21

Global matching models have provided an important theoretical framework for recognition memory. Key predictions of this class of models are that (1) increasing the number of occurrences in a study list of some items affects the performance on other items (list-strength effect) and that (2) adding new items results in a deterioration of performance on the other items (list-length effect). Experimental confirmation of these predictions has been difficult, and the results have been inconsistent. A review of the existing literature, however, suggests that robust length and strength effects do occur when sufficiently similar hard-to-label items are used. In an effort to investigate this further, we had participants study lists containing one or more members of visual scene categories (bathrooms, beaches, etc.). Experiments 1 and 2 replicated and extended previous findings showing that the study of additional category members decreased accuracy, providing confirmation of the category-length effect. Experiment 3 showed that repeating some category members decreased the accuracy of nonrepeated members, providing evidence for a category-strength effect. Experiment 4 eliminated a potential challenge to these results. Taken together, these findings provide robust support for global matching models of recognition memory. The overall list lengths, the category sizes, and the number of repetitions used demonstrated that scene categories are well-suited to testing the fundamental assumptions of global matching models. These include (A) interference from memories for similar items and contexts, (B) nondestructive interference, and (C) that conjunctive information is made available through a matching operation.

Well-defined porous membranes for robust omniphobic surfaces via microfluidic emulsion templating

NASA Astrophysics Data System (ADS)

Zhu, Pingan; Kong, Tiantian; Tang, Xin; Wang, Liqiu

2017-06-01

Durability is a long-standing challenge in designing liquid-repellent surfaces. A high-performance omniphobic surface must robustly repel liquids, while maintaining mechanical/chemical stability. However, liquid repellency and mechanical durability are generally mutually exclusive properties for many omniphobic surfaces--improving one performance inevitably results in decreased performance in another. Here we report well-defined porous membranes for durable omniphobic surfaces inspired by the springtail cuticle. The omniphobicity is shown via an amphiphilic material micro-textured with re-entrant surface morphology; the mechanical durability arises from the interconnected microstructures. The innovative fabrication method--termed microfluidic emulsion templating--is facile, cost-effective, scalable and can precisely engineer the structural topographies. The robust omniphobic surface is expected to open up new avenues for diverse applications due to its mechanical and chemical robustness, transparency, reversible Cassie-Wenzel transition, transferability, flexibility and stretchability.

Quality assurance and quality improvement in U.S. clinical molecular genetic laboratories.

PubMed

Chen, Bin; Richards, C Sue; Wilson, Jean Amos; Lyon, Elaine

2011-04-01

A robust quality-assurance program is essential for laboratories that perform molecular genetic testing to maintain high-quality testing and be able to address challenges associated with performance or delivery of testing services as the use of molecular genetic tests continues to expand in clinical and public health practice. This unit discusses quality-assurance and quality-improvement considerations that are critical for molecular genetic testing performed for heritable diseases and conditions. Specific discussion is provided on applying regulatory standards and best practices in establishing/verifying test performance, ensuring quality of the total testing process, monitoring and maintaining personnel competency, and continuing quality improvement. The unit provides a practical reference for laboratory professionals to use in recognizing and addressing essential quality-assurance issues in human molecular genetic testing. It should also provide useful information for genetics researchers, trainees, and fellows in human genetics training programs, as well as others who are interested in quality assurance and quality improvement for molecular genetic testing. 2011 by John Wiley & Sons, Inc.

Performance of salmon fishery portfolios across western North America.

PubMed

Griffiths, Jennifer R; Schindler, Daniel E; Armstrong, Jonathan B; Scheuerell, Mark D; Whited, Diane C; Clark, Robert A; Hilborn, Ray; Holt, Carrie A; Lindley, Steven T; Stanford, Jack A; Volk, Eric C

2014-12-01

Quantifying the variability in the delivery of ecosystem services across the landscape can be used to set appropriate management targets, evaluate resilience and target conservation efforts. Ecosystem functions and services may exhibit portfolio-type dynamics, whereby diversity within lower levels promotes stability at more aggregated levels. Portfolio theory provides a framework to characterize the relative performance among ecosystems and the processes that drive differences in performance. We assessed Pacific salmon Oncorhynchus spp. portfolio performance across their native latitudinal range focusing on the reliability of salmon returns as a metric with which to assess the function of salmon ecosystems and their services to humans. We used the Sharpe ratio (e.g. the size of the total salmon return to the portfolio relative to its variability (risk)) to evaluate the performance of Chinook and sockeye salmon portfolios across the west coast of North America. We evaluated the effects on portfolio performance from the variance of and covariance among salmon returns within each portfolio, and the association between portfolio performance and watershed attributes. We found a positive latitudinal trend in the risk-adjusted performance of Chinook and sockeye salmon portfolios that also correlated negatively with anthropogenic impact on watersheds (e.g. dams and land-use change). High-latitude Chinook salmon portfolios were on average 2·5 times more reliable, and their portfolio risk was mainly due to low variance in the individual assets. Sockeye salmon portfolios were also more reliable at higher latitudes, but sources of risk varied among the highest performing portfolios. Synthesis and applications . Portfolio theory provides a straightforward method for characterizing the resilience of salmon ecosystems and their services. Natural variability in portfolio performance among undeveloped watersheds provides a benchmark for restoration efforts. Locally and regionally, assessing the sources of portfolio risk can guide actions to maintain existing resilience (protect habitat and disturbance regimes that maintain response diversity; employ harvest strategies sensitive to different portfolio components) or improve restoration activities. Improving our understanding of portfolio reliability may allow for management of natural resources that is robust to ongoing environmental change. Portfolio theory provides a straightforward method for characterizing the resilience of salmon ecosystems and their services. Natural variability in portfolio performance among undeveloped watersheds provides a benchmark for restoration efforts. Locally and regionally, assessing the sources of portfolio risk can guide actions to maintain existing resilience (protect habitat and disturbance regimes that maintain response diversity; employ harvest strategies sensitive to different portfolio components) or improve restoration activities. Improving our understanding of portfolio reliability may allow for management of natural resources that is robust to ongoing environmental change.

Performance of salmon fishery portfolios across western North America

PubMed Central

Griffiths, Jennifer R; Schindler, Daniel E; Armstrong, Jonathan B; Scheuerell, Mark D; Whited, Diane C; Clark, Robert A; Hilborn, Ray; Holt, Carrie A; Lindley, Steven T; Stanford, Jack A; Volk, Eric C

2014-01-01

Quantifying the variability in the delivery of ecosystem services across the landscape can be used to set appropriate management targets, evaluate resilience and target conservation efforts. Ecosystem functions and services may exhibit portfolio-type dynamics, whereby diversity within lower levels promotes stability at more aggregated levels. Portfolio theory provides a framework to characterize the relative performance among ecosystems and the processes that drive differences in performance. We assessed Pacific salmon Oncorhynchus spp. portfolio performance across their native latitudinal range focusing on the reliability of salmon returns as a metric with which to assess the function of salmon ecosystems and their services to humans. We used the Sharpe ratio (e.g. the size of the total salmon return to the portfolio relative to its variability (risk)) to evaluate the performance of Chinook and sockeye salmon portfolios across the west coast of North America. We evaluated the effects on portfolio performance from the variance of and covariance among salmon returns within each portfolio, and the association between portfolio performance and watershed attributes. We found a positive latitudinal trend in the risk-adjusted performance of Chinook and sockeye salmon portfolios that also correlated negatively with anthropogenic impact on watersheds (e.g. dams and land-use change). High-latitude Chinook salmon portfolios were on average 2·5 times more reliable, and their portfolio risk was mainly due to low variance in the individual assets. Sockeye salmon portfolios were also more reliable at higher latitudes, but sources of risk varied among the highest performing portfolios. Synthesis and applications. Portfolio theory provides a straightforward method for characterizing the resilience of salmon ecosystems and their services. Natural variability in portfolio performance among undeveloped watersheds provides a benchmark for restoration efforts. Locally and regionally, assessing the sources of portfolio risk can guide actions to maintain existing resilience (protect habitat and disturbance regimes that maintain response diversity; employ harvest strategies sensitive to different portfolio components) or improve restoration activities. Improving our understanding of portfolio reliability may allow for management of natural resources that is robust to ongoing environmental change. Portfolio theory provides a straightforward method for characterizing the resilience of salmon ecosystems and their services. Natural variability in portfolio performance among undeveloped watersheds provides a benchmark for restoration efforts. Locally and regionally, assessing the sources of portfolio risk can guide actions to maintain existing resilience (protect habitat and disturbance regimes that maintain response diversity; employ harvest strategies sensitive to different portfolio components) or improve restoration activities. Improving our understanding of portfolio reliability may allow for management of natural resources that is robust to ongoing environmental change. PMID:25552746

Testate amoeba transfer function performance along localised hydrological gradients.

PubMed

Tsyganov, Andrey N; Mityaeva, Olga A; Mazei, Yuri A; Payne, Richard J

2016-09-01

Testate amoeba transfer functions are widely used for reconstruction of palaeo-hydrological regime in peatlands. However, the limitations of this approach have become apparent with increasing attention to validation and assessing sources of uncertainty. This paper investigates effects of peatland type and sampling depth on the performance of a transfer function using an independent test-set from four Sphagnum-dominated sites in European Russia (Penza Region). We focus on transfer function performance along localised hydrological gradients, which is a useful analogue for predictive ability through time. The performance of the transfer function with the independent test-set was generally weaker than for the leave-one-out or bootstrap cross-validations. However, the transfer function was robust for the reconstruction of relative changes in water-table depth, provided the presence of good modern analogues and overlap in water-table depth ranges. When applied to subsurface samples, the performance of the transfer function was reduced due to selective decomposition, the presence of deep-dwelling taxa or vertical transfer of shells. Our results stress the importance of thorough testing of transfer functions, and highlight the role of taphonomic processes in determining results. Further studies of stratification, taxonomy and taphonomy of testate amoebae will be needed to improve the robustness of transfer function output. Copyright © 2015 Elsevier GmbH. All rights reserved.

Robust Satisficing Decision Making for Unmanned Aerial Vehicle Complex Missions under Severe Uncertainty

PubMed Central

Ji, Xiaoting; Niu, Yifeng; Shen, Lincheng

2016-01-01

This paper presents a robust satisficing decision-making method for Unmanned Aerial Vehicles (UAVs) executing complex missions in an uncertain environment. Motivated by the info-gap decision theory, we formulate this problem as a novel robust satisficing optimization problem, of which the objective is to maximize the robustness while satisfying some desired mission requirements. Specifically, a new info-gap based Markov Decision Process (IMDP) is constructed to abstract the uncertain UAV system and specify the complex mission requirements with the Linear Temporal Logic (LTL). A robust satisficing policy is obtained to maximize the robustness to the uncertain IMDP while ensuring a desired probability of satisfying the LTL specifications. To this end, we propose a two-stage robust satisficing solution strategy which consists of the construction of a product IMDP and the generation of a robust satisficing policy. In the first stage, a product IMDP is constructed by combining the IMDP with an automaton representing the LTL specifications. In the second, an algorithm based on robust dynamic programming is proposed to generate a robust satisficing policy, while an associated robustness evaluation algorithm is presented to evaluate the robustness. Finally, through Monte Carlo simulation, the effectiveness of our algorithms is demonstrated on an UAV search mission under severe uncertainty so that the resulting policy can maximize the robustness while reaching the desired performance level. Furthermore, by comparing the proposed method with other robust decision-making methods, it can be concluded that our policy can tolerate higher uncertainty so that the desired performance level can be guaranteed, which indicates that the proposed method is much more effective in real applications. PMID:27835670

Robust Satisficing Decision Making for Unmanned Aerial Vehicle Complex Missions under Severe Uncertainty.

PubMed

Ji, Xiaoting; Niu, Yifeng; Shen, Lincheng

2016-01-01

This paper presents a robust satisficing decision-making method for Unmanned Aerial Vehicles (UAVs) executing complex missions in an uncertain environment. Motivated by the info-gap decision theory, we formulate this problem as a novel robust satisficing optimization problem, of which the objective is to maximize the robustness while satisfying some desired mission requirements. Specifically, a new info-gap based Markov Decision Process (IMDP) is constructed to abstract the uncertain UAV system and specify the complex mission requirements with the Linear Temporal Logic (LTL). A robust satisficing policy is obtained to maximize the robustness to the uncertain IMDP while ensuring a desired probability of satisfying the LTL specifications. To this end, we propose a two-stage robust satisficing solution strategy which consists of the construction of a product IMDP and the generation of a robust satisficing policy. In the first stage, a product IMDP is constructed by combining the IMDP with an automaton representing the LTL specifications. In the second, an algorithm based on robust dynamic programming is proposed to generate a robust satisficing policy, while an associated robustness evaluation algorithm is presented to evaluate the robustness. Finally, through Monte Carlo simulation, the effectiveness of our algorithms is demonstrated on an UAV search mission under severe uncertainty so that the resulting policy can maximize the robustness while reaching the desired performance level. Furthermore, by comparing the proposed method with other robust decision-making methods, it can be concluded that our policy can tolerate higher uncertainty so that the desired performance level can be guaranteed, which indicates that the proposed method is much more effective in real applications.

Integrated United States Air Surveillance Governance Report

DTIC Science & Technology

2010-07-07

with examining whether and how IS departments and agencies might establish a governance mechanism to manage IS services in a manner that improves...Task Force recommends that an enduring interagency organization be established for collaborative management of IS services. It should be based on a...Committee (ISSAC)--would provide overall IS management and policy direction. IS technical work would be performed by a robust network of ISSAC

Distributed processing for features improvement in real-time portable medical devices.

PubMed

Mercado, Erwin John Saavedra

2008-01-01

Portable biomedical devices are being developed and incorporated in daily life. Nevertheless, their standalone capacity is diminished due to the lack of processing power required to face such duties as for example, signal artifacts robustness in EKG monitor devices. The following paper presents a multiprocessor architecture made from simple microcontrollers to provide an increase in processing performance, power consumption efficiency and lower cost.

Demonstration of a Corner-cube-interferometer LWIR Hyperspectral Imager

NASA Astrophysics Data System (ADS)

Renhorn, Ingmar G. E.; Svensson, Thomas; Cronström, Staffan; Hallberg, Tomas; Persson, Rolf; Lindell, Roland; Boreman, Glenn D.

2010-01-01

An interferometric long-wavelength infrared (LWIR) hyperspectral imager is demonstrated, based on a Michelson corner-cube interferometer. This class of system is inherently mechanically robust, and should have advantages over Sagnac-interferometer systems in terms of relaxed beamsplitter-coating specifications, and wider unvignetted field of view. Preliminary performance data from the laboratory prototype system are provided regarding imaging, spectral resolution, and fidelity of acquired spectra.

Robust SMES controller design for stabilization of inter-area oscillation considering coil size and system uncertainties

NASA Astrophysics Data System (ADS)

Ngamroo, Issarachai

2010-12-01

It is well known that the superconducting magnetic energy storage (SMES) is able to quickly exchange active and reactive power with the power system. The SMES is expected to be the smart storage device for power system stabilization. Although the stabilizing effect of SMES is significant, the SMES is quite costly. Particularly, the superconducting magnetic coil size which is the essence of the SMES, must be carefully selected. On the other hand, various generation and load changes, unpredictable network structure, etc., cause system uncertainties. The power controller of SMES which is designed without considering such uncertainties, may not tolerate and loses stabilizing effect. To overcome these problems, this paper proposes the new design of robust SMES controller taking coil size and system uncertainties into account. The structure of the active and reactive power controllers is the 1st-order lead-lag compensator. No need for the exact mathematical representation, system uncertainties are modeled by the inverse input multiplicative perturbation. Without the difficulty of the trade-off of damping performance and robustness, the optimization problem of control parameters is formulated. The particle swarm optimization is used for solving the optimal parameters at each coil size automatically. Based on the normalized integral square error index and the consideration of coil current constraint, the robust SMES with the smallest coil size which still provides the satisfactory stabilizing effect, can be achieved. Simulation studies in the two-area four-machine interconnected power system show the superior robustness of the proposed robust SMES with the smallest coil size under various operating conditions over the non-robust SMES with large coil size.

Fully automatic detection and segmentation of abdominal aortic thrombus in post-operative CTA images using Deep Convolutional Neural Networks.

PubMed

López-Linares, Karen; Aranjuelo, Nerea; Kabongo, Luis; Maclair, Gregory; Lete, Nerea; Ceresa, Mario; García-Familiar, Ainhoa; Macía, Iván; González Ballester, Miguel A

2018-05-01

Computerized Tomography Angiography (CTA) based follow-up of Abdominal Aortic Aneurysms (AAA) treated with Endovascular Aneurysm Repair (EVAR) is essential to evaluate the progress of the patient and detect complications. In this context, accurate quantification of post-operative thrombus volume is required. However, a proper evaluation is hindered by the lack of automatic, robust and reproducible thrombus segmentation algorithms. We propose a new fully automatic approach based on Deep Convolutional Neural Networks (DCNN) for robust and reproducible thrombus region of interest detection and subsequent fine thrombus segmentation. The DetecNet detection network is adapted to perform region of interest extraction from a complete CTA and a new segmentation network architecture, based on Fully Convolutional Networks and a Holistically-Nested Edge Detection Network, is presented. These networks are trained, validated and tested in 13 post-operative CTA volumes of different patients using a 4-fold cross-validation approach to provide more robustness to the results. Our pipeline achieves a Dice score of more than 82% for post-operative thrombus segmentation and provides a mean relative volume difference between ground truth and automatic segmentation that lays within the experienced human observer variance without the need of human intervention in most common cases. Copyright © 2018 Elsevier B.V. All rights reserved.

Self-tuning bistable parametric feedback oscillator: Near-optimal amplitude maximization without model information

NASA Astrophysics Data System (ADS)

Braun, David J.; Sutas, Andrius; Vijayakumar, Sethu

2017-01-01

Theory predicts that parametrically excited oscillators, tuned to operate under resonant condition, are capable of large-amplitude oscillation useful in diverse applications, such as signal amplification, communication, and analog computation. However, due to amplitude saturation caused by nonlinearity, lack of robustness to model uncertainty, and limited sensitivity to parameter modulation, these oscillators require fine-tuning and strong modulation to generate robust large-amplitude oscillation. Here we present a principle of self-tuning parametric feedback excitation that alleviates the above-mentioned limitations. This is achieved using a minimalistic control implementation that performs (i) self-tuning (slow parameter adaptation) and (ii) feedback pumping (fast parameter modulation), without sophisticated signal processing past observations. The proposed approach provides near-optimal amplitude maximization without requiring model-based control computation, previously perceived inevitable to implement optimal control principles in practical application. Experimental implementation of the theory shows that the oscillator self-tunes itself near to the onset of dynamic bifurcation to achieve extreme sensitivity to small resonant parametric perturbations. As a result, it achieves large-amplitude oscillations by capitalizing on the effect of nonlinearity, despite substantial model uncertainties and strong unforeseen external perturbations. We envision the present finding to provide an effective and robust approach to parametric excitation when it comes to real-world application.

Robust inertia-free attitude takeover control of postcapture combined spacecraft with guaranteed prescribed performance.

PubMed

Luo, Jianjun; Wei, Caisheng; Dai, Honghua; Yin, Zeyang; Wei, Xing; Yuan, Jianping

2018-03-01

In this paper, a robust inertia-free attitude takeover control scheme with guaranteed prescribed performance is investigated for postcapture combined spacecraft with consideration of unmeasurable states, unknown inertial property and external disturbance torque. Firstly, to estimate the unavailable angular velocity of combination accurately, a novel finite-time-convergent tracking differentiator is developed with a quite computationally achievable structure free from the unknown nonlinear dynamics of combined spacecraft. Then, a robust inertia-free prescribed performance control scheme is proposed, wherein, the transient and steady-state performance of combined spacecraft is first quantitatively studied by stabilizing the filtered attitude tracking errors. Compared with the existing works, the prominent advantage is that no parameter identifications and no neural or fuzzy nonlinear approximations are needed, which decreases the complexity of robust controller design dramatically. Moreover, the prescribed performance of combined spacecraft is guaranteed a priori without resorting to repeated regulations of the controller parameters. Finally, four illustrative examples are employed to validate the effectiveness of the proposed control scheme and tracking differentiator. Copyright © 2018 ISA. Published by Elsevier Ltd. All rights reserved.

Active Fault Tolerant Control for Ultrasonic Piezoelectric Motor

NASA Astrophysics Data System (ADS)

Boukhnifer, Moussa

2012-07-01

Ultrasonic piezoelectric motor technology is an important system component in integrated mechatronics devices working on extreme operating conditions. Due to these constraints, robustness and performance of the control interfaces should be taken into account in the motor design. In this paper, we apply a new architecture for a fault tolerant control using Youla parameterization for an ultrasonic piezoelectric motor. The distinguished feature of proposed controller architecture is that it shows structurally how the controller design for performance and robustness may be done separately which has the potential to overcome the conflict between performance and robustness in the traditional feedback framework. A fault tolerant control architecture includes two parts: one part for performance and the other part for robustness. The controller design works in such a way that the feedback control system will be solely controlled by the proportional plus double-integral PI2 performance controller for a nominal model without disturbances and H∞ robustification controller will only be activated in the presence of the uncertainties or an external disturbances. The simulation results demonstrate the effectiveness of the proposed fault tolerant control architecture.

Characterizing metabolic pathway diversification in the context of perturbation size.

PubMed

Yang, Laurence; Srinivasan, Shyamsundhar; Mahadevan, Radhakrishnan; Cluett, William R

2015-03-01

Cell metabolism is an important platform for sustainable biofuel, chemical and pharmaceutical production but its complexity presents a major challenge for scientists and engineers. Although in silico strains have been designed in the past with predicted performances near the theoretical maximum, real-world performance is often sub-optimal. Here, we simulate how strain performance is impacted when subjected to many randomly varying perturbations, including discrepancies between gene expression and in vivo flux, osmotic stress, and substrate uptake perturbations due to concentration gradients in bioreactors. This computational study asks whether robust performance can be achieved by adopting robustness-enhancing mechanisms from naturally evolved organisms-in particular, redundancy. Our study shows that redundancy, typically perceived as a ubiquitous robustness-enhancing strategy in nature, can either improve or undermine robustness depending on the magnitude of the perturbations. We also show that the optimal number of redundant pathways used can be predicted for a given perturbation size. Copyright © 2015. Published by Elsevier Inc.

Image gathering, coding, and processing: End-to-end optimization for efficient and robust acquisition of visual information

NASA Technical Reports Server (NTRS)

Huck, Friedrich O.; Fales, Carl L.

1990-01-01

Researchers are concerned with the end-to-end performance of image gathering, coding, and processing. The applications range from high-resolution television to vision-based robotics, wherever the resolution, efficiency and robustness of visual information acquisition and processing are critical. For the presentation at this workshop, it is convenient to divide research activities into the following two overlapping areas: The first is the development of focal-plane processing techniques and technology to effectively combine image gathering with coding, with an emphasis on low-level vision processing akin to the retinal processing in human vision. The approach includes the familiar Laplacian pyramid, the new intensity-dependent spatial summation, and parallel sensing/processing networks. Three-dimensional image gathering is attained by combining laser ranging with sensor-array imaging. The second is the rigorous extension of information theory and optimal filtering to visual information acquisition and processing. The goal is to provide a comprehensive methodology for quantitatively assessing the end-to-end performance of image gathering, coding, and processing.

Robust cooperation of connected vehicle systems with eigenvalue-bounded interaction topologies in the presence of uncertain dynamics

NASA Astrophysics Data System (ADS)

Li, Keqiang; Gao, Feng; Li, Shengbo Eben; Zheng, Yang; Gao, Hongbo

2017-12-01

This study presents a distributed H-infinity control method for uncertain platoons with dimensionally and structurally unknown interaction topologies provided that the associated topological eigenvalues are bounded by a predesigned range.With an inverse model to compensate for nonlinear powertrain dynamics, vehicles in a platoon are modeled by third-order uncertain systems with bounded disturbances. On the basis of the eigenvalue decomposition of topological matrices, we convert the platoon system to a norm-bounded uncertain part and a diagonally structured certain part by applying linear transformation. We then use a common Lyapunov method to design a distributed H-infinity controller. Numerically, two linear matrix inequalities corresponding to the minimum and maximum eigenvalues should be solved. The resulting controller can tolerate interaction topologies with eigenvalues located in a certain range. The proposed method can also ensure robustness performance and disturbance attenuation ability for the closed-loop platoon system. Hardware-in-the-loop tests are performed to validate the effectiveness of our method.

Robust w-Estimators for Cryo-EM Class Means

PubMed Central

Huang, Chenxi; Tagare, Hemant D.

2016-01-01

A critical step in cryogenic electron microscopy (cryo-EM) image analysis is to calculate the average of all images aligned to a projection direction. This average, called the “class mean”, improves the signal-to-noise ratio in single particle reconstruction (SPR). The averaging step is often compromised because of outlier images of ice, contaminants, and particle fragments. Outlier detection and rejection in the majority of current cryo-EM methods is done using cross-correlation with a manually determined threshold. Empirical assessment shows that the performance of these methods is very sensitive to the threshold. This paper proposes an alternative: a “w-estimator” of the average image, which is robust to outliers and which does not use a threshold. Various properties of the estimator, such as consistency and influence function are investigated. An extension of the estimator to images with different contrast transfer functions (CTFs) is also provided. Experiments with simulated and real cryo-EM images show that the proposed estimator performs quite well in the presence of outliers. PMID:26841397

Robust w-Estimators for Cryo-EM Class Means.

PubMed

Huang, Chenxi; Tagare, Hemant D

2016-02-01

A critical step in cryogenic electron microscopy (cryo-EM) image analysis is to calculate the average of all images aligned to a projection direction. This average, called the class mean, improves the signal-to-noise ratio in single-particle reconstruction. The averaging step is often compromised because of the outlier images of ice, contaminants, and particle fragments. Outlier detection and rejection in the majority of current cryo-EM methods are done using cross-correlation with a manually determined threshold. Empirical assessment shows that the performance of these methods is very sensitive to the threshold. This paper proposes an alternative: a w-estimator of the average image, which is robust to outliers and which does not use a threshold. Various properties of the estimator, such as consistency and influence function are investigated. An extension of the estimator to images with different contrast transfer functions is also provided. Experiments with simulated and real cryo-EM images show that the proposed estimator performs quite well in the presence of outliers.

Assessing the Liquidity of Firms: Robust Neural Network Regression as an Alternative to the Current Ratio

NASA Astrophysics Data System (ADS)

de Andrés, Javier; Landajo, Manuel; Lorca, Pedro; Labra, Jose; Ordóñez, Patricia

Artificial neural networks have proven to be useful tools for solving financial analysis problems such as financial distress prediction and audit risk assessment. In this paper we focus on the performance of robust (least absolute deviation-based) neural networks on measuring liquidity of firms. The problem of learning the bivariate relationship between the components (namely, current liabilities and current assets) of the so-called current ratio is analyzed, and the predictive performance of several modelling paradigms (namely, linear and log-linear regressions, classical ratios and neural networks) is compared. An empirical analysis is conducted on a representative data base from the Spanish economy. Results indicate that classical ratio models are largely inadequate as a realistic description of the studied relationship, especially when used for predictive purposes. In a number of cases, especially when the analyzed firms are microenterprises, the linear specification is improved by considering the flexible non-linear structures provided by neural networks.

Rare earth elements minimal harvest year variation facilitates robust geographical origin discrimination: The case of PDO "Fava Santorinis".

PubMed

Drivelos, Spiros A; Danezis, Georgios P; Haroutounian, Serkos A; Georgiou, Constantinos A

2016-12-15

This study examines the trace and rare earth elemental (REE) fingerprint variations of PDO (Protected Designation of Origin) "Fava Santorinis" over three consecutive harvesting years (2011-2013). Classification of samples in harvesting years was studied by performing discriminant analysis (DA), k nearest neighbours (κ-NN), partial least squares (PLS) analysis and probabilistic neural networks (PNN) using rare earth elements and trace metals determined using ICP-MS. DA performed better than κ-NN, producing 100% discrimination using trace elements and 79% using REEs. PLS was found to be superior to PNN, achieving 99% and 90% classification for trace and REEs, respectively, while PNN achieved 96% and 71% classification for trace and REEs, respectively. The information obtained using REEs did not enhance classification, indicating that REEs vary minimally per harvesting year, providing robust geographical origin discrimination. The results show that seasonal patterns can occur in the elemental composition of "Fava Santorinis", probably reflecting seasonality of climate. Copyright © 2016 Elsevier Ltd. All rights reserved.

Design and Evaluation of a Robust PID Controller for a Fully Implantable Artificial Pancreas

PubMed Central

2015-01-01

Treatment of type 1 diabetes mellitus could be greatly improved by applying a closed-loop control strategy to insulin delivery, also known as an artificial pancreas (AP). In this work, we outline the design of a fully implantable AP using intraperitoneal (IP) insulin delivery and glucose sensing. The design process utilizes the rapid glucose sensing and insulin action offered by the IP space to tune a PID controller with insulin feedback to provide safe and effective insulin delivery. The controller was tuned to meet robust performance and stability specifications. An anti-reset windup strategy was introduced to prevent dangerous undershoot toward hypoglycemia after a large meal disturbance. The final controller design achieved 78% of time within the tight glycemic range of 80–140 mg/dL, with no time spent in hypoglycemia. The next step is to test this controller design in an animal model to evaluate the in vivo performance. PMID:26538805

Robust adaptive vibration control of a flexible structure.

PubMed

Khoshnood, A M; Moradi, H M

2014-07-01

Different types of L1 adaptive control systems show that using robust theories with adaptive control approaches has produced high performance controllers. In this study, a model reference adaptive control scheme considering robust theories is used to propose a practical control system for vibration suppression of a flexible launch vehicle (FLV). In this method, control input of the system is shaped from the dynamic model of the vehicle and components of the control input are adaptively constructed by estimating the undesirable vibration frequencies. Robust stability of the adaptive vibration control system is guaranteed by using the L1 small gain theorem. Simulation results of the robust adaptive vibration control strategy confirm that the effects of vibration on the vehicle performance considerably decrease without the loss of the phase margin of the system. Copyright © 2014 ISA. Published by Elsevier Ltd. All rights reserved.

Design and development of an advanced two-stage centrifugal compressor

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

Palmer, D.L.; Waterman, W.F.

1995-04-01

Small turboshaft engines require high-pressure-ratio, high-efficiency compressors to provide low engine fuel consumption. This paper describes the aeromechanical design and development of a 3.3 kg/s (7.3 lb/sec), 14:1 pressure ratio two-stage centrifugal compressor, which is used in the T800-LHT-800 helicopter engine. The design employs highly nonradial, splitter bladed impellers with swept leading edges and compact vaned diffusers to achieve high performance in a small and robust configuration. The development effort quantified the effects of impeller diffusion and passive inducer shroud bleed on surge margin as well as the effects of impeller loading on tip clearance sensitivity and the impact ofmore » sand erosion and shroud roughness on performance. The developed compressor exceeded its performance objectives with a minimum of 23% surge margin without variable geometry. The compressor provides a high-performance, rugged, low-cost configuration ideally suited for helicopter applications.« less

Interactions Between Channel Topography and Hydrokinetic Turbines: Sediment Transport, Turbine Performance, and Wake Characteristics

NASA Astrophysics Data System (ADS)

Hill, Craig Steven

Accelerating marine hydrokinetic (MHK) renewable energy development towards commercial viability requires investigating interactions between the engineered environment and its surrounding physical and biological environments. Complex and energetic hydrodynamic and morphodynamic environments desired for such energy conversion installations present difficulties for designing efficient yet robust sustainable devices, while permitting agency uncertainties regarding MHK device environmental interactions result in lengthy and costly processes prior to installing and demonstrating emerging technologies. A research program at St. Anthony Falls Laboratory (SAFL), University of Minnesota, utilized multi-scale physical experiments to study the interactions between axial-flow hydrokinetic turbines, turbulent open channel flow, sediment transport, turbulent turbine wakes, and complex hydro-morphodynamic processes in channels. Model axial-flow current-driven three-bladed turbines (rotor diameters, dT = 0.15m and 0.5m) were installed in open channel flumes with both erodible and non-erodible substrates. Device-induced local scour was monitored over several hydraulic conditions and material sizes. Synchronous velocity, bed elevation and turbine performance measurements provide an indication into the effect channel topography has on device performance. Complimentary experiments were performed in a realistic meandering outdoor research channel with active sediment transport to investigate device interactions with bedform migration and secondary turbulent flow patterns in asymmetric channel environments. The suite of experiments undertaken during this research program at SAFL in multiple channels with stationary and mobile substrates under a variety of turbine configurations provides an in-depth investigation into how axial-flow hydrokinetic devices respond to turbulent channel flow and topographic complexity, and how they impact local and far-field sediment transport characteristics. Results provide the foundation for investigating advanced turbine control strategies for optimal power production in non-stationary environments, while also providing a robust data-set for computational model validation for further investigating the interactions between energy conversion devices and the physical environment.

Development of a Comprehensive Digital Avionics Curriculum for the Aeronautical Engineer

DTIC Science & Technology

2006-03-01

able to analyze and design aircraft and missile guidance and control systems, including feedback stabilization schemes and stochastic processes, using ...Uncertainty modeling for robust control; Robust closed-loop stability and performance; Robust H- infinity control; Robustness check using mu-analysis...Controlled feedback (reduces noise) 3. Statistical group response (reduce pressure toward conformity) When used as a tool to study a complex problem

Well-defined porous membranes for robust omniphobic surfaces via microfluidic emulsion templating

PubMed Central

Zhu, Pingan; Kong, Tiantian; Tang, Xin; Wang, Liqiu

2017-01-01

Durability is a long-standing challenge in designing liquid-repellent surfaces. A high-performance omniphobic surface must robustly repel liquids, while maintaining mechanical/chemical stability. However, liquid repellency and mechanical durability are generally mutually exclusive properties for many omniphobic surfaces—improving one performance inevitably results in decreased performance in another. Here we report well-defined porous membranes for durable omniphobic surfaces inspired by the springtail cuticle. The omniphobicity is shown via an amphiphilic material micro-textured with re-entrant surface morphology; the mechanical durability arises from the interconnected microstructures. The innovative fabrication method—termed microfluidic emulsion templating—is facile, cost-effective, scalable and can precisely engineer the structural topographies. The robust omniphobic surface is expected to open up new avenues for diverse applications due to its mechanical and chemical robustness, transparency, reversible Cassie–Wenzel transition, transferability, flexibility and stretchability. PMID:28604698

Robust fast controller design via nonlinear fractional differential equations.

PubMed

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

2017-07-01

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

Sustainable Cooperative Robotic Technologies for Human and Robotic Outpost Infrastructure Construction and Maintenance

NASA Technical Reports Server (NTRS)

Stroupe, Ashley W.; Okon, Avi; Robinson, Matthew; Huntsberger, Terry; Aghazarian, Hrand; Baumgartner, Eric

2004-01-01

Robotic Construction Crew (RCC) is a heterogeneous multi-robot system for autonomous acquisition, transport, and precision mating of components in construction tasks. RCC minimizes resources constrained in a space environment such as computation, power, communication and, sensing. A behavior-based architecture provides adaptability and robustness despite low computational requirements. RCC successfully performs several construction related tasks in an emulated outdoor environment despite high levels of uncertainty in motions and sensing. Quantitative results are provided for formation keeping in component transport, precision instrument placement, and construction tasks.

Data warehousing with Oracle

NASA Astrophysics Data System (ADS)

Shahzad, Muhammad A.

1999-02-01

With the emergence of data warehousing, Decision support systems have evolved to its best. At the core of these warehousing systems lies a good database management system. Database server, used for data warehousing, is responsible for providing robust data management, scalability, high performance query processing and integration with other servers. Oracle being the initiator in warehousing servers, provides a wide range of features for facilitating data warehousing. This paper is designed to review the features of data warehousing - conceptualizing the concept of data warehousing and, lastly, features of Oracle servers for implementing a data warehouse.

RNA Imaging with Multiplexed Error Robust Fluorescence in situ Hybridization

PubMed Central

Moffitt, Jeffrey R.; Zhuang, Xiaowei

2016-01-01

Quantitative measurements of both the copy number and spatial distribution of large fractions of the transcriptome in single-cells could revolutionize our understanding of a variety of cellular and tissue behaviors in both healthy and diseased states. Single-molecule Fluorescence In Situ Hybridization (smFISH)—an approach where individual RNAs are labeled with fluorescent probes and imaged in their native cellular and tissue context—provides both the copy number and spatial context of RNAs but has been limited in the number of RNA species that can be measured simultaneously. Here we describe Multiplexed Error Robust Fluorescence In Situ Hybridization (MERFISH), a massively parallelized form of smFISH that can image and identify hundreds to thousands of different RNA species simultaneously with high accuracy in individual cells in their native spatial context. We provide detailed protocols on all aspects of MERFISH, including probe design, data collection, and data analysis to allow interested laboratories to perform MERFISH measurements themselves. PMID:27241748

Real-time bioluminescence imaging of macroencapsulated fibroblasts reveals allograft protection in rhesus monkeys (Macaca mulatta).

PubMed

Tarantal, Alice F; Lee, C Chang I; Itkin-Ansari, Pamela

2009-07-15

Encapsulation of cells has the potential to eliminate the need for immunosuppression for cellular transplantation. Recently, the TheraCyte device was shown to provide long-term immunoprotection of murine islets in a mouse model of diabetes. In this report, translational studies were undertaken using skin fibroblasts from an unrelated rhesus monkey donor that were transduced with an HIV-1-derived lentiviral vector expressing firefly luciferase permitting the use of bioluminescence imaging (BLI) to monitor cell survival over time and in a noninvasive manner. Encapsulated cells were transplanted subcutaneously (n=2), or cells were injected without encapsulation (n=1) and outcomes compared. BLI was performed to monitor cell survival. The BLI signal from the encapsulated cells remained robust postinsertion and in one animal persisted for up to 1 year. In contrast, the control animal that received unencapsulated cells exhibited a complete loss of cell signal within 14 days. These data demonstrate that TheraCyte encapsulation of allogeneic cells provides robust immune protection in transplanted rhesus monkeys.

Anomaly Detection of Electromyographic Signals.

PubMed

Ijaz, Ahsan; Choi, Jongeun

2018-04-01

In this paper, we provide a robust framework to detect anomalous electromyographic (EMG) signals and identify contamination types. As a first step for feature selection, optimally selected Lawton wavelets transform is applied. Robust principal component analysis (rPCA) is then performed on these wavelet coefficients to obtain features in a lower dimension. The rPCA based features are used for constructing a self-organizing map (SOM). Finally, hierarchical clustering is applied on the SOM that separates anomalous signals residing in the smaller clusters and breaks them into logical units for contamination identification. The proposed methodology is tested using synthetic and real world EMG signals. The synthetic EMG signals are generated using a heteroscedastic process mimicking desired experimental setups. A sub-part of these synthetic signals is introduced with anomalies. These results are followed with real EMG signals introduced with synthetic anomalies. Finally, a heterogeneous real world data set is used with known quality issues under an unsupervised setting. The framework provides recall of 90% (± 3.3) and precision of 99%(±0.4).

Durable vesicles for reconstitution of membrane proteins in biotechnology.

PubMed

Beales, Paul A; Khan, Sanobar; Muench, Stephen P; Jeuken, Lars J C

2017-02-08

The application of membrane proteins in biotechnology requires robust, durable reconstitution systems that enhance their stability and support their functionality in a range of working environments. Vesicular architectures are highly desirable to provide the compartmentalisation to utilise the functional transmembrane transport and signalling properties of membrane proteins. Proteoliposomes provide a native-like membrane environment to support membrane protein function, but can lack the required chemical and physical stability. Amphiphilic block copolymers can also self-assemble into polymersomes: tough vesicles with improved stability compared with liposomes. This review discusses the reconstitution of membrane proteins into polymersomes and the more recent development of hybrid vesicles, which blend the robust nature of block copolymers with the biofunctionality of lipids. These novel synthetic vesicles hold great promise for enabling membrane proteins within biotechnologies by supporting their enhanced in vitro performance and could also contribute to fundamental biochemical and biophysical research by improving the stability of membrane proteins that are challenging to work with. © 2017 The Author(s).

Performances and robustness of quantum teleportation with identical particles

PubMed Central

Marzolino, Ugo; Buchleitner, Andreas

2016-01-01

When quantum teleportation is performed with truly identical massive particles, indistinguishability allows us to teleport addressable degrees of freedom which do not identify particles, but, for example, orthogonal modes. The key resource of the protocol is a state of entangled modes, but the conservation of the total number of particles does not allow for perfect deterministic teleportation unless the number of particles in the resource state goes to infinity. Here, we study the convergence of teleportation performances in the above limit and provide sufficient conditions for asymptotic perfect teleportation. We also apply these conditions to the case of resource states affected by noise. PMID:26997896

Performances and robustness of quantum teleportation with identical particles.

PubMed

Marzolino, Ugo; Buchleitner, Andreas

2016-01-01

When quantum teleportation is performed with truly identical massive particles, indistinguishability allows us to teleport addressable degrees of freedom which do not identify particles, but, for example, orthogonal modes. The key resource of the protocol is a state of entangled modes, but the conservation of the total number of particles does not allow for perfect deterministic teleportation unless the number of particles in the resource state goes to infinity. Here, we study the convergence of teleportation performances in the above limit and provide sufficient conditions for asymptotic perfect teleportation. We also apply these conditions to the case of resource states affected by noise.

A modular robust control framework for control of movement elicited by multi-electrode intraspinal microstimulation

NASA Astrophysics Data System (ADS)

Roshani, Amir; Erfanian, Abbas

2016-08-01

Objective. An important issue in restoring motor function through intraspinal microstimulation (ISMS) is the motor control. To provide a physiologically plausible motor control using ISMS, it should be able to control the individual motor unit which is the lowest functional unit of motor control. By focal stimulation only a small group of motor neurons (MNs) within a motor pool can be activated. Different groups of MNs within a motor pool can potentially be activated without involving adjacent motor pools by local stimulation of different parts of a motor pool via microelectrode array implanted into a motor pool. However, since the system has multiple inputs with single output during multi-electrode ISMS, it poses a challenge to movement control. In this paper, we proposed a modular robust control strategy for movement control, whereas multi-electrode array is implanted into each motor activation pool of a muscle. Approach. The controller was based on the combination of proportional-integral-derivative and adaptive fuzzy sliding mode control. The global stability of the controller was guaranteed. Main results. The results of the experiments on rat models showed that the multi-electrode control can provide a more robust control and accurate tracking performance than a single-electrode control. The control output can be pulse amplitude (pulse amplitude modulation, PAM) or pulse width (pulse width modulation, PWM) of the stimulation signal. The results demonstrated that the controller with PAM provided faster convergence rate and better tracking performance than the controller with PWM. Significance. This work represents a promising control approach to the restoring motor functions using ISMS. The proposed controller requires no prior knowledge about the dynamics of the system to be controlled and no offline learning phase. The proposed control design is modular in the sense that each motor pool has an independent controller and each controller is able to control ISMS through an array of microelectrodes.

Registration of MRI to intraoperative radiographs for target localization in spinal interventions

NASA Astrophysics Data System (ADS)

De Silva, T.; Uneri, A.; Ketcha, M. D.; Reaungamornrat, S.; Goerres, J.; Jacobson, M. W.; Vogt, S.; Kleinszig, G.; Khanna, A. J.; Wolinsky, J.-P.; Siewerdsen, J. H.

2017-01-01

Decision support to assist in target vertebra localization could provide a useful aid to safe and effective spine surgery. Previous solutions have shown 3D-2D registration of preoperative CT to intraoperative radiographs to reliably annotate vertebral labels for assistance during level localization. We present an algorithm (referred to as MR-LevelCheck) to perform 3D-2D registration based on a preoperative MRI to accommodate the increasingly common clinical scenario in which MRI is used instead of CT for preoperative planning. Straightforward adaptation of gradient/intensity-based methods appropriate to CT-to-radiograph registration is confounded by large mismatch and noncorrespondence in image intensity between MRI and radiographs. The proposed method overcomes such challenges with a simple vertebrae segmentation step using vertebra centroids as seed points (automatically defined within existing workflow). Forwards projections are computed using segmented MRI and registered to radiographs via gradient orientation (GO) similarity and the CMA-ES (covariance-matrix-adaptation evolutionary-strategy) optimizer. The method was tested in an IRB-approved study involving 10 patients undergoing cervical, thoracic, or lumbar spine surgery following preoperative MRI. The method successfully registered each preoperative MRI to intraoperative radiographs and maintained desirable properties of robustness against image content mismatch and large capture range. Robust registration performance was achieved with projection distance error (PDE) (median  ±  IQR)  =  4.3  ±  2.6 mm (median  ±  IQR) and 0% failure rate. Segmentation accuracy for the continuous max-flow method yielded dice coefficient  =  88.1  ±  5.2, accuracy  =  90.6  ±  5.7, RMSE  =  1.8  ±  0.6 mm, and contour affinity ratio (CAR)  =  0.82  ±  0.08. Registration performance was found to be robust for segmentation methods exhibiting RMSE  <3 mm and CAR  >0.50. The MR-LevelCheck method provides a potentially valuable extension to a previously developed decision support tool for spine surgery target localization by extending its utility to preoperative MRI while maintaining characteristics of accuracy and robustness.

The tradeoff between centralized and decentralized health services: evidence from rural areas in Mexico.

PubMed

Vargas Bustamante, Arturo

2010-09-01

This study investigates the effectiveness of centralized and decentralized health care providers in rural Mexico. It compares provider performance since both centralized and decentralized providers co-exist in rural areas of the country. The data are drawn from the 2003 household survey of Oportunidades, a comprehensive study of rural families from seven states in Mexico. The analyses compare out-of-pocket health care expenditures and utilization of preventive care among rural households with access to either centralized or decentralized health care providers. This study benefits from differences in timing of health care decentralization and from a quasi-random distribution of providers. Results show that overall centralized providers perform better. Households served by this organization report less regressive out-of-pocket health care expenditures (32% lower), and observe higher utilization of preventive services (3.6% more). Decentralized providers that were devolved to state governments in the early 1980s observe a slightly better performance than providers that were decentralized in the mid-1990s. These findings are robust to decentralization timing, heterogeneity in per capita government health expenditures, state and health infrastructure effects, and other confounders. Copyright (c) 2010 Elsevier Ltd. All rights reserved.

Puff and bite: the relationship between the glucocorticoid stress response and anti-predator performance in checkered puffer (Sphoeroides testudineus).

PubMed

Cull, Felicia; O'Connor, Constance M; Suski, Cory D; Shultz, Aaron D; Danylchuk, Andy J; Cooke, Steven J

2015-04-01

Individual variation in the endocrine stress response has been linked to survival and performance in a variety of species. Here, we evaluate the relationship between the endocrine stress response and anti-predator behaviors in wild checkered puffers (Sphoeroides testudineus) captured at Eleuthera Island, Bahamas. The checkered puffer has a unique and easily measurable predator avoidance strategy, which is to inflate or 'puff' to deter potential predators. In this study, we measured baseline and stress-induced circulating glucocorticoid levels, as well as bite force, a performance measure that is relevant to both feeding and predator defence, and 'puff' performance. We found that puff performance and bite force were consistent within individuals, but generally decreased following a standardized stressor. Larger puffers were able to generate a higher bite force, and larger puffers were able to maintain a more robust puff performance following a standardized stressor relative to smaller puffers. In terms of the relationship between the glucocorticoid stress response and performance metrics, we found no relationship between post-stress glucocorticoid levels and either puff performance or bite force. However, we did find that baseline glucocorticoid levels predicted the ability of a puffer to maintain a robust puff response following a repeated stressor, and this relationship was more pronounced in larger individuals. Our work provides a novel example of how baseline glucocorticoids can predict a fitness-related anti-predator behavior. Copyright © 2015 Elsevier Inc. All rights reserved.

An Integrated Environmental Assessment of Green and Gray Infrastructure Strategies for Robust Decision Making.

PubMed

Casal-Campos, Arturo; Fu, Guangtao; Butler, David; Moore, Andrew

2015-07-21

The robustness of a range of watershed-scale "green" and "gray" drainage strategies in the future is explored through comprehensive modeling of a fully integrated urban wastewater system case. Four socio-economic future scenarios, defined by parameters affecting the environmental performance of the system, are proposed to account for the uncertain variability of conditions in the year 2050. A regret-based approach is applied to assess the relative performance of strategies in multiple impact categories (environmental, economic, and social) as well as to evaluate their robustness across future scenarios. The concept of regret proves useful in identifying performance trade-offs and recognizing states of the world most critical to decisions. The study highlights the robustness of green strategies (particularly rain gardens, resulting in half the regret of most options) over end-of-pipe gray alternatives (surface water separation or sewer and storage rehabilitation), which may be costly (on average, 25% of the total regret of these options) and tend to focus on sewer flooding and CSO alleviation while compromising on downstream system performance (this accounts for around 50% of their total regret). Trade-offs and scenario regrets observed in the analysis suggest that the combination of green and gray strategies may still offer further potential for robustness.

Scaled test statistics and robust standard errors for non-normal data in covariance structure analysis: a Monte Carlo study.

PubMed

Chou, C P; Bentler, P M; Satorra, A

1991-11-01

Research studying robustness of maximum likelihood (ML) statistics in covariance structure analysis has concluded that test statistics and standard errors are biased under severe non-normality. An estimation procedure known as asymptotic distribution free (ADF), making no distributional assumption, has been suggested to avoid these biases. Corrections to the normal theory statistics to yield more adequate performance have also been proposed. This study compares the performance of a scaled test statistic and robust standard errors for two models under several non-normal conditions and also compares these with the results from ML and ADF methods. Both ML and ADF test statistics performed rather well in one model and considerably worse in the other. In general, the scaled test statistic seemed to behave better than the ML test statistic and the ADF statistic performed the worst. The robust and ADF standard errors yielded more appropriate estimates of sampling variability than the ML standard errors, which were usually downward biased, in both models under most of the non-normal conditions. ML test statistics and standard errors were found to be quite robust to the violation of the normality assumption when data had either symmetric and platykurtic distributions, or non-symmetric and zero kurtotic distributions.

Reliable quantification of BOLD fMRI cerebrovascular reactivity despite poor breath-hold performance.

PubMed

Bright, Molly G; Murphy, Kevin

2013-12-01

Cerebrovascular reactivity (CVR) can be mapped using BOLD fMRI to provide a clinical insight into vascular health that can be used to diagnose cerebrovascular disease. Breath-holds are a readily accessible method for producing the required arterial CO2 increases but their implementation into clinical studies is limited by concerns that patients will demonstrate highly variable performance of breath-hold challenges. This study assesses the repeatability of CVR measurements despite poor task performance, to determine if and how robust results could be achieved with breath-holds in patients. Twelve healthy volunteers were scanned at 3 T. Six functional scans were acquired, each consisting of 6 breath-hold challenges (10, 15, or 20 s duration) interleaved with periods of paced breathing. These scans simulated the varying breath-hold consistency and ability levels that may occur in patient data. Uniform ramps, time-scaled ramps, and end-tidal CO2 data were used as regressors in a general linear model in order to measure CVR at the grey matter, regional, and voxelwise level. The intraclass correlation coefficient (ICC) quantified the repeatability of the CVR measurement for each breath-hold regressor type and scale of interest across the variable task performances. The ramp regressors did not fully account for variability in breath-hold performance and did not achieve acceptable repeatability (ICC<0.4) in several regions analysed. In contrast, the end-tidal CO2 regressors resulted in "excellent" repeatability (ICC=0.82) in the average grey matter data, and resulted in acceptable repeatability in all smaller regions tested (ICC>0.4). Further analysis of intra-subject CVR variability across the brain (ICCspatial and voxelwise correlation) supported the use of end-tidal CO2 data to extract robust whole-brain CVR maps, despite variability in breath-hold performance. We conclude that the incorporation of end-tidal CO2 monitoring into scanning enables robust, repeatable measurement of CVR that makes breath-hold challenges suitable for routine clinical practice. © 2013.

Improved discrimination between monocotyledonous and dicotyledonous plants for weed control based on the blue-green region of ultraviolet-induced fluorescence spectra.

PubMed

Panneton, Bernard; Guillaume, Serge; Roger, Jean-Michel; Samson, Guy

2010-01-01

Precision weeding by spot spraying in real time requires sensors to discriminate between weeds and crop without contact. Among the optical based solutions, the ultraviolet (UV) induced fluorescence of the plants appears as a promising alternative. In a first paper, the feasibility of discriminating between corn hybrids, monocotyledonous, and dicotyledonous weeds was demonstrated on the basis of the complete spectra. Some considerations about the different sources of fluorescence oriented the focus to the blue-green fluorescence (BGF) part, ignoring the chlorophyll fluorescence that is inherently more variable in time. This paper investigates the potential of performing weed/crop discrimination on the basis of several large spectral bands in the BGF area. A partial least squares discriminant analysis (PLS-DA) was performed on a set of 1908 spectra of corn and weed plants over 3 years and various growing conditions. The discrimination between monocotyledonous and dicotyledonous plants based on the blue-green fluorescence yielded robust models (classification error between 1.3 and 4.6% for between-year validation). On the basis of the analysis of the PLS-DA model, two large bands were chosen in the blue-green fluorescence zone (400-425 nm and 425-490 nm). A linear discriminant analysis based on the signal from these two bands also provided very robust inter-year results (classification error from 1.5% to 5.2%). The same selection process was applied to discriminate between monocotyledonous weeds and maize but yielded no robust models (up to 50% inter-year error). Further work will be required to solve this problem and provide a complete UV fluorescence based sensor for weed-maize discrimination.

Optical Measurements for Intelligent Aerospace Propulsion

NASA Technical Reports Server (NTRS)

Mercer, Carolyn R.

2003-01-01

There is growing interest in applying intelligent technologies to aerospace propulsion systems to reap expected benefits in cost, performance, and environmental compliance. Cost benefits span the engine life cycle from development, operations, and maintenance. Performance gains are anticipated in reduced fuel consumption, increased thrust-toweight ratios, and operability. Environmental benefits include generating fewer pollutants and less noise. Critical enabling technologies to realize these potential benefits include sensors, actuators, logic, electronics, materials, and structures. For propulsion applications, the challenge is to increase the robustness of these technologies so that they can withstand harsh temperatures, vibrations, and grime while providing extremely reliable performance. This paper addresses the role that optical metrology is playing in providing solutions to these challenges. Optics for ground-based testing (development cycle), flight sensing (operations), and inspection (maintenance) are described. Opportunities for future work are presented.

Improved Doubly Robust Estimation when Data are Monotonely Coarsened, with Application to Longitudinal Studies with Dropout

PubMed Central

Tsiatis, Anastasios A.; Davidian, Marie; Cao, Weihua

2010-01-01

Summary A routine challenge is that of making inference on parameters in a statistical model of interest from longitudinal data subject to drop out, which are a special case of the more general setting of monotonely coarsened data. Considerable recent attention has focused on doubly robust estimators, which in this context involve positing models for both the missingness (more generally, coarsening) mechanism and aspects of the distribution of the full data, that have the appealing property of yielding consistent inferences if only one of these models is correctly specified. Doubly robust estimators have been criticized for potentially disastrous performance when both of these models are even only mildly misspecified. We propose a doubly robust estimator applicable in general monotone coarsening problems that achieves comparable or improved performance relative to existing doubly robust methods, which we demonstrate via simulation studies and by application to data from an AIDS clinical trial. PMID:20731640

Robust averaging protects decisions from noise in neural computations

PubMed Central

Herce Castañón, Santiago; Solomon, Joshua A.; Vandormael, Hildward

2017-01-01

An ideal observer will give equivalent weight to sources of information that are equally reliable. However, when averaging visual information, human observers tend to downweight or discount features that are relatively outlying or deviant (‘robust averaging’). Why humans adopt an integration policy that discards important decision information remains unknown. Here, observers were asked to judge the average tilt in a circular array of high-contrast gratings, relative to an orientation boundary defined by a central reference grating. Observers showed robust averaging of orientation, but the extent to which they did so was a positive predictor of their overall performance. Using computational simulations, we show that although robust averaging is suboptimal for a perfect integrator, it paradoxically enhances performance in the presence of “late” noise, i.e. which corrupts decisions during integration. In other words, robust decision strategies increase the brain’s resilience to noise arising in neural computations during decision-making. PMID:28841644

Gap-metric-based robustness analysis of nonlinear systems with full and partial feedback linearisation

NASA Astrophysics Data System (ADS)

Al-Gburi, A.; Freeman, C. T.; French, M. C.

2018-06-01

This paper uses gap metric analysis to derive robustness and performance margins for feedback linearising controllers. Distinct from previous robustness analysis, it incorporates the case of output unstructured uncertainties, and is shown to yield general stability conditions which can be applied to both stable and unstable plants. It then expands on existing feedback linearising control schemes by introducing a more general robust feedback linearising control design which classifies the system nonlinearity into stable and unstable components and cancels only the unstable plant nonlinearities. This is done in order to preserve the stabilising action of the inherently stabilising nonlinearities. Robustness and performance margins are derived for this control scheme, and are expressed in terms of bounds on the plant nonlinearities and the accuracy of the cancellation of the unstable plant nonlinearity by the controller. Case studies then confirm reduced conservatism compared with standard methods.

Gene set analysis approaches for RNA-seq data: performance evaluation and application guideline

PubMed Central

Rahmatallah, Yasir; Emmert-Streib, Frank

2016-01-01

Transcriptome sequencing (RNA-seq) is gradually replacing microarrays for high-throughput studies of gene expression. The main challenge of analyzing microarray data is not in finding differentially expressed genes, but in gaining insights into the biological processes underlying phenotypic differences. To interpret experimental results from microarrays, gene set analysis (GSA) has become the method of choice, in particular because it incorporates pre-existing biological knowledge (in a form of functionally related gene sets) into the analysis. Here we provide a brief review of several statistically different GSA approaches (competitive and self-contained) that can be adapted from microarrays practice as well as those specifically designed for RNA-seq. We evaluate their performance (in terms of Type I error rate, power, robustness to the sample size and heterogeneity, as well as the sensitivity to different types of selection biases) on simulated and real RNA-seq data. Not surprisingly, the performance of various GSA approaches depends only on the statistical hypothesis they test and does not depend on whether the test was developed for microarrays or RNA-seq data. Interestingly, we found that competitive methods have lower power as well as robustness to the samples heterogeneity than self-contained methods, leading to poor results reproducibility. We also found that the power of unsupervised competitive methods depends on the balance between up- and down-regulated genes in tested gene sets. These properties of competitive methods have been overlooked before. Our evaluation provides a concise guideline for selecting GSA approaches, best performing under particular experimental settings in the context of RNA-seq. PMID:26342128

Research on Spoken Dialogue Systems

NASA Technical Reports Server (NTRS)

Aist, Gregory; Hieronymus, James; Dowding, John; Hockey, Beth Ann; Rayner, Manny; Chatzichrisafis, Nikos; Farrell, Kim; Renders, Jean-Michel

2010-01-01

Research in the field of spoken dialogue systems has been performed with the goal of making such systems more robust and easier to use in demanding situations. The term "spoken dialogue systems" signifies unified software systems containing speech-recognition, speech-synthesis, dialogue management, and ancillary components that enable human users to communicate, using natural spoken language or nearly natural prescribed spoken language, with other software systems that provide information and/or services.

Adaptive Control for Uncertain Nonlinear Multi-Input Multi-Output Systems

NASA Technical Reports Server (NTRS)

Cao, Chengyu (Inventor); Hovakimyan, Naira (Inventor); Xargay, Enric (Inventor)

2014-01-01

Systems and methods of adaptive control for uncertain nonlinear multi-input multi-output systems in the presence of significant unmatched uncertainty with assured performance are provided. The need for gain-scheduling is eliminated through the use of bandwidth-limited (low-pass) filtering in the control channel, which appropriately attenuates the high frequencies typically appearing in fast adaptation situations and preserves the robustness margins in the presence of fast adaptation.

Enhanced robust fractional order proportional-plus-integral controller based on neural network for velocity control of permanent magnet synchronous motor.

PubMed

Zhang, Bitao; Pi, YouGuo

2013-07-01

The traditional integer order proportional-integral-differential (IO-PID) controller is sensitive to the parameter variation or/and external load disturbance of permanent magnet synchronous motor (PMSM). And the fractional order proportional-integral-differential (FO-PID) control scheme based on robustness tuning method is proposed to enhance the robustness. But the robustness focuses on the open-loop gain variation of controlled plant. In this paper, an enhanced robust fractional order proportional-plus-integral (ERFOPI) controller based on neural network is proposed. The control law of the ERFOPI controller is acted on a fractional order implement function (FOIF) of tracking error but not tracking error directly, which, according to theory analysis, can enhance the robust performance of system. Tuning rules and approaches, based on phase margin, crossover frequency specification and robustness rejecting gain variation, are introduced to obtain the parameters of ERFOPI controller. And the neural network algorithm is used to adjust the parameter of FOIF. Simulation and experimental results show that the method proposed in this paper not only achieve favorable tracking performance, but also is robust with regard to external load disturbance and parameter variation. Crown Copyright © 2013. Published by Elsevier Ltd. All rights reserved.

Real-time control systems: feedback, scheduling and robustness

NASA Astrophysics Data System (ADS)

Simon, Daniel; Seuret, Alexandre; Sename, Olivier

2017-08-01

The efficient control of real-time distributed systems, where continuous components are governed through digital devices and communication networks, needs a careful examination of the constraints arising from the different involved domains inside co-design approaches. Thanks to the robustness of feedback control, both new control methodologies and slackened real-time scheduling schemes are proposed beyond the frontiers between these traditionally separated fields. A methodology to design robust aperiodic controllers is provided, where the sampling interval is considered as a control variable of the system. Promising experimental results are provided to show the feasibility and robustness of the approach.

Robust adaptive relative position and attitude control for spacecraft autonomous proximity.

PubMed

Sun, Liang; Huo, Wei; Jiao, Zongxia

2016-07-01

This paper provides new results of the dynamical modeling and controller designing for autonomous close proximity phase during rendezvous and docking in the presence of kinematic couplings and model uncertainties. A globally defined relative motion mechanical model for close proximity operations is introduced firstly. Then, in spite of the kinematic couplings and thrust misalignment between relative rotation and relative translation, robust adaptive relative position and relative attitude controllers are designed successively. Finally, stability of the overall system is proved that the relative position and relative attitude are uniformly ultimately bounded, and the size of the ultimate bound can be regulated small enough by control system parameters. Performance of the controlled overall system is demonstrated via a representative numerical example. Copyright © 2016 ISA. Published by Elsevier Ltd. All rights reserved.

Error control techniques for satellite and space communications

NASA Technical Reports Server (NTRS)

Costello, Daniel J., Jr.

1992-01-01

Worked performed during the reporting period is summarized. Construction of robustly good trellis codes for use with sequential decoding was developed. The robustly good trellis codes provide a much better trade off between free distance and distance profile. The unequal error protection capabilities of convolutional codes was studied. The problem of finding good large constraint length, low rate convolutional codes for deep space applications is investigated. A formula for computing the free distance of 1/n convolutional codes was discovered. Double memory (DM) codes, codes with two memory units per unit bit position, were studied; a search for optimal DM codes is being conducted. An algorithm for constructing convolutional codes from a given quasi-cyclic code was developed. Papers based on the above work are included in the appendix.

Two Reconfigurable Flight-Control Design Methods: Robust Servomechanism and Control Allocation

NASA Technical Reports Server (NTRS)

Burken, John J.; Lu, Ping; Wu, Zheng-Lu; Bahm, Cathy

2001-01-01

Two methods for control system reconfiguration have been investigated. The first method is a robust servomechanism control approach (optimal tracking problem) that is a generalization of the classical proportional-plus-integral control to multiple input-multiple output systems. The second method is a control-allocation approach based on a quadratic programming formulation. A globally convergent fixed-point iteration algorithm has been developed to make onboard implementation of this method feasible. These methods have been applied to reconfigurable entry flight control design for the X-33 vehicle. Examples presented demonstrate simultaneous tracking of angle-of-attack and roll angle commands during failures of the fight body flap actuator. Although simulations demonstrate success of the first method in most cases, the control-allocation method appears to provide uniformly better performance in all cases.

The PROPEL Electrodynamic Tether Demonstration Mission

NASA Technical Reports Server (NTRS)

Bilen, Sven G.; Johnson, C. Les; Wiegmann, Bruce M.; Alexander, Leslie; Gilchrist, Brian E.; Hoyt, Robert P.; Elder, Craig H.; Fuhrhop, Keith P.; Scadera, Michael

2012-01-01

The PROPEL ("Propulsion using Electrodynamics") mission will demonstrate the operation of an electrodynamic tether propulsion system in low Earth orbit and advance its technology readiness level for multiple applications. The PROPEL mission has two primary objectives: first, to demonstrate the capability of electrodynamic tether technology to provide robust and safe, near-propellantless propulsion for orbit-raising, de-orbit, plane change, and station keeping, as well as to perform orbital power harvesting and formation flight; and, second, to fully characterize and validate the performance of an integrated electrodynamic tether propulsion system, qualifying it for infusion into future multiple satellite platforms and missions with minimal modification. This paper provides an overview of the PROPEL system and design reference missions; mission goals and required measurements; and ongoing PROPEL mission design efforts.

Combined invariants to similarity transformation and to blur using orthogonal Zernike moments

PubMed Central

Beijing, Chen; Shu, Huazhong; Zhang, Hui; Coatrieux, Gouenou; Luo, Limin; Coatrieux, Jean-Louis

2011-01-01

The derivation of moment invariants has been extensively investigated in the past decades. In this paper, we construct a set of invariants derived from Zernike moments which is simultaneously invariant to similarity transformation and to convolution with circularly symmetric point spread function (PSF). Two main contributions are provided: the theoretical framework for deriving the Zernike moments of a blurred image and the way to construct the combined geometric-blur invariants. The performance of the proposed descriptors is evaluated with various PSFs and similarity transformations. The comparison of the proposed method with the existing ones is also provided in terms of pattern recognition accuracy, template matching and robustness to noise. Experimental results show that the proposed descriptors perform on the overall better. PMID:20679028

Orbital navigation, docking and obstacle avoidance as a form of three dimensional model-based image understanding

NASA Technical Reports Server (NTRS)

Beyer, J.; Jacobus, C.; Mitchell, B.

1987-01-01

Range imagery from a laser scanner can be used to provide sufficient information for docking and obstacle avoidance procedures to be performed automatically. Three dimensional model-based computer vision algorithms in development can perform these tasks even with targets which may not be cooperative (that is, objects without special targets or markers to provide unambiguous location points). Roll, pitch and yaw of the vehicle can be taken into account as image scanning takes place, so that these can be corrected when the image is converted from egocentric to world coordinates. Other attributes of the sensor, such as the registered reflectence and texture channels, provide additional data sources for algorithm robustness. Temporal fusion of sensor immages can take place in the work coordinate domain, allowing for the building of complex maps in three dimensional space.

Robust Parallel Motion Estimation and Mapping with Stereo Cameras in Underground Infrastructure

NASA Astrophysics Data System (ADS)

Liu, Chun; Li, Zhengning; Zhou, Yuan

2016-06-01

Presently, we developed a novel robust motion estimation method for localization and mapping in underground infrastructure using a pre-calibrated rigid stereo camera rig. Localization and mapping in underground infrastructure is important to safety. Yet it's also nontrivial since most underground infrastructures have poor lighting condition and featureless structure. Overcoming these difficulties, we discovered that parallel system is more efficient than the EKF-based SLAM approach since parallel system divides motion estimation and 3D mapping tasks into separate threads, eliminating data-association problem which is quite an issue in SLAM. Moreover, the motion estimation thread takes the advantage of state-of-art robust visual odometry algorithm which is highly functional under low illumination and provides accurate pose information. We designed and built an unmanned vehicle and used the vehicle to collect a dataset in an underground garage. The parallel system was evaluated by the actual dataset. Motion estimation results indicated a relative position error of 0.3%, and 3D mapping results showed a mean position error of 13cm. Off-line process reduced position error to 2cm. Performance evaluation by actual dataset showed that our system is capable of robust motion estimation and accurate 3D mapping in poor illumination and featureless underground environment.

Robust digital image watermarking using distortion-compensated dither modulation

NASA Astrophysics Data System (ADS)

Li, Mianjie; Yuan, Xiaochen

2018-04-01

In this paper, we propose a robust feature extraction based digital image watermarking method using Distortion- Compensated Dither Modulation (DC-DM). Our proposed local watermarking method provides stronger robustness and better flexibility than traditional global watermarking methods. We improve robustness by introducing feature extraction and DC-DM method. To extract the robust feature points, we propose a DAISY-based Robust Feature Extraction (DRFE) method by employing the DAISY descriptor and applying the entropy calculation based filtering. The experimental results show that the proposed method achieves satisfactory robustness under the premise of ensuring watermark imperceptibility quality compared to other existing methods.

Representation and alignment of sung queries for music information retrieval

NASA Astrophysics Data System (ADS)

Adams, Norman H.; Wakefield, Gregory H.

2005-09-01

The pursuit of robust and rapid query-by-humming systems, which search melodic databases using sung queries, is a common theme in music information retrieval. The retrieval aspect of this database problem has received considerable attention, whereas the front-end processing of sung queries and the data structure to represent melodies has been based on musical intuition and historical momentum. The present work explores three time series representations for sung queries: a sequence of notes, a ``smooth'' pitch contour, and a sequence of pitch histograms. The performance of the three representations is compared using a collection of naturally sung queries. It is found that the most robust performance is achieved by the representation with highest dimension, the smooth pitch contour, but that this representation presents a formidable computational burden. For all three representations, it is necessary to align the query and target in order to achieve robust performance. The computational cost of the alignment is quadratic, hence it is necessary to keep the dimension small for rapid retrieval. Accordingly, iterative deepening is employed to achieve both robust performance and rapid retrieval. Finally, the conventional iterative framework is expanded to adapt the alignment constraints based on previous iterations, further expediting retrieval without degrading performance.

A robust detector for rolling element bearing condition monitoring based on the modulation signal bispectrum and its performance evaluation against the Kurtogram

NASA Astrophysics Data System (ADS)

Tian, Xiange; Xi Gu, James; Rehab, Ibrahim; Abdalla, Gaballa M.; Gu, Fengshou; Ball, A. D.

2018-02-01

Envelope analysis is a widely used method for rolling element bearing fault detection. To obtain high detection accuracy, it is critical to determine an optimal frequency narrowband for the envelope demodulation. However, many of the schemes which are used for the narrowband selection, such as the Kurtogram, can produce poor detection results because they are sensitive to random noise and aperiodic impulses which normally occur in practical applications. To achieve the purposes of denoising and frequency band optimisation, this paper proposes a novel modulation signal bispectrum (MSB) based robust detector for bearing fault detection. Because of its inherent noise suppression capability, the MSB allows effective suppression of both stationary random noise and discrete aperiodic noise. The high magnitude features that result from the use of the MSB also enhance the modulation effects of a bearing fault and can be used to provide optimal frequency bands for fault detection. The Kurtogram is generally accepted as a powerful means of selecting the most appropriate frequency band for envelope analysis, and as such it has been used as the benchmark comparator for performance evaluation in this paper. Both simulated and experimental data analysis results show that the proposed method produces more accurate and robust detection results than Kurtogram based approaches for common bearing faults under a range of representative scenarios.

A statistically robust EEG re-referencing procedure to mitigate reference effect

PubMed Central

Lepage, Kyle Q.; Kramer, Mark A.; Chu, Catherine J.

2014-01-01

Background The electroencephalogram (EEG) remains the primary tool for diagnosis of abnormal brain activity in clinical neurology and for in vivo recordings of human neurophysiology in neuroscience research. In EEG data acquisition, voltage is measured at positions on the scalp with respect to a reference electrode. When this reference electrode responds to electrical activity or artifact all electrodes are affected. Successful analysis of EEG data often involves re-referencing procedures that modify the recorded traces and seek to minimize the impact of reference electrode activity upon functions of the original EEG recordings. New method We provide a novel, statistically robust procedure that adapts a robust maximum-likelihood type estimator to the problem of reference estimation, reduces the influence of neural activity from the re-referencing operation, and maintains good performance in a wide variety of empirical scenarios. Results The performance of the proposed and existing re-referencing procedures are validated in simulation and with examples of EEG recordings. To facilitate this comparison, channel-to-channel correlations are investigated theoretically and in simulation. Comparison with existing methods The proposed procedure avoids using data contaminated by neural signal and remains unbiased in recording scenarios where physical references, the common average reference (CAR) and the reference estimation standardization technique (REST) are not optimal. Conclusion The proposed procedure is simple, fast, and avoids the potential for substantial bias when analyzing low-density EEG data. PMID:24975291

Uncalibrated stereo rectification and disparity range stabilization: a comparison of different feature detectors

NASA Astrophysics Data System (ADS)

Luo, Xiongbiao; Jayarathne, Uditha L.; McLeod, A. Jonathan; Pautler, Stephen E.; Schlacta, Christopher M.; Peters, Terry M.

2016-03-01

This paper studies uncalibrated stereo rectification and stable disparity range determination for surgical scene three-dimensional (3-D) reconstruction. Stereoscopic endoscope calibration sometimes is not available and also increases the complexity of the operating-room environment. Stereo from uncalibrated endoscopic cameras is an alternative to reconstruct the surgical field visualized by binocular endoscopes within the body. Uncalibrated rectification is usually performed on the basis of a number of matched feature points (semi-dense correspondence) between the left and the right images of stereo pairs. After uncalibrated rectification, the corresponding feature points can be used to determine the proper disparity range that helps to improve the reconstruction accuracy and reduce the computational time of disparity map estimation. Therefore, the corresponding or matching accuracy and robustness of feature point descriptors is important to surgical field 3-D reconstruction. This work compares four feature detectors: (1) scale invariant feature transform (SIFT), (2) speeded up robust features (SURF), (3) affine scale invariant feature transform (ASIFT), and (4) gauge speeded up robust features (GSURF) with applications to uncalibrated rectification and stable disparity range determination. We performed our experiments on surgical endoscopic video images that were collected during robotic prostatectomy. The experimental results demonstrate that ASIFT outperforms other feature detectors in the uncalibrated stereo rectification and also provides a stable stable disparity range for surgical scene reconstruction.

A study of method robustness for arsenic speciation in drinking water samples by anion exchange HPLC-ICP-MS.

PubMed

Day, Jason A; Montes-Bayón, María; Vonderheide, Anne P; Caruso, Joseph A

2002-08-01

Regulating arsenic species in drinking waters is a reasonable objective, since the various species have different toxicological impacts. However, developing robust and sensitive speciation methods is mandatory prior to any such regulations. Numerous arsenic speciation publications exist, but the question of robustness or ruggedness for a regulatory method has not been fully explored. The present work illustrates the use of anion exchange chromatography coupled to ICP-MS with a commercially available "speciation kit" option. The mobile phase containing 2 mM NaH(2)PO(4) and 0.2 mM EDTA at pH 6 allowed adequate separation of four As species (As(III), As(V), MMAA, DMAA) in less than 10 min. The analytical performance characteristics studied, including method detection limits (lower than 100 ng L(-1) for all the species evaluated), proved the suitability of the method to fulfill the current regulation. Other parameters evaluated such as laboratory fortified blanks, spiked recoveries, and reproducibility over a certain period of time produced adequate results. The samples analyzed were taken from water utilities in different areas of the United States and were provided by the U.S. EPA. The data suggests the speciation setup performs to U.S. EPA specifications but sample treatment and chemistry are also important factors for achieving good recoveries for samples spiked with As(III) as arsenite and As(V) as arsenate.

Skin and scales of teleost fish: Simple structure but high performance and multiple functions

NASA Astrophysics Data System (ADS)

Vernerey, Franck J.; Barthelat, Francois

2014-08-01

Natural and man-made structural materials perform similar functions such as structural support or protection. Therefore they rely on the same types of properties: strength, robustness, lightweight. Nature can therefore provide a significant source of inspiration for new and alternative engineering designs. We report here some results regarding a very common, yet largely unknown, type of biological material: fish skin. Within a thin, flexible and lightweight layer, fish skins display a variety of strain stiffening and stabilizing mechanisms which promote multiple functions such as protection, robustness and swimming efficiency. We particularly discuss four important features pertaining to scaled skins: (a) a strongly elastic tensile behavior that is independent from the presence of rigid scales, (b) a compressive response that prevents buckling and wrinkling instabilities, which are usually predominant for thin membranes, (c) a bending response that displays nonlinear stiffening mechanisms arising from geometric constraints between neighboring scales and (d) a robust structure that preserves the above characteristics upon the loss or damage of structural elements. These important properties make fish skin an attractive model for the development of very thin and flexible armors and protective layers, especially when combined with the high penetration resistance of individual scales. Scaled structures inspired by fish skin could find applications in ultra-light and flexible armor systems, flexible electronics or the design of smart and adaptive morphing structures for aerospace vehicles.

Algorithmic Coordination in Robotic Networks

DTIC Science & Technology

2010-11-29

appropriate performance, robustness and scalability properties for various task allocation , surveillance, and information gathering applications is...networking, we envision designing and analyzing algorithms with appropriate performance, robustness and scalability properties for various task ...distributed algorithms for target assignments; based on the classic auction algorithms in static networks, we intend to design efficient algorithms in worst

Performance of fusion algorithms for computer-aided detection and classification of mines in very shallow water obtained from testing in navy Fleet Battle Exercise-Hotel 2000

NASA Astrophysics Data System (ADS)

Ciany, Charles M.; Zurawski, William; Kerfoot, Ian

2001-10-01

The performance of Computer Aided Detection/Computer Aided Classification (CAD/CAC) Fusion algorithms on side-scan sonar images was evaluated using data taken at the Navy's's Fleet Battle Exercise-Hotel held in Panama City, Florida, in August 2000. A 2-of-3 binary fusion algorithm is shown to provide robust performance. The algorithm accepts the classification decisions and associated contact locations form three different CAD/CAC algorithms, clusters the contacts based on Euclidian distance, and then declares a valid target when a clustered contact is declared by at least 2 of the 3 individual algorithms. This simple binary fusion provided a 96 percent probability of correct classification at a false alarm rate of 0.14 false alarms per image per side. The performance represented a 3.8:1 reduction in false alarms over the best performing single CAD/CAC algorithm, with no loss in probability of correct classification.

Reliability issues in active control of large flexible space structures

NASA Technical Reports Server (NTRS)

Vandervelde, W. E.

1986-01-01

Efforts in this reporting period were centered on four research tasks: design of failure detection filters for robust performance in the presence of modeling errors, design of generalized parity relations for robust performance in the presence of modeling errors, design of failure sensitive observers using the geometric system theory of Wonham, and computational techniques for evaluation of the performance of control systems with fault tolerance and redundancy management

Robust guaranteed-cost adaptive quantum phase estimation

NASA Astrophysics Data System (ADS)

Roy, Shibdas; Berry, Dominic W.; Petersen, Ian R.; Huntington, Elanor H.

2017-05-01

Quantum parameter estimation plays a key role in many fields like quantum computation, communication, and metrology. Optimal estimation allows one to achieve the most precise parameter estimates, but requires accurate knowledge of the model. Any inevitable uncertainty in the model parameters may heavily degrade the quality of the estimate. It is therefore desired to make the estimation process robust to such uncertainties. Robust estimation was previously studied for a varying phase, where the goal was to estimate the phase at some time in the past, using the measurement results from both before and after that time within a fixed time interval up to current time. Here, we consider a robust guaranteed-cost filter yielding robust estimates of a varying phase in real time, where the current phase is estimated using only past measurements. Our filter minimizes the largest (worst-case) variance in the allowable range of the uncertain model parameter(s) and this determines its guaranteed cost. It outperforms in the worst case the optimal Kalman filter designed for the model with no uncertainty, which corresponds to the center of the possible range of the uncertain parameter(s). Moreover, unlike the Kalman filter, our filter in the worst case always performs better than the best achievable variance for heterodyne measurements, which we consider as the tolerable threshold for our system. Furthermore, we consider effective quantum efficiency and effective noise power, and show that our filter provides the best results by these measures in the worst case.

Robust detrending, rereferencing, outlier detection, and inpainting for multichannel data.

PubMed

de Cheveigné, Alain; Arzounian, Dorothée

2018-05-15

Electroencephalography (EEG), magnetoencephalography (MEG) and related techniques are prone to glitches, slow drift, steps, etc., that contaminate the data and interfere with the analysis and interpretation. These artifacts are usually addressed in a preprocessing phase that attempts to remove them or minimize their impact. This paper offers a set of useful techniques for this purpose: robust detrending, robust rereferencing, outlier detection, data interpolation (inpainting), step removal, and filter ringing artifact removal. These techniques provide a less wasteful alternative to discarding corrupted trials or channels, and they are relatively immune to artifacts that disrupt alternative approaches such as filtering. Robust detrending allows slow drifts and common mode signals to be factored out while avoiding the deleterious effects of glitches. Robust rereferencing reduces the impact of artifacts on the reference. Inpainting allows corrupt data to be interpolated from intact parts based on the correlation structure estimated over the intact parts. Outlier detection allows the corrupt parts to be identified. Step removal fixes the high-amplitude flux jump artifacts that are common with some MEG systems. Ringing removal allows the ringing response of the antialiasing filter to glitches (steps, pulses) to be suppressed. The performance of the methods is illustrated and evaluated using synthetic data and data from real EEG and MEG systems. These methods, which are mainly automatic and require little tuning, can greatly improve the quality of the data. Copyright © 2018 The Authors. Published by Elsevier Inc. All rights reserved.

Multi-objective robust design of energy-absorbing components using coupled process-performance simulations

NASA Astrophysics Data System (ADS)

Najafi, Ali; Acar, Erdem; Rais-Rohani, Masoud

2014-02-01

The stochastic uncertainties associated with the material, process and product are represented and propagated to process and performance responses. A finite element-based sequential coupled process-performance framework is used to simulate the forming and energy absorption responses of a thin-walled tube in a manner that both material properties and component geometry can evolve from one stage to the next for better prediction of the structural performance measures. Metamodelling techniques are used to develop surrogate models for manufacturing and performance responses. One set of metamodels relates the responses to the random variables whereas the other relates the mean and standard deviation of the responses to the selected design variables. A multi-objective robust design optimization problem is formulated and solved to illustrate the methodology and the influence of uncertainties on manufacturability and energy absorption of a metallic double-hat tube. The results are compared with those of deterministic and augmented robust optimization problems.

The Role of Design-of-Experiments in Managing Flow in Compact Air Vehicle Inlets

NASA Technical Reports Server (NTRS)

Anderson, Bernhard H.; Miller, Daniel N.; Gridley, Marvin C.; Agrell, Johan

2003-01-01

It is the purpose of this study to demonstrate the viability and economy of Design-of-Experiments methodologies to arrive at microscale secondary flow control array designs that maintain optimal inlet performance over a wide range of the mission variables and to explore how these statistical methods provide a better understanding of the management of flow in compact air vehicle inlets. These statistical design concepts were used to investigate the robustness properties of low unit strength micro-effector arrays. Low unit strength micro-effectors are micro-vanes set at very low angles-of-incidence with very long chord lengths. They were designed to influence the near wall inlet flow over an extended streamwise distance, and their advantage lies in low total pressure loss and high effectiveness in managing engine face distortion. The term robustness is used in this paper in the same sense as it is used in the industrial problem solving community. It refers to minimizing the effects of the hard-to-control factors that influence the development of a product or process. In Robustness Engineering, the effects of the hard-to-control factors are often called noise , and the hard-to-control factors themselves are referred to as the environmental variables or sometimes as the Taguchi noise variables. Hence Robust Optimization refers to minimizing the effects of the environmental or noise variables on the development (design) of a product or process. In the management of flow in compact inlets, the environmental or noise variables can be identified with the mission variables. Therefore this paper formulates a statistical design methodology that minimizes the impact of variations in the mission variables on inlet performance and demonstrates that these statistical design concepts can lead to simpler inlet flow management systems.

MPLEx: a Robust and Universal Protocol for Single-Sample Integrative Proteomic, Metabolomic, and Lipidomic Analyses

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

Nakayasu, Ernesto S.; Nicora, Carrie D.; Sims, Amy C.

2016-05-03

ABSTRACT Integrative multi-omics analyses can empower more effective investigation and complete understanding of complex biological systems. Despite recent advances in a range of omics analyses, multi-omic measurements of the same sample are still challenging and current methods have not been well evaluated in terms of reproducibility and broad applicability. Here we adapted a solvent-based method, widely applied for extracting lipids and metabolites, to add proteomics to mass spectrometry-based multi-omics measurements. Themetabolite,protein, andlipidextraction (MPLEx) protocol proved to be robust and applicable to a diverse set of sample types, including cell cultures, microbial communities, and tissues. To illustrate the utility of thismore » protocol, an integrative multi-omics analysis was performed using a lung epithelial cell line infected with Middle East respiratory syndrome coronavirus, which showed the impact of this virus on the host glycolytic pathway and also suggested a role for lipids during infection. The MPLEx method is a simple, fast, and robust protocol that can be applied for integrative multi-omic measurements from diverse sample types (e.g., environmental,in vitro, and clinical). IMPORTANCEIn systems biology studies, the integration of multiple omics measurements (i.e., genomics, transcriptomics, proteomics, metabolomics, and lipidomics) has been shown to provide a more complete and informative view of biological pathways. Thus, the prospect of extracting different types of molecules (e.g., DNAs, RNAs, proteins, and metabolites) and performing multiple omics measurements on single samples is very attractive, but such studies are challenging due to the fact that the extraction conditions differ according to the molecule type. Here, we adapted an organic solvent-based extraction method that demonstrated broad applicability and robustness, which enabled comprehensive proteomics, metabolomics, and lipidomics analyses from the same sample.« less

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

PubMed Central

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

2013-01-01

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

Robust control of combustion instabilities

NASA Astrophysics Data System (ADS)

Hong, Boe-Shong

Several interactive dynamical subsystems, each of which has its own time-scale and physical significance, are decomposed to build a feedback-controlled combustion- fluid robust dynamics. On the fast-time scale, the phenomenon of combustion instability is corresponding to the internal feedback of two subsystems: acoustic dynamics and flame dynamics, which are parametrically dependent on the slow-time-scale mean-flow dynamics controlled for global performance by a mean-flow controller. This dissertation constructs such a control system, through modeling, analysis and synthesis, to deal with model uncertainties, environmental noises and time- varying mean-flow operation. Conservation law is decomposed as fast-time acoustic dynamics and slow-time mean-flow dynamics, served for synthesizing LPV (linear parameter varying)- L2-gain robust control law, in which a robust observer is embedded for estimating and controlling the internal status, while achieving trade- offs among robustness, performances and operation. The robust controller is formulated as two LPV-type Linear Matrix Inequalities (LMIs), whose numerical solver is developed by finite-element method. Some important issues related to physical understanding and engineering application are discussed in simulated results of the control system.

A note on variance estimation in random effects meta-regression.

PubMed

Sidik, Kurex; Jonkman, Jeffrey N

2005-01-01

For random effects meta-regression inference, variance estimation for the parameter estimates is discussed. Because estimated weights are used for meta-regression analysis in practice, the assumed or estimated covariance matrix used in meta-regression is not strictly correct, due to possible errors in estimating the weights. Therefore, this note investigates the use of a robust variance estimation approach for obtaining variances of the parameter estimates in random effects meta-regression inference. This method treats the assumed covariance matrix of the effect measure variables as a working covariance matrix. Using an example of meta-analysis data from clinical trials of a vaccine, the robust variance estimation approach is illustrated in comparison with two other methods of variance estimation. A simulation study is presented, comparing the three methods of variance estimation in terms of bias and coverage probability. We find that, despite the seeming suitability of the robust estimator for random effects meta-regression, the improved variance estimator of Knapp and Hartung (2003) yields the best performance among the three estimators, and thus may provide the best protection against errors in the estimated weights.

Solving NP-Hard Problems with Physarum-Based Ant Colony System.

PubMed

Liu, Yuxin; Gao, Chao; Zhang, Zili; Lu, Yuxiao; Chen, Shi; Liang, Mingxin; Tao, Li

2017-01-01

NP-hard problems exist in many real world applications. Ant colony optimization (ACO) algorithms can provide approximate solutions for those NP-hard problems, but the performance of ACO algorithms is significantly reduced due to premature convergence and weak robustness, etc. With these observations in mind, this paper proposes a Physarum-based pheromone matrix optimization strategy in ant colony system (ACS) for solving NP-hard problems such as traveling salesman problem (TSP) and 0/1 knapsack problem (0/1 KP). In the Physarum-inspired mathematical model, one of the unique characteristics is that critical tubes can be reserved in the process of network evolution. The optimized updating strategy employs the unique feature and accelerates the positive feedback process in ACS, which contributes to the quick convergence of the optimal solution. Some experiments were conducted using both benchmark and real datasets. The experimental results show that the optimized ACS outperforms other meta-heuristic algorithms in accuracy and robustness for solving TSPs. Meanwhile, the convergence rate and robustness for solving 0/1 KPs are better than those of classical ACS.

DARPA super resolution vision system (SRVS) robust turbulence data collection and analysis

NASA Astrophysics Data System (ADS)

Espinola, Richard L.; Leonard, Kevin R.; Thompson, Roger; Tofsted, David; D'Arcy, Sean

2014-05-01

Atmospheric turbulence degrades the range performance of military imaging systems, specifically those intended for long range, ground-to-ground target identification. The recent Defense Advanced Research Projects Agency (DARPA) Super Resolution Vision System (SRVS) program developed novel post-processing system components to mitigate turbulence effects on visible and infrared sensor systems. As part of the program, the US Army RDECOM CERDEC NVESD and the US Army Research Laboratory Computational & Information Sciences Directorate (CISD) collaborated on a field collection and atmospheric characterization of a two-handed weapon identification dataset through a diurnal cycle for a variety of ranges and sensor systems. The robust dataset is useful in developing new models and simulations of turbulence, as well for providing as a standard baseline for comparison of sensor systems in the presence of turbulence degradation and mitigation. In this paper, we describe the field collection and atmospheric characterization and present the robust dataset to the defense, sensing, and security community. In addition, we present an expanded model validation of turbulence degradation using the field collected video sequences.

Revision surgery of metal-on-metal hip arthroplasties for adverse reactions to metal debris.

PubMed

Matharu, Gulraj S; Eskelinen, Antti; Judge, Andrew; Pandit, Hemant G; Murray, David W

2018-06-01

Background and purpose - The initial outcomes following metal-on-metal hip arthroplasty (MoMHA) revision surgery performed for adverse reactions to metal debris (ARMD) were poor. Furthermore, robust thresholds for performing ARMD revision are lacking. This article is the second of 2. The first article considered the various investigative modalities used during MoMHA patient surveillance (Matharu et al. 2018a ). The present article aims to provide a clinical update regarding ARMD revision surgery in MoMHA patients (hip resurfacing and large-diameter MoM total hip arthroplasty), with specific focus on the threshold for performing ARMD revision, the surgical strategy, and the outcomes following revision. Results and interpretation - The outcomes following ARMD revision surgery appear to have improved with time for several reasons, among them the introduction of regular patient surveillance and lowering of the threshold for performing revision. Furthermore, registry data suggest that outcomes following ARMD revision are influenced by modifiable factors (type of revision procedure and bearing surface implanted), meaning surgeons could potentially reduce failure rates. However, additional large multi-center studies are needed to develop robust thresholds for performing ARMD revision surgery, which will guide surgeons' treatment of MoMHA patients. The long-term systemic effects of metal ion exposure in patients with these implants must also be investigated, which will help establish whether there are any systemic reasons to recommend revision of MoMHAs.

Neural integrators for decision making: a favorable tradeoff between robustness and sensitivity

PubMed Central

Cain, Nicholas; Barreiro, Andrea K.; Shadlen, Michael

2013-01-01

A key step in many perceptual decision tasks is the integration of sensory inputs over time, but a fundamental questions remain about how this is accomplished in neural circuits. One possibility is to balance decay modes of membranes and synapses with recurrent excitation. To allow integration over long timescales, however, this balance must be exceedingly precise. The need for fine tuning can be overcome via a “robust integrator” mechanism in which momentary inputs must be above a preset limit to be registered by the circuit. The degree of this limiting embodies a tradeoff between sensitivity to the input stream and robustness against parameter mistuning. Here, we analyze the consequences of this tradeoff for decision-making performance. For concreteness, we focus on the well-studied random dot motion discrimination task and constrain stimulus parameters by experimental data. We show that mistuning feedback in an integrator circuit decreases decision performance but that the robust integrator mechanism can limit this loss. Intriguingly, even for perfectly tuned circuits with no immediate need for a robustness mechanism, including one often does not impose a substantial penalty for decision-making performance. The implication is that robust integrators may be well suited to subserve the basic function of evidence integration in many cognitive tasks. We develop these ideas using simulations of coupled neural units and the mathematics of sequential analysis. PMID:23446688

A methodology for the synthesis of robust feedback systems. Ph.D. Thesis

NASA Technical Reports Server (NTRS)

Milich, David Albert

1988-01-01

A new methodology is developed for the synthesis of linear, time-variant (LTI) controllers for multivariable LTI systems. The resulting closed-loop system is nominally stable and exhibits a known level of performance. In addition, robustness of the feedback system is guaranteed, i.e., stability and performance are retained in the presence of multiple unstructured uncertainty blocks located at various points in the feedback loop. The design technique is referred to as the Causality Recovery Methodology (CRM). The CRM relies on the Youla parameterization of all stabilizing compensators to ensure nominal stability of the feedback system. A frequency-domain inequality in terms of the structured singular value mu defines the robustness specification. The optimal compensator, with respect to the mu condition, is shown to be noncausal in general. The aim of the CRM is to find a stable, causal transfer function matrix that approximates the robustness characteristics of the optimal solution. The CRM, via a series of infinite-dimensional convex programs, produces a closed-loop system whose performance robustness is at least as good as that of any initial design. The algorithm is approximated by a finite dimensional process for the purposes of implementation. Two numerical examples confirm the potential viability of the CRM concept; however, the robustness improvement comes at the expense of increased computational burden and compensator complexity.

Trading Robustness Requirements in Mars Entry Trajectory Design

NASA Technical Reports Server (NTRS)

Lafleur, Jarret M.

2009-01-01

One of the most important metrics characterizing an atmospheric entry trajectory in preliminary design is the size of its predicted landing ellipse. Often, requirements for this ellipse are set early in design and significantly influence both the expected scientific return from a particular mission and the cost of development. Requirements typically specify a certain probability level (6-level) for the prescribed ellipse, and frequently this latter requirement is taken at 36. However, searches for the justification of 36 as a robustness requirement suggest it is an empirical rule of thumb borrowed from non-aerospace fields. This paper presents an investigation into the sensitivity of trajectory performance to varying robustness (6-level) requirements. The treatment of robustness as a distinct objective is discussed, and an analysis framework is presented involving the manipulation of design variables to effect trades between performance and robustness objectives. The scenario for which this method is illustrated is the ballistic entry of an MSL-class Mars entry vehicle. Here, the design variable is entry flight path angle, and objectives are parachute deploy altitude performance and error ellipse robustness. Resulting plots show the sensitivities between these objectives and trends in the entry flight path angles required to design to these objectives. Relevance to the trajectory designer is discussed, as are potential steps for further development and use of this type of analysis.

Sleep, circadian rhythms, and athletic performance.

PubMed

Thun, Eirunn; Bjorvatn, Bjørn; Flo, Elisabeth; Harris, Anette; Pallesen, Ståle

2015-10-01

Sleep deprivation and time of day are both known to influence performance. A growing body of research has focused on how sleep and circadian rhythms impact athletic performance. This review provides a systematic overview of this research. We searched three different databases for articles on these issues and inspected relevant reference lists. In all, 113 articles met our inclusion criteria. The most robust result is that athletic performance seems to be best in the evening around the time when the core body temperature typically is at its peak. Sleep deprivation was negatively associated with performance whereas sleep extension seems to improve performance. The effects of desynchronization of circadian rhythms depend on the local time at which performance occurs. The review includes a discussion of differences regarding types of skills involved as well as methodological issues. Copyright © 2014 Elsevier Ltd. All rights reserved.

Automatic identification of mobile and rigid substructures in molecular dynamics simulations and fractional structural fluctuation analysis.

PubMed

Martínez, Leandro

2015-01-01

The analysis of structural mobility in molecular dynamics plays a key role in data interpretation, particularly in the simulation of biomolecules. The most common mobility measures computed from simulations are the Root Mean Square Deviation (RMSD) and Root Mean Square Fluctuations (RMSF) of the structures. These are computed after the alignment of atomic coordinates in each trajectory step to a reference structure. This rigid-body alignment is not robust, in the sense that if a small portion of the structure is highly mobile, the RMSD and RMSF increase for all atoms, resulting possibly in poor quantification of the structural fluctuations and, often, to overlooking important fluctuations associated to biological function. The motivation of this work is to provide a robust measure of structural mobility that is practical, and easy to interpret. We propose a Low-Order-Value-Optimization (LOVO) strategy for the robust alignment of the least mobile substructures in a simulation. These substructures are automatically identified by the method. The algorithm consists of the iterative superposition of the fraction of structure displaying the smallest displacements. Therefore, the least mobile substructures are identified, providing a clearer picture of the overall structural fluctuations. Examples are given to illustrate the interpretative advantages of this strategy. The software for performing the alignments was named MDLovoFit and it is available as free-software at: http://leandro.iqm.unicamp.br/mdlovofit.

Integrated hot-melt extrusion - injection molding continuous tablet manufacturing platform: Effects of critical process parameters and formulation attributes on product robustness and dimensional stability.

PubMed

Desai, Parind M; Hogan, Rachael C; Brancazio, David; Puri, Vibha; Jensen, Keith D; Chun, Jung-Hoon; Myerson, Allan S; Trout, Bernhardt L

2017-10-05

This study provides a framework for robust tablet development using an integrated hot-melt extrusion-injection molding (IM) continuous manufacturing platform. Griseofulvin, maltodextrin, xylitol and lactose were employed as drug, carrier, plasticizer and reinforcing agent respectively. A pre-blended drug-excipient mixture was fed from a loss-in-weight feeder to a twin-screw extruder. The extrudate was subsequently injected directly into the integrated IM unit and molded into tablets. Tablets were stored in different storage conditions up to 20 weeks to monitor physical stability and were evaluated by polarized light microscopy, DSC, SEM, XRD and dissolution analysis. Optimized injection pressure provided robust tablet formulations. Tablets manufactured at low and high injection pressures exhibited the flaws of sink marks and flashing respectively. Higher solidification temperature during IM process reduced the thermal induced residual stress and prevented chipping and cracking issues. Polarized light microscopy revealed a homogeneous dispersion of crystalline griseofulvin in an amorphous matrix. DSC underpinned the effect of high tablet residual moisture on maltodextrin-xylitol phase separation that resulted in dimensional instability. Tablets with low residual moisture demonstrated long term dimensional stability. This study serves as a model for IM tablet formulations for mechanistic understanding of critical process parameters and formulation attributes required for optimal product performance. Copyright © 2017 Elsevier B.V. All rights reserved.

Automatic Identification of Mobile and Rigid Substructures in Molecular Dynamics Simulations and Fractional Structural Fluctuation Analysis

PubMed Central

Martínez, Leandro

2015-01-01

The analysis of structural mobility in molecular dynamics plays a key role in data interpretation, particularly in the simulation of biomolecules. The most common mobility measures computed from simulations are the Root Mean Square Deviation (RMSD) and Root Mean Square Fluctuations (RMSF) of the structures. These are computed after the alignment of atomic coordinates in each trajectory step to a reference structure. This rigid-body alignment is not robust, in the sense that if a small portion of the structure is highly mobile, the RMSD and RMSF increase for all atoms, resulting possibly in poor quantification of the structural fluctuations and, often, to overlooking important fluctuations associated to biological function. The motivation of this work is to provide a robust measure of structural mobility that is practical, and easy to interpret. We propose a Low-Order-Value-Optimization (LOVO) strategy for the robust alignment of the least mobile substructures in a simulation. These substructures are automatically identified by the method. The algorithm consists of the iterative superposition of the fraction of structure displaying the smallest displacements. Therefore, the least mobile substructures are identified, providing a clearer picture of the overall structural fluctuations. Examples are given to illustrate the interpretative advantages of this strategy. The software for performing the alignments was named MDLovoFit and it is available as free-software at: http://leandro.iqm.unicamp.br/mdlovofit PMID:25816325

Stochastic Simulation Tool for Aerospace Structural Analysis

NASA Technical Reports Server (NTRS)

Knight, Norman F.; Moore, David F.

2006-01-01

Stochastic simulation refers to incorporating the effects of design tolerances and uncertainties into the design analysis model and then determining their influence on the design. A high-level evaluation of one such stochastic simulation tool, the MSC.Robust Design tool by MSC.Software Corporation, has been conducted. This stochastic simulation tool provides structural analysts with a tool to interrogate their structural design based on their mathematical description of the design problem using finite element analysis methods. This tool leverages the analyst's prior investment in finite element model development of a particular design. The original finite element model is treated as the baseline structural analysis model for the stochastic simulations that are to be performed. A Monte Carlo approach is used by MSC.Robust Design to determine the effects of scatter in design input variables on response output parameters. The tool was not designed to provide a probabilistic assessment, but to assist engineers in understanding cause and effect. It is driven by a graphical-user interface and retains the engineer-in-the-loop strategy for design evaluation and improvement. The application problem for the evaluation is chosen to be a two-dimensional shell finite element model of a Space Shuttle wing leading-edge panel under re-entry aerodynamic loading. MSC.Robust Design adds value to the analysis effort by rapidly being able to identify design input variables whose variability causes the most influence in response output parameters.

RSRE: RNA structural robustness evaluator

PubMed Central

Shu, Wenjie; Zheng, Zhiqiang; Wang, Shengqi

2007-01-01

Biological robustness, defined as the ability to maintain stable functioning in the face of various perturbations, is an important and fundamental topic in current biology, and has become a focus of numerous studies in recent years. Although structural robustness has been explored in several types of RNA molecules, the origins of robustness are still controversial. Computational analysis results are needed to make up for the lack of evidence of robustness in natural biological systems. The RNA structural robustness evaluator (RSRE) web server presented here provides a freely available online tool to quantitatively evaluate the structural robustness of RNA based on the widely accepted definition of neutrality. Several classical structure comparison methods are employed; five randomization methods are implemented to generate control sequences; sub-optimal predicted structures can be optionally utilized to mitigate the uncertainty of secondary structure prediction. With a user-friendly interface, the web application is easy to use. Intuitive illustrations are provided along with the original computational results to facilitate analysis. The RSRE will be helpful in the wide exploration of RNA structural robustness and will catalyze our understanding of RNA evolution. The RSRE web server is freely available at http://biosrv1.bmi.ac.cn/RSRE/ or http://biotech.bmi.ac.cn/RSRE/. PMID:17567615

Enhancement of partial robust M-regression (PRM) performance using Bisquare weight function

NASA Astrophysics Data System (ADS)

Mohamad, Mazni; Ramli, Norazan Mohamed; Ghani@Mamat, Nor Azura Md; Ahmad, Sanizah

2014-09-01

Partial Least Squares (PLS) regression is a popular regression technique for handling multicollinearity in low and high dimensional data which fits a linear relationship between sets of explanatory and response variables. Several robust PLS methods are proposed to accommodate the classical PLS algorithms which are easily affected with the presence of outliers. The recent one was called partial robust M-regression (PRM). Unfortunately, the use of monotonous weighting function in the PRM algorithm fails to assign appropriate and proper weights to large outliers according to their severity. Thus, in this paper, a modified partial robust M-regression is introduced to enhance the performance of the original PRM. A re-descending weight function, known as Bisquare weight function is recommended to replace the fair function in the PRM. A simulation study is done to assess the performance of the modified PRM and its efficiency is also tested in both contaminated and uncontaminated simulated data under various percentages of outliers, sample sizes and number of predictors.

Many-objective robust decision making for water allocation under climate change.

PubMed

Yan, Dan; Ludwig, Fulco; Huang, He Qing; Werners, Saskia E

2017-12-31

Water allocation is facing profound challenges due to climate change uncertainties. To identify adaptive water allocation strategies that are robust to climate change uncertainties, a model framework combining many-objective robust decision making and biophysical modeling is developed for large rivers. The framework was applied to the Pearl River basin (PRB), China where sufficient flow to the delta is required to reduce saltwater intrusion in the dry season. Before identifying and assessing robust water allocation plans for the future, the performance of ten state-of-the-art MOEAs (multi-objective evolutionary algorithms) is evaluated for the water allocation problem in the PRB. The Borg multi-objective evolutionary algorithm (Borg MOEA), which is a self-adaptive optimization algorithm, has the best performance during the historical periods. Therefore it is selected to generate new water allocation plans for the future (2079-2099). This study shows that robust decision making using carefully selected MOEAs can help limit saltwater intrusion in the Pearl River Delta. However, the framework could perform poorly due to larger than expected climate change impacts on water availability. Results also show that subjective design choices from the researchers and/or water managers could potentially affect the ability of the model framework, and cause the most robust water allocation plans to fail under future climate change. Developing robust allocation plans in a river basin suffering from increasing water shortage requires the researchers and water managers to well characterize future climate change of the study regions and vulnerabilities of their tools. Copyright © 2017 Elsevier B.V. All rights reserved.

RadVel: General toolkit for modeling Radial Velocities

NASA Astrophysics Data System (ADS)

Fulton, Benjamin J.; Petigura, Erik A.; Blunt, Sarah; Sinukoff, Evan

2018-01-01

RadVel models Keplerian orbits in radial velocity (RV) time series. The code is written in Python with a fast Kepler's equation solver written in C. It provides a framework for fitting RVs using maximum a posteriori optimization and computing robust confidence intervals by sampling the posterior probability density via Markov Chain Monte Carlo (MCMC). RadVel can perform Bayesian model comparison and produces publication quality plots and LaTeX tables.

Evaluation of Expedient Surfaces for Remote Piloted Aircraft

DTIC Science & Technology

2017-12-01

as an official Department of the Army position unless so designated by other authorized documents. DESTROY THIS REPORT WHEN NO LONGER NEEDED. DO NOT...Technical oversight was provided by Mr. Jeb S. Tingle. The work was performed by the Airfields and Pavements Branch (GMA) of the Engineering Systems...needed to support expeditionary operations do not have to be as robust as systems designed to support manned aircraft, such as the AM2 matting

Standardized UXO Technology Demonstration Site, Blind Grid Scoring Record No. 919

DTIC Science & Technology

2008-07-01

provided by demonstrator) a. The core component of the electromagnetic (EM) AMOS metal detector is a linear multichannel sensor array consisting of a...Attainable accuracy of depth (z) +0.3 m h. Detection performance for ferrous and nonferrous metals : Will detect ammunition components 20-mm caliber...2-meter-wide transmitter coil and 16 receiver coils, mounted on a robust, all-terrain trailer (fig. 1). b. The AMOS detector unit consists of the

Robustness enhancement of neurocontroller and state estimator

NASA Technical Reports Server (NTRS)

Troudet, Terry

1993-01-01

The feasibility of enhancing neurocontrol robustness, through training of the neurocontroller and state estimator in the presence of system uncertainties, is investigated on the example of a multivariable aircraft control problem. The performance and robustness of the newly trained neurocontroller are compared to those for an existing neurocontrol design scheme. The newly designed dynamic neurocontroller exhibits a better trade-off between phase and gain stability margins, and it is significantly more robust to degradations of the plant dynamics.

The Importance of Specific Workplace Environment Characteristics for Maximum Health and Performance: Healthcare Workers' Perspective.

PubMed

Sagha Zadeh, Rana; Shepley, Mardelle M; Owora, Arthur Hamie; Dannenbaum, Martha C; Waggener, Laurie T; Chung, Susan Sung Eun

2018-05-01

To examine the importance of specific workplace environment characteristics for maximum health and performance, assigned by healthcare employees, and how they relate to the nature of their work. A cross-sectional mixed-method study was conducted with content analysis and robust regression models to examine the relationship between workplace environment characteristics and perceived importance in promoting health and performance. Our findings suggest that perceptions of key environment characteristics that safeguard health and performance in healthcare workplaces may vary by employee sex, setting, and nature of healthcare work involved. Theme and model descriptions of the influence of these factors on participant perceptions are provided. Employee feedback on workplace characteristics that impact health and performance could be instrumental in determining the priorities of workplace design.

Analysis and Design of Launch Vehicle Flight Control Systems

NASA Technical Reports Server (NTRS)

Wie, Bong; Du, Wei; Whorton, Mark

2008-01-01

This paper describes the fundamental principles of launch vehicle flight control analysis and design. In particular, the classical concept of "drift-minimum" and "load-minimum" control principles is re-examined and its performance and stability robustness with respect to modeling uncertainties and a gimbal angle constraint is discussed. It is shown that an additional feedback of angle-of-attack or lateral acceleration can significantly improve the overall performance and robustness, especially in the presence of unexpected large wind disturbance. Non-minimum-phase structural filtering of "unstably interacting" bending modes of large flexible launch vehicles is also shown to be effective and robust.

Identification of dust outbreaks on infrared MSG-SEVIRI data by using a Robust Satellite Technique (RST)

NASA Astrophysics Data System (ADS)

Sannazzaro, Filomena; Filizzola, Carolina; Marchese, Francesco; Corrado, Rosita; Paciello, Rossana; Mazzeo, Giuseppe; Pergola, Nicola; Tramutoli, Valerio

2014-01-01

Dust storms are meteorological phenomena of great interest for scientific community because of their potential impact on climate changes, for the risk that may pose to human health and due to other issues as desertification processes and reduction of the agricultural production. Satellite remote sensing, thanks to global coverage, high frequency of observation and low cost data, may highly contribute in monitoring these phenomena, provided that proper detection methods are used. In this work, the known Robust Satellite Techniques (RST) multitemporal approach, used for studying and monitoring several natural/environmental hazards, is tested on some important dust events affecting Mediterranean region in May 2004 and Arabian Peninsula in February 2008. To perform this study, data provided by the Spinning Enhanced Visible and Infrared Imager (SEVIRI) have been processed, comparing the generated dust maps to some independent satellite-based aerosol products. Outcomes of this work show that the RST technique can be profitably used for detecting dust outbreaks from space, providing information also about areas characterized by a different probability of dust presence. They encourage further improvements of this technique in view of its possible implementation in the framework of operational warning systems.

Overview of NASA Glenn Seal Project

NASA Technical Reports Server (NTRS)

Steinetz, Bruce M.; Dunlap, Patrick H., Jr.; Proctor, Margaret; Delgado, Irebert; Finkbeiner,Joshua; deGroh, Henry; Ritzert, Frank; Daniels, Christopher; DeMange, Jeff; Taylor, Shawn;

Incorporation of support vector machines in the LIBS toolbox for sensitive and robust classification amidst unexpected sample and system variability

PubMed Central

ChariDingari, Narahara; Barman, Ishan; Myakalwar, Ashwin Kumar; Tewari, Surya P.; Kumar, G. Manoj

2012-01-01

Despite the intrinsic elemental analysis capability and lack of sample preparation requirements, laser-induced breakdown spectroscopy (LIBS) has not been extensively used for real world applications, e.g. quality assurance and process monitoring. Specifically, variability in sample, system and experimental parameters in LIBS studies present a substantive hurdle for robust classification, even when standard multivariate chemometric techniques are used for analysis. Considering pharmaceutical sample investigation as an example, we propose the use of support vector machines (SVM) as a non-linear classification method over conventional linear techniques such as soft independent modeling of class analogy (SIMCA) and partial least-squares discriminant analysis (PLS-DA) for discrimination based on LIBS measurements. Using over-the-counter pharmaceutical samples, we demonstrate that application of SVM enables statistically significant improvements in prospective classification accuracy (sensitivity), due to its ability to address variability in LIBS sample ablation and plasma self-absorption behavior. Furthermore, our results reveal that SVM provides nearly 10% improvement in correct allocation rate and a concomitant reduction in misclassification rates of 75% (cf. PLS-DA) and 80% (cf. SIMCA)-when measurements from samples not included in the training set are incorporated in the test data – highlighting its robustness. While further studies on a wider matrix of sample types performed using different LIBS systems is needed to fully characterize the capability of SVM to provide superior predictions, we anticipate that the improved sensitivity and robustness observed here will facilitate application of the proposed LIBS-SVM toolbox for screening drugs and detecting counterfeit samples as well as in related areas of forensic and biological sample analysis. PMID:22292496

Ultraviolet Light Surface Treatment as an Environmentally Benign Process for Production, Maintenance and Repair of Military Composite Structures

NASA Astrophysics Data System (ADS)

Drzal, Lawrence T.

2002-02-01

The principal objective of this work is to develop a low-cost, high-speed, environmentally benign, dry surface treatment method for production, and repair of military composite structures using ultraviolet (UV) light in ambient air. The potential advantage of this method is that it would eliminate volatile organic wastes (VOCs), reduce or eliminate the use of solutions and detergents, and provide a robust surface that would enhance or eliminate the use of solutions and detergents, and provide a robust surface that would enhance the wetting and spreading of paints, coatings and adhesives on polymeric and inorganic surfaces treated by this method. A manufacturing base for UV production equipment is in place although not for this application. There is a need for development of an environmentally friendly, cost effective as well as a robust surface treatment method that can clean a surface as well as create a beneficial chemistry for painting and produce optimum adhesive bonding of polymers, polymer composites and metal surfaces. With this in mind, three main technical objectives were sought in the work. The first objective was to determine the usefulness of UV and UV/O(3) to surface treatments to clean and chemically modify the surface of typical PMCs used in DOD systems. The second objective was to determine the effectiveness of this surface preparation for production and/or repair of adhesively bonded, painted and/or coated polymer matrix composite structures. Finally, a determination of the environmental and performance benefits of this method as a new environmentally benign processing method for the production and/or re air of adhesively SERDP, SERDP collection, robust surface, polymeric surface, inorganic surface, volatile organic compounds (VOC) emissions.

Incorporation of support vector machines in the LIBS toolbox for sensitive and robust classification amidst unexpected sample and system variability.

PubMed

Dingari, Narahara Chari; Barman, Ishan; Myakalwar, Ashwin Kumar; Tewari, Surya P; Kumar Gundawar, Manoj

2012-03-20

Despite the intrinsic elemental analysis capability and lack of sample preparation requirements, laser-induced breakdown spectroscopy (LIBS) has not been extensively used for real-world applications, e.g., quality assurance and process monitoring. Specifically, variability in sample, system, and experimental parameters in LIBS studies present a substantive hurdle for robust classification, even when standard multivariate chemometric techniques are used for analysis. Considering pharmaceutical sample investigation as an example, we propose the use of support vector machines (SVM) as a nonlinear classification method over conventional linear techniques such as soft independent modeling of class analogy (SIMCA) and partial least-squares discriminant analysis (PLS-DA) for discrimination based on LIBS measurements. Using over-the-counter pharmaceutical samples, we demonstrate that the application of SVM enables statistically significant improvements in prospective classification accuracy (sensitivity), because of its ability to address variability in LIBS sample ablation and plasma self-absorption behavior. Furthermore, our results reveal that SVM provides nearly 10% improvement in correct allocation rate and a concomitant reduction in misclassification rates of 75% (cf. PLS-DA) and 80% (cf. SIMCA)-when measurements from samples not included in the training set are incorporated in the test data-highlighting its robustness. While further studies on a wider matrix of sample types performed using different LIBS systems is needed to fully characterize the capability of SVM to provide superior predictions, we anticipate that the improved sensitivity and robustness observed here will facilitate application of the proposed LIBS-SVM toolbox for screening drugs and detecting counterfeit samples, as well as in related areas of forensic and biological sample analysis.

Robust Aircraft Squadron Scheduling in the Face of Absenteeism

DTIC Science & Technology

2008-03-01

Complicating matters is absenteeism . If one or more pilots are unable to perform their previously assigned tasks, due to sickness, aircraft failure, or...ROBUST AIRCRAFT SQUADRON SCHEDULING IN THE FACE OF ABSENTEEISM THESIS Osman B Gokcen, 1st...or the United States Government. AFIT/GOR/ENS/08-06 ROBUST AIRCRAFT SQUADRON SCHEDULING IN THE FACE OF ABSENTEEISM THESIS

Expression of enzymes in yeast for lignocellulose derived oligomer CBP

DOEpatents

McBride, John E.; Wiswall, Erin; Shikhare, Indraneel; Xu, Haowen; Thorngren, Naomi; Hau, Heidi H.; Stonehouse, Emily

2017-08-29

The present invention provides a multi-component enzyme system that hydrolyzes hemicellulose oligomers from hardwood which can be expressed, for example, in yeast such as Saccharomyces cerevisiae. In some embodiments, this invention provides for the engineering of a series of biocatalysts combining the expression and secretion of components of this enzymatic system with robust, rapid xylose utilization, and ethanol fermentation under industrially relevant process conditions for consolidated bioprocessing. In some embodiments, the invention utilizes co-cultures of strains that can achieve significantly improved performance due to the incorporation of additional enzymes in the fermentation system.

A functional approach to emotion in autonomous systems.

PubMed

Sanz, Ricardo; Hernández, Carlos; Gómez, Jaime; Hernando, Adolfo

2010-01-01

The construction of fully effective systems seems to pass through the proper exploitation of goal-centric self-evaluative capabilities that let the system teleologically self-manage. Emotions seem to provide this kind of functionality to biological systems and hence the interest in emotion for function sustainment in artificial systems performing in changing and uncertain environments; far beyond the media hullabaloo of displaying human-like emotion-laden faces in robots. This chapter provides a brief analysis of the scientific theories of emotion and presents an engineering approach for developing technology for robust autonomy by implementing functionality inspired in that of biological emotions.

Hypothesis Testing, "p" Values, Confidence Intervals, Measures of Effect Size, and Bayesian Methods in Light of Modern Robust Techniques

ERIC Educational Resources Information Center

Wilcox, Rand R.; Serang, Sarfaraz

2017-01-01

The article provides perspectives on p values, null hypothesis testing, and alternative techniques in light of modern robust statistical methods. Null hypothesis testing and "p" values can provide useful information provided they are interpreted in a sound manner, which includes taking into account insights and advances that have…

Robust support vector regression networks for function approximation with outliers.

PubMed

Chuang, Chen-Chia; Su, Shun-Feng; Jeng, Jin-Tsong; Hsiao, Chih-Ching

2002-01-01

Support vector regression (SVR) employs the support vector machine (SVM) to tackle problems of function approximation and regression estimation. SVR has been shown to have good robust properties against noise. When the parameters used in SVR are improperly selected, overfitting phenomena may still occur. However, the selection of various parameters is not straightforward. Besides, in SVR, outliers may also possibly be taken as support vectors. Such an inclusion of outliers in support vectors may lead to seriously overfitting phenomena. In this paper, a novel regression approach, termed as the robust support vector regression (RSVR) network, is proposed to enhance the robust capability of SVR. In the approach, traditional robust learning approaches are employed to improve the learning performance for any selected parameters. From the simulation results, our RSVR can always improve the performance of the learned systems for all cases. Besides, it can be found that even the training lasted for a long period, the testing errors would not go up. In other words, the overfitting phenomenon is indeed suppressed.

Robustness analysis of superpixel algorithms to image blur, additive Gaussian noise, and impulse noise

NASA Astrophysics Data System (ADS)

Brekhna, Brekhna; Mahmood, Arif; Zhou, Yuanfeng; Zhang, Caiming

2017-11-01

Superpixels have gradually become popular in computer vision and image processing applications. However, no comprehensive study has been performed to evaluate the robustness of superpixel algorithms in regard to common forms of noise in natural images. We evaluated the robustness of 11 recently proposed algorithms to different types of noise. The images were corrupted with various degrees of Gaussian blur, additive white Gaussian noise, and impulse noise that either made the object boundaries weak or added extra information to it. We performed a robustness analysis of simple linear iterative clustering (SLIC), Voronoi Cells (VCells), flooding-based superpixel generation (FCCS), bilateral geodesic distance (Bilateral-G), superpixel via geodesic distance (SSS-G), manifold SLIC (M-SLIC), Turbopixels, superpixels extracted via energy-driven sampling (SEEDS), lazy random walk (LRW), real-time superpixel segmentation by DBSCAN clustering, and video supervoxels using partially absorbing random walks (PARW) algorithms. The evaluation process was carried out both qualitatively and quantitatively. For quantitative performance comparison, we used achievable segmentation accuracy (ASA), compactness, under-segmentation error (USE), and boundary recall (BR) on the Berkeley image database. The results demonstrated that all algorithms suffered performance degradation due to noise. For Gaussian blur, Bilateral-G exhibited optimal results for ASA and USE measures, SLIC yielded optimal compactness, whereas FCCS and DBSCAN remained optimal for BR. For the case of additive Gaussian and impulse noises, FCCS exhibited optimal results for ASA, USE, and BR, whereas Bilateral-G remained a close competitor in ASA and USE for Gaussian noise only. Additionally, Turbopixel demonstrated optimal performance for compactness for both types of noise. Thus, no single algorithm was able to yield optimal results for all three types of noise across all performance measures. Conclusively, to solve real-world problems effectively, more robust superpixel algorithms must be developed.

Magnitude Estimation for the 2011 Tohoku-Oki Earthquake Based on Ground Motion Prediction Equations

NASA Astrophysics Data System (ADS)

Eshaghi, Attieh; Tiampo, Kristy F.; Ghofrani, Hadi; Atkinson, Gail M.

2015-08-01

This study investigates whether real-time strong ground motion data from seismic stations could have been used to provide an accurate estimate of the magnitude of the 2011 Tohoku-Oki earthquake in Japan. Ultimately, such an estimate could be used as input data for a tsunami forecast and would lead to more robust earthquake and tsunami early warning. We collected the strong motion accelerograms recorded by borehole and free-field (surface) Kiban Kyoshin network stations that registered this mega-thrust earthquake in order to perform an off-line test to estimate the magnitude based on ground motion prediction equations (GMPEs). GMPEs for peak ground acceleration and peak ground velocity (PGV) from a previous study by Eshaghi et al. in the Bulletin of the Seismological Society of America 103. (2013) derived using events with moment magnitude ( M) ≥ 5.0, 1998-2010, were used to estimate the magnitude of this event. We developed new GMPEs using a more complete database (1998-2011), which added only 1 year but approximately twice as much data to the initial catalog (including important large events), to improve the determination of attenuation parameters and magnitude scaling. These new GMPEs were used to estimate the magnitude of the Tohoku-Oki event. The estimates obtained were compared with real time magnitude estimates provided by the existing earthquake early warning system in Japan. Unlike the current operational magnitude estimation methods, our method did not saturate and can provide robust estimates of moment magnitude within ~100 s after earthquake onset for both catalogs. It was found that correcting for average shear-wave velocity in the uppermost 30 m () improved the accuracy of magnitude estimates from surface recordings, particularly for magnitude estimates of PGV (Mpgv). The new GMPEs also were used to estimate the magnitude of all earthquakes in the new catalog with at least 20 records. Results show that the magnitude estimate from PGV values using borehole recordings had the smallest standard deviation among the estimated magnitudes and produced more stable and robust magnitude estimates. This suggests that incorporating borehole strong ground-motion records immediately available after the occurrence of large earthquakes can provide robust and accurate magnitude estimation.

A multiple-feature and multiple-kernel scene segmentation algorithm for humanoid robot.

PubMed

Liu, Zhi; Xu, Shuqiong; Zhang, Yun; Chen, Chun Lung Philip

2014-11-01

This technical correspondence presents a multiple-feature and multiple-kernel support vector machine (MFMK-SVM) methodology to achieve a more reliable and robust segmentation performance for humanoid robot. The pixel wise intensity, gradient, and C1 SMF features are extracted via the local homogeneity model and Gabor filter, which would be used as inputs of MFMK-SVM model. It may provide multiple features of the samples for easier implementation and efficient computation of MFMK-SVM model. A new clustering method, which is called feature validity-interval type-2 fuzzy C-means (FV-IT2FCM) clustering algorithm, is proposed by integrating a type-2 fuzzy criterion in the clustering optimization process to improve the robustness and reliability of clustering results by the iterative optimization. Furthermore, the clustering validity is employed to select the training samples for the learning of the MFMK-SVM model. The MFMK-SVM scene segmentation method is able to fully take advantage of the multiple features of scene image and the ability of multiple kernels. Experiments on the BSDS dataset and real natural scene images demonstrate the superior performance of our proposed method.

A real-time recursive filter for the attitude determination of the Spacelab instrument pointing subsystem

NASA Technical Reports Server (NTRS)

West, M. E.

1992-01-01

A real-time estimation filter which reduces sensitivity to system variations and reduces the amount of preflight computation is developed for the instrument pointing subsystem (IPS). The IPS is a three-axis stabilized platform developed to point various astronomical observation instruments aboard the shuttle. Currently, the IPS utilizes a linearized Kalman filter (LKF), with premission defined gains, to compensate for system drifts and accumulated attitude errors. Since the a priori gains are generated for an expected system, variations result in a suboptimal estimation process. This report compares the performance of three real-time estimation filters with the current LKF implementation. An extended Kalman filter and a second-order Kalman filter are developed to account for the system nonlinearities, while a linear Kalman filter implementation assumes that the nonlinearities are negligible. The performance of each of the four estimation filters are compared with respect to accuracy, stability, settling time, robustness, and computational requirements. It is shown, that for the current IPS pointing requirements, the linear Kalman filter provides improved robustness over the LKF with less computational requirements than the two real-time nonlinear estimation filters.

Hydration and chemical ingredients in sport drinks: food safety in the European context.

PubMed

Urdampilleta, Aritz; Gómez-Zorita, Saioa; Soriano, José M; Martínez-Sanz, José M; Medina, Sonia; Gil-Izquierdo, Angel

2015-05-01

Before, during and after physical activity, hydration is a limiting factor in athletic performance. Therefore, adequate hydration provides benefits for health and performance of athletes. Besides, hydration is associated to the intake of carbohydrates, protein, sodium, caffeine and other substances by different dietary aids, during the training and/or competition by athletes. These requirements have led to the development of different products by the food industry, to cover the nutritional needs of athletes. Currently in the European context, the legal framework for the development of products, substances and health claims concerning to sport products is incomplete and scarce. Under these conditions, there are many products with different ingredients out of European Food Safety Authority (EFSA) control where claims are wrong due to no robust scientific evidence and it can be dangerous for the health. Further scientific evidence should be constructed by new clinical trials in order to assist to the Experts Commitees at EFSA for obtaining robust scientific opinions concerning to the functional foods and the individual ingredients for sport population. Copyright AULA MEDICA EDICIONES 2014. Published by AULA MEDICA. All rights reserved.

Label-noise resistant logistic regression for functional data classification with an application to Alzheimer's disease study.

PubMed

Lee, Seokho; Shin, Hyejin; Lee, Sang Han

2016-12-01

Alzheimer's disease (AD) is usually diagnosed by clinicians through cognitive and functional performance test with a potential risk of misdiagnosis. Since the progression of AD is known to cause structural changes in the corpus callosum (CC), the CC thickness can be used as a functional covariate in AD classification problem for a diagnosis. However, misclassified class labels negatively impact the classification performance. Motivated by AD-CC association studies, we propose a logistic regression for functional data classification that is robust to misdiagnosis or label noise. Specifically, our logistic regression model is constructed by adopting individual intercepts to functional logistic regression model. This approach enables to indicate which observations are possibly mislabeled and also lead to a robust and efficient classifier. An effective algorithm using MM algorithm provides simple closed-form update formulas. We test our method using synthetic datasets to demonstrate its superiority over an existing method, and apply it to differentiating patients with AD from healthy normals based on CC from MRI. © 2016, The International Biometric Society.

Monitoring volcanic thermal activity by Robust Satellite Techniques: achievements and perspectives

NASA Astrophysics Data System (ADS)

Tramutoli, V.; Marchese, F.; Mazzeo, G.; Pergola, N.

2009-12-01

Satellite data have been increasingly used in last decades to study active volcanoes and to monitor thermal activity variation in space-time domain. Several satellite techniques and original methods have been developed and tested, devoted to hotspot detection and thermal monitoring. Among them, a multi-temporal approach, named RST (Robust Satellite Techniques), has shown high performances in detecting hotspots, with a low false positive rate under different observational and atmospheric conditions, providing also a potential toward low-level thermal anomalies which may announce incoming eruptions. As the RST scheme is intrinsically exportable on different geographic areas and satellite sensors, it has been applied and tested on a number of volcanoes and in different environmental conditions. This work presents major results and outcomes of studies carried out on Etna and Stromboli (Italy), Merapi (Java Indonesia), Asamayama (Japan), Jebel Al Tair (Yemen) by using different satellite systems and sensors (e.g. NOAA-AVHRR, EOS-MODIS, MSG-SEVIRI). Performances on hotspot detection, early warning and real-time monitoring, together with capabilities in possible thermal precursor identification, will be presented and discussed.

Robust terahertz self-heterodyne system using a phase noise compensation technique.

PubMed

Song, Hajun; Song, Jong-In

2015-08-10

We propose and demonstrate a robust terahertz self-heterodyne system using a phase noise compensation technique. Conventional terahertz self-heterodyne systems suffer from degraded phase noise performance due to phase noise of the laser sources. The proposed phase noise compensation technique uses an additional photodiode and a simple electric circuit to produce phase noise identical to that observed in the terahertz signal produced by the self-heterodyne system. The phase noise is subsequently subtracted from the terahertz signal produced by the self-heterodyne system using a lock-in amplifier. While the terahertz self-heterodyne system using a phase noise compensation technique offers improved phase noise performance, it also provides a reduced phase drift against ambient temperature variations. The terahertz self-heterodyne system using a phase noise compensation technique shows a phase noise of 0.67 degree in terms of a standard deviation value even without using overall delay balance control. It also shows a phase drift of as small as approximately 10 degrees in an open-to-air measurement condition without any strict temperature control.

Semantic Edge Based Disparity Estimation Using Adaptive Dynamic Programming for Binocular Sensors

PubMed Central

Zhu, Dongchen; Li, Jiamao; Wang, Xianshun; Peng, Jingquan; Shi, Wenjun; Zhang, Xiaolin

2018-01-01

Disparity calculation is crucial for binocular sensor ranging. The disparity estimation based on edges is an important branch in the research of sparse stereo matching and plays an important role in visual navigation. In this paper, we propose a robust sparse stereo matching method based on the semantic edges. Some simple matching costs are used first, and then a novel adaptive dynamic programming algorithm is proposed to obtain optimal solutions. This algorithm makes use of the disparity or semantic consistency constraint between the stereo images to adaptively search parameters, which can improve the robustness of our method. The proposed method is compared quantitatively and qualitatively with the traditional dynamic programming method, some dense stereo matching methods, and the advanced edge-based method respectively. Experiments show that our method can provide superior performance on the above comparison. PMID:29614028

Robust output feedback H∞ control for networked control systems based on the occurrence probabilities of time delays

NASA Astrophysics Data System (ADS)

Guo, Chenyu; Zhang, Weidong; Bao, Jie

2012-02-01

This article is concerned with the problem of robust H ∞ output feedback control for a kind of networked control systems with time-varying network-induced delays. Instead of using boundaries of time delays to represent all time delays, the occurrence probability of each time delay is considered in H∞ stability analysis and stabilisation. The problem addressed is the design of an output feedback controller such that, for all admissible uncertainties, the resulting closed-loop system is stochastically stable for the zero disturbance input and also simultaneously achieves a prescribed H∞ performance level. It is shown that less conservativeness is obtained. A set of linear matrix inequalities is given to solve the corresponding controller design problem. An example is provided to show the effectiveness and applicability of the proposed method.

Semantic Edge Based Disparity Estimation Using Adaptive Dynamic Programming for Binocular Sensors.

PubMed

Zhu, Dongchen; Li, Jiamao; Wang, Xianshun; Peng, Jingquan; Shi, Wenjun; Zhang, Xiaolin

2018-04-03

Disparity calculation is crucial for binocular sensor ranging. The disparity estimation based on edges is an important branch in the research of sparse stereo matching and plays an important role in visual navigation. In this paper, we propose a robust sparse stereo matching method based on the semantic edges. Some simple matching costs are used first, and then a novel adaptive dynamic programming algorithm is proposed to obtain optimal solutions. This algorithm makes use of the disparity or semantic consistency constraint between the stereo images to adaptively search parameters, which can improve the robustness of our method. The proposed method is compared quantitatively and qualitatively with the traditional dynamic programming method, some dense stereo matching methods, and the advanced edge-based method respectively. Experiments show that our method can provide superior performance on the above comparison.

Robust finite-time chaos synchronization of uncertain permanent magnet synchronous motors.

PubMed

Chen, Qiang; Ren, Xuemei; Na, Jing

2015-09-01

In this paper, a robust finite-time chaos synchronization scheme is proposed for two uncertain third-order permanent magnet synchronous motors (PMSMs). The whole synchronization error system is divided into two cascaded subsystems: a first-order subsystem and a second-order subsystem. For the first subsystem, we design a finite-time controller based on the finite-time Lyapunov stability theory. Then, according to the backstepping idea and the adding a power integrator technique, a second finite-time controller is constructed recursively for the second subsystem. No exogenous forces are required in the controllers design but only the direct-axis (d-axis) and the quadrature-axis (q-axis) stator voltages are used as manipulated variables. Comparative simulations are provided to show the effectiveness and superior performance of the proposed method. Copyright © 2015 ISA. Published by Elsevier Ltd. All rights reserved.

Robust nonlinear variable selective control for networked systems

NASA Astrophysics Data System (ADS)

Rahmani, Behrooz

2016-10-01

This paper is concerned with the networked control of a class of uncertain nonlinear systems. In this way, Takagi-Sugeno (T-S) fuzzy modelling is used to extend the previously proposed variable selective control (VSC) methodology to nonlinear systems. This extension is based upon the decomposition of the nonlinear system to a set of fuzzy-blended locally linearised subsystems and further application of the VSC methodology to each subsystem. To increase the applicability of the T-S approach for uncertain nonlinear networked control systems, this study considers the asynchronous premise variables in the plant and the controller, and then introduces a robust stability analysis and control synthesis. The resulting optimal switching-fuzzy controller provides a minimum guaranteed cost on an H2 performance index. Simulation studies on three nonlinear benchmark problems demonstrate the effectiveness of the proposed method.

Robust adaptive antiswing control of underactuated crane systems with two parallel payloads and rail length constraint.

PubMed

Zhang, Zhongcai; Wu, Yuqiang; Huang, Jinming

2016-11-01

The antiswing control and accurate positioning are simultaneously investigated for underactuated crane systems in the presence of two parallel payloads on the trolley and rail length limitation. The equations of motion for the crane system in question are established via the Euler-Lagrange equation. An adaptive control strategy is proposed with the help of system energy function and energy shaping technique. Stability analysis shows that under the designed adaptive controller, the payload swings can be suppressed ultimately and the trolley can be regulated to the destination while not exceeding the pre-specified boundaries. Simulation results are provided to show the satisfactory control performances of the presented control method in terms of working efficiency as well as robustness with respect to external disturbances. Copyright © 2016 ISA. Published by Elsevier Ltd. All rights reserved.

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

PubMed

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

2016-03-01

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

A parallel-processing approach to computing for the geographic sciences

USGS Publications Warehouse

Crane, Michael; Steinwand, Dan; Beckmann, Tim; Krpan, Greg; Haga, Jim; Maddox, Brian; Feller, Mark

2001-01-01

The overarching goal of this project is to build a spatially distributed infrastructure for information science research by forming a team of information science researchers and providing them with similar hardware and software tools to perform collaborative research. Four geographically distributed Centers of the U.S. Geological Survey (USGS) are developing their own clusters of low-cost personal computers into parallel computing environments that provide a costeffective way for the USGS to increase participation in the high-performance computing community. Referred to as Beowulf clusters, these hybrid systems provide the robust computing power required for conducting research into various areas, such as advanced computer architecture, algorithms to meet the processing needs for real-time image and data processing, the creation of custom datasets from seamless source data, rapid turn-around of products for emergency response, and support for computationally intense spatial and temporal modeling.

Accounting for sequential trial effects in the flanker task: conflict adaptation or associative priming?

PubMed

Nieuwenhuis, Sander; Stins, John F; Posthuma, Danielle; Polderman, Tinca J C; Boomsma, Dorret I; de Geus, Eco J

2006-09-01

The conflict-control loop theory proposes that the detection of conflict in information processing triggers an increase in cognitive control, resulting in improved performance on the subsequent trial. This theory seems consistent with the robust finding that conflict susceptibility is reduced following correct trials associated with high conflict: the conflict adaptation effect. However, despite providing favorable conditions for eliciting and detecting conflict-triggered performance adjustments, none of the five experiments reported here provide unequivocal evidence of such adjustments. Instead, the results corroborate and extend earlier findings by demonstrating that the conflict adaptation effect, at least in the flanker task, is only present for a specific subset of trial sequences that is characterized by a response repetition. This pattern of results provides strong evidence that the conflict adaptation effect reflects associative stimulus-response priming instead of conflict-driven adaptations in cognitive control.

Robustness. [in space systems

NASA Technical Reports Server (NTRS)

Ryan, Robert

1993-01-01

The concept of rubustness includes design simplicity, component and path redundancy, desensitization to the parameter and environment variations, control of parameter variations, and punctual operations. These characteristics must be traded with functional concepts, materials, and fabrication approach against the criteria of performance, cost, and reliability. The paper describes the robustness design process, which includes the following seven major coherent steps: translation of vision into requirements, definition of the robustness characteristics desired, criteria formulation of required robustness, concept selection, detail design, manufacturing and verification, operations.

Performances and recent evolutions of EMSC Real Time Information services

NASA Astrophysics Data System (ADS)

Mazet-Roux, G.; Godey, S.; Bossu, R.

2009-04-01

The EMSC (http://www.emsc-csem.org) operates Real Time Earthquake Information services for the public and the scientific community which aim at providing rapid and reliable information on the seismic-ity of the Euro-Mediterranean region and on significant earthquakes worldwide. These services are based on parametric data rapidly provided by 66 seismological networks which are automatically merged and processed at EMSC. A web page which is updated every minute displays a list and a map of the latest earthquakes as well as additional information like location maps, moment tensors solutions or past regional seismicity. Since 2004, the performances and the popularity of these services have dramatically increased. The number of messages received from the contributors and the number of published events have been multiplied by 2 since 2004 and by 1.6 since 2005 respectively. The web traffic and the numbers of users of the Earthquake Notification Service (ENS) have been multiplied by 15 and 7 respectively. In terms of performances of the ENS, the median dissemination time for Euro-Med events is minutes in 2008. In order to further improve its performances and especially the speed and robustness of the reception of real time data, EMSC has recently implemented a software named QWIDS (Quake Watch Information Distribution System) which provides a quick and robust data exchange system through permanent TCP connections. At the difference with emails that can sometimes be delayed or lost, QWIDS is an actual real time communication system that ensures the data delivery. In terms of hardware, EMSC imple-mented a high availability, dynamic load balancing, redundant and scalable web servers infrastructure, composed of two SUN T2000 and one F5 BIG-IP switch. This will allow coping with constantly increas-ing web traffic and the occurrence of huge peaks of traffic after widely felt earthquakes.

SU-F-BRD-04: Robustness Analysis of Proton Breast Treatments Using An Alpha-Stable Distribution Parameterization

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

Van den Heuvel, F; Hackett, S; Fiorini, F

Purpose: Currently, planning systems allow robustness calculations to be performed, but a generalized assessment methodology is not yet available. We introduce and evaluate a methodology to quantify the robustness of a plan on an individual patient basis. Methods: We introduce the notion of characterizing a treatment instance (i.e. one single fraction delivery) by describing the dose distribution within an organ as an alpha-stable distribution. The parameters of the distribution (shape(α), scale(γ), position(δ), and symmetry(β)), will vary continuously (in a mathematical sense) as the distributions change with the different positions. The rate of change of the parameters provides a measure ofmore » the robustness of the treatment. The methodology is tested in a planning study of 25 patients with known residual errors at each fraction. Each patient was planned using Eclipse with an IBA-proton beam model. The residual error space for every patient was sampled 30 times, yielding 31 treatment plans for each patient and dose distributions in 5 organs. The parameters’ change rate as a function of Euclidean distance from the original plan was analyzed. Results: More than 1,000 dose distributions were analyzed. For 4 of the 25 patients the change in scale rate (γ) was considerably higher than the lowest change rate, indicating a lack of robustness. The sign of the shape change rate (α) also seemed indicative but the experiment lacked the power to prove significance. Conclusion: There are indications that this robustness measure is a valuable tool to allow a more patient individualized approach to the determination of margins. In a further study we will also evaluate this robustness measure using photon treatments, and evaluate the impact of using breath hold techniques, and the a Monte Carlo based dose deposition calculation. A principle component analysis is also planned.« less

Benchmarking of a treatment planning system for spot scanning proton therapy: Comparison and analysis of robustness to setup errors of photon IMRT and proton SFUD treatment plans of base of skull meningioma

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

Harding, R., E-mail: ruth.harding2@wales.nhs.uk; Trnková, P.; Lomax, A. J.

Purpose: Base of skull meningioma can be treated with both intensity modulated radiation therapy (IMRT) and spot scanned proton therapy (PT). One of the main benefits of PT is better sparing of organs at risk, but due to the physical and dosimetric characteristics of protons, spot scanned PT can be more sensitive to the uncertainties encountered in the treatment process compared with photon treatment. Therefore, robustness analysis should be part of a comprehensive comparison between these two treatment methods in order to quantify and understand the sensitivity of the treatment techniques to uncertainties. The aim of this work was tomore » benchmark a spot scanning treatment planning system for planning of base of skull meningioma and to compare the created plans and analyze their robustness to setup errors against the IMRT technique. Methods: Plans were produced for three base of skull meningioma cases: IMRT planned with a commercial TPS [Monaco (Elekta AB, Sweden)]; single field uniform dose (SFUD) spot scanning PT produced with an in-house TPS (PSI-plan); and SFUD spot scanning PT plan created with a commercial TPS [XiO (Elekta AB, Sweden)]. A tool for evaluating robustness to random setup errors was created and, for each plan, both a dosimetric evaluation and a robustness analysis to setup errors were performed. Results: It was possible to create clinically acceptable treatment plans for spot scanning proton therapy of meningioma with a commercially available TPS. However, since each treatment planning system uses different methods, this comparison showed different dosimetric results as well as different sensitivities to setup uncertainties. The results confirmed the necessity of an analysis tool for assessing plan robustness to provide a fair comparison of photon and proton plans. Conclusions: Robustness analysis is a critical part of plan evaluation when comparing IMRT plans with spot scanned proton therapy plans.« less

Stability and Performance Robustness Assessment of Multivariable Control Systems

DTIC Science & Technology

1993-04-01

00- STABILITY AND PERFORMANCE ROBUSTNESS ASSESSMENT OF MULTIVARIABLE CONTROL SYSTEMS Asok Ray , Jenny I. Shen, and Chen-Kuo Weng Mechanical...Office of Naval Research Assessment of Multivariable Control Systems Grant No. N00014-90-J- 1513 6. AUTHOR(S) (Extension) Professor Asok Ray , Dr...20 The Pennsylvania State University University Park, PA 16802 (20 for Professor Asok Ray ) Naval Postgraduate School

The Graphical Display of Simulation Results, with Applications to the Comparison of Robust IRT Estimators of Ability.

ERIC Educational Resources Information Center

Thissen, David; Wainer, Howard

Simulation studies of the performance of (potentially) robust statistical estimation produce large quantities of numbers in the form of performance indices of the various estimators under various conditions. This report presents a multivariate graphical display used to aid in the digestion of the plentiful results in a current study of Item…

Wisdom of crowds for robust gene network inference

PubMed Central

Marbach, Daniel; Costello, James C.; Küffner, Robert; Vega, Nicci; Prill, Robert J.; Camacho, Diogo M.; Allison, Kyle R.; Kellis, Manolis; Collins, James J.; Stolovitzky, Gustavo

2012-01-01

Reconstructing gene regulatory networks from high-throughput data is a long-standing problem. Through the DREAM project (Dialogue on Reverse Engineering Assessment and Methods), we performed a comprehensive blind assessment of over thirty network inference methods on Escherichia coli, Staphylococcus aureus, Saccharomyces cerevisiae, and in silico microarray data. We characterize performance, data requirements, and inherent biases of different inference approaches offering guidelines for both algorithm application and development. We observe that no single inference method performs optimally across all datasets. In contrast, integration of predictions from multiple inference methods shows robust and high performance across diverse datasets. Thereby, we construct high-confidence networks for E. coli and S. aureus, each comprising ~1700 transcriptional interactions at an estimated precision of 50%. We experimentally test 53 novel interactions in E. coli, of which 23 were supported (43%). Our results establish community-based methods as a powerful and robust tool for the inference of transcriptional gene regulatory networks. PMID:22796662

High-Performance AC Power Source by Applying Robust Stability Control Technology for Precision Material Machining

NASA Astrophysics Data System (ADS)

Chang, En-Chih

2018-02-01

This paper presents a high-performance AC power source by applying robust stability control technology for precision material machining (PMM). The proposed technology associates the benefits of finite-time convergent sliding function (FTCSF) and firefly optimization algorithm (FOA). The FTCSF maintains the robustness of conventional sliding mode, and simultaneously speeds up the convergence speed of the system state. Unfortunately, when a highly nonlinear loading is applied, the chatter will occur. The chatter results in high total harmonic distortion (THD) output voltage of AC power source, and even deteriorates the stability of PMM. The FOA is therefore used to remove the chatter, and the FTCSF still preserves finite system-state convergence time. By combining FTCSF with FOA, the AC power source of PMM can yield good steady-state and transient performance. Experimental results are performed in support of the proposed technology.

Prediction of Human Performance Using Electroencephalography under Different Indoor Room Temperatures

PubMed Central

Zhang, Tinghe; Mao, Zijing; Xu, Xiaojing; Zhang, Lin; Pack, Daniel J.; Dong, Bing; Huang, Yufei

2018-01-01

Varying indoor environmental conditions is known to affect office worker’s performance; wherein past research studies have reported the effects of unfavorable indoor temperature and air quality causing sick building syndrome (SBS) among office workers. Thus, investigating factors that can predict performance in changing indoor environments have become a highly important research topic bearing significant impact in our society. While past research studies have attempted to determine predictors for performance, they do not provide satisfactory prediction ability. Therefore, in this preliminary study, we attempt to predict performance during office-work tasks triggered by different indoor room temperatures (22.2 °C and 30 °C) from human brain signals recorded using electroencephalography (EEG). Seven participants were recruited, from whom EEG, skin temperature, heart rate and thermal survey questionnaires were collected. Regression analyses were carried out to investigate the effectiveness of using EEG power spectral densities (PSD) as predictors of performance. Our results indicate EEG PSDs as predictors provide the highest R2 (> 0.70), that is 17 times higher than using other physiological signals as predictors and is more robust. Finally, the paper provides insight on the selected predictors based on brain activity patterns for low- and high-performance levels under different indoor-temperatures. PMID:29690601

Prediction of Human Performance Using Electroencephalography under Different Indoor Room Temperatures.

PubMed

Nayak, Tapsya; Zhang, Tinghe; Mao, Zijing; Xu, Xiaojing; Zhang, Lin; Pack, Daniel J; Dong, Bing; Huang, Yufei

2018-04-23

Varying indoor environmental conditions is known to affect office worker’s performance; wherein past research studies have reported the effects of unfavorable indoor temperature and air quality causing sick building syndrome (SBS) among office workers. Thus, investigating factors that can predict performance in changing indoor environments have become a highly important research topic bearing significant impact in our society. While past research studies have attempted to determine predictors for performance, they do not provide satisfactory prediction ability. Therefore, in this preliminary study, we attempt to predict performance during office-work tasks triggered by different indoor room temperatures (22.2 °C and 30 °C) from human brain signals recorded using electroencephalography (EEG). Seven participants were recruited, from whom EEG, skin temperature, heart rate and thermal survey questionnaires were collected. Regression analyses were carried out to investigate the effectiveness of using EEG power spectral densities (PSD) as predictors of performance. Our results indicate EEG PSDs as predictors provide the highest R ² (> 0.70), that is 17 times higher than using other physiological signals as predictors and is more robust. Finally, the paper provides insight on the selected predictors based on brain activity patterns for low- and high-performance levels under different indoor-temperatures.

Robust Mean and Covariance Structure Analysis through Iteratively Reweighted Least Squares.

ERIC Educational Resources Information Center

Yuan, Ke-Hai; Bentler, Peter M.

2000-01-01

Adapts robust schemes to mean and covariance structures, providing an iteratively reweighted least squares approach to robust structural equation modeling. Each case is weighted according to its distance, based on first and second order moments. Test statistics and standard error estimators are given. (SLD)

Tractable Quantification of Metastability for Robust Bipedal Locomotion

DTIC Science & Technology

2015-06-01

environmental conditions, including rough terrain. The intuitive and meaningful robustness quanti cation adopted in this thesis begins by stochastic...the system as a Markov chain. Then, failure rates can be easily quanti ed by calculating the expected number of steps before failure. Once robustness is...sensor noise . . . . . . . . . . . . . . . . . . . 54 5.8 Performance evaluation on the dense mesh . . . . . . . . . . . . . . . . . 56 5.9 Stability of

Robust performance of multiple tasks by a mobile robot

NASA Technical Reports Server (NTRS)

Beckerman, Martin; Barnett, Deanna L.; Dickens, Mike; Weisbin, Charles R.

1989-01-01

While there have been many successful mobile robot experiments, only a few papers have addressed issues pertaining to the range of applicability, or robustness, of robotic systems. The purpose of this paper is to report results of a series of benchmark experiments done to determine and quantify the robustness of an integrated hardware and software system of a mobile robot.

Robust guaranteed cost tracking control of quadrotor UAV with uncertainties.

PubMed

Xu, Zhiwei; Nian, Xiaohong; Wang, Haibo; Chen, Yinsheng

2017-07-01

In this paper, a robust guaranteed cost controller (RGCC) is proposed for quadrotor UAV system with uncertainties to address set-point tracking problem. A sufficient condition of the existence for RGCC is derived by Lyapunov stability theorem. The designed RGCC not only guarantees the whole closed-loop system asymptotically stable but also makes the quadratic performance level built for the closed-loop system have an upper bound irrespective to all admissible parameter uncertainties. Then, an optimal robust guaranteed cost controller is developed to minimize the upper bound of performance level. Simulation results verify the presented control algorithms possess small overshoot and short setting time, with which the quadrotor has ability to perform set-point tracking task well. Copyright © 2017 ISA. Published by Elsevier Ltd. All rights reserved.

Robust and Soft Elastomeric Electronics Tolerant to Our Daily Lives.

PubMed

Sekiguchi, Atsuko; Tanaka, Fumiaki; Saito, Takeshi; Kuwahara, Yuki; Sakurai, Shunsuke; Futaba, Don N; Yamada, Takeo; Hata, Kenji

2015-09-09

Clothes represent a unique textile, as they simultaneously provide robustness against our daily activities and comfort (i.e., softness). For electronic devices to be fully integrated into clothes, the devices themselves must be as robust and soft as the clothes themselves. However, to date, no electronic device has ever possessed these properties, because all contain components fabricated from brittle materials, such as metals. Here, we demonstrate robust and soft elastomeric devices where every component possesses elastomeric characteristics with two types of single-walled carbon nanotubes added to provide the necessary electronic properties. Our elastomeric field effect transistors could tolerate every punishment our clothes experience, such as being stretched (elasticity: ∼ 110%), bent, compressed (>4.0 MPa, by a car and heels), impacted (>6.26 kg m/s, by a hammer), and laundered. Our electronic device provides a novel design principle for electronics and wide range applications even in research fields where devices cannot be used.

Real-time Bioluminescence Imaging of Macroencapsulated Fibroblasts Reveals Allograft Protection in Rhesus Monkeys (Macaca mulatta)

PubMed Central

Tarantal, Alice F.; Lee, C. Chang I.; Itkin-Ansari, Pamela

2009-01-01

Background Encapsulation of cells has the potential to eliminate the need for immunosuppression for cellular transplantation. Recently, the TheraCyte® device was shown to provide long-term immunoprotection of murine islets in the NOD/SCID mouse model of diabetes. In this report, translational studies were undertaken using skin fibroblasts from an unrelated rhesus monkey donor that were transduced with an HIV-1-derived lentiviral vector expressing firefly luciferase permitting the use of bioluminescence imaging (BLI) to monitor cell survival over time and in a noninvasive manner. Methods Encapsulated cells were transplanted subcutaneously (N=2) or cells were injected without encapsulation (N=1) and outcomes compared. BLI was performed to monitor cell survival. Results The BLI signal from the encapsulated cells remained robust post-insertion, and in one animal persisted for up to 1 year. In contrast, the control animal that received unencapsulated cells exhibited a complete loss of cell signal within 14 days. Conclusions These data demonstrate that TheraCyte® encapsulation of allogeneic cells provides robust immune protection in transplanted rhesus monkeys. PMID:19584678

Robust Structural Analysis and Design of Distributed Control Systems to Prevent Zero Dynamics Attacks

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

Weerakkody, Sean; Liu, Xiaofei; Sinopoli, Bruno

We consider the design and analysis of robust distributed control systems (DCSs) to ensure the detection of integrity attacks. DCSs are often managed by independent agents and are implemented using a diverse set of sensors and controllers. However, the heterogeneous nature of DCSs along with their scale leave such systems vulnerable to adversarial behavior. To mitigate this reality, we provide tools that allow operators to prevent zero dynamics attacks when as many as p agents and sensors are corrupted. Such a design ensures attack detectability in deterministic systems while removing the threat of a class of stealthy attacks in stochasticmore » systems. To achieve this goal, we use graph theory to obtain necessary and sufficient conditions for the presence of zero dynamics attacks in terms of the structural interactions between agents and sensors. We then formulate and solve optimization problems which minimize communication networks while also ensuring a resource limited adversary cannot perform a zero dynamics attacks. Polynomial time algorithms for design and analysis are provided.« less

Computer Vision-Based Structural Displacement Measurement Robust to Light-Induced Image Degradation for In-Service Bridges

PubMed Central

Lee, Junhwa; Lee, Kyoung-Chan; Cho, Soojin

2017-01-01

The displacement responses of a civil engineering structure can provide important information regarding structural behaviors that help in assessing safety and serviceability. A displacement measurement using conventional devices, such as the linear variable differential transformer (LVDT), is challenging owing to issues related to inconvenient sensor installation that often requires additional temporary structures. A promising alternative is offered by computer vision, which typically provides a low-cost and non-contact displacement measurement that converts the movement of an object, mostly an attached marker, in the captured images into structural displacement. However, there is limited research on addressing light-induced measurement error caused by the inevitable sunlight in field-testing conditions. This study presents a computer vision-based displacement measurement approach tailored to a field-testing environment with enhanced robustness to strong sunlight. An image-processing algorithm with an adaptive region-of-interest (ROI) is proposed to reliably determine a marker’s location even when the marker is indistinct due to unfavorable light. The performance of the proposed system is experimentally validated in both laboratory-scale and field experiments. PMID:29019950

Application of a tablet film coating model to define a process-imposed transition boundary for robust film coating.

PubMed

van den Ban, Sander; Pitt, Kendal G; Whiteman, Marshall

2018-02-01

A scientific understanding of interaction of product, film coat, film coating process, and equipment is important to enable design and operation of industrial scale pharmaceutical film coating processes that are robust and provide the level of control required to consistently deliver quality film coated product. Thermodynamic film coating conditions provided in the tablet film coating process impact film coat formation and subsequent product quality. A thermodynamic film coating model was used to evaluate film coating process performance over a wide range of film coating equipment from pilot to industrial scale (2.5-400 kg). An approximate process-imposed transition boundary, from operating in a dry to a wet environment, was derived, for relative humidity and exhaust temperature, and used to understand the impact of the film coating process on product formulation and process control requirements. This approximate transition boundary may aid in an enhanced understanding of risk to product quality, application of modern Quality by Design (QbD) based product development, technology transfer and scale-up, and support the science-based justification of critical process parameters (CPPs).

A Secure and Robust Approach to Software Tamper Resistance

NASA Astrophysics Data System (ADS)

Ghosh, Sudeep; Hiser, Jason D.; Davidson, Jack W.

Software tamper-resistance mechanisms have increasingly assumed significance as a technique to prevent unintended uses of software. Closely related to anti-tampering techniques are obfuscation techniques, which make code difficult to understand or analyze and therefore, challenging to modify meaningfully. This paper describes a secure and robust approach to software tamper resistance and obfuscation using process-level virtualization. The proposed techniques involve novel uses of software check summing guards and encryption to protect an application. In particular, a virtual machine (VM) is assembled with the application at software build time such that the application cannot run without the VM. The VM provides just-in-time decryption of the program and dynamism for the application's code. The application's code is used to protect the VM to ensure a level of circular protection. Finally, to prevent the attacker from obtaining an analyzable snapshot of the code, the VM periodically discards all decrypted code. We describe a prototype implementation of these techniques and evaluate the run-time performance of applications using our system. We also discuss how our system provides stronger protection against tampering attacks than previously described tamper-resistance approaches.

NOA: A Scalable Multi-Parent Clustering Hierarchy for WSNs

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

Cree, Johnathan V.; Delgado-Frias, Jose; Hughes, Michael A.

2012-08-10

NOA is a multi-parent, N-tiered, hierarchical clustering algorithm that provides a scalable, robust and reliable solution to autonomous configuration of large-scale wireless sensor networks. The novel clustering hierarchy's inherent benefits can be utilized by in-network data processing techniques to provide equally robust, reliable and scalable in-network data processing solutions capable of reducing the amount of data sent to sinks. Utilizing a multi-parent framework, NOA reduces the cost of network setup when compared to hierarchical beaconing solutions by removing the expense of r-hop broadcasting (r is the radius of the cluster) needed to build the network and instead passes network topologymore » information among shared children. NOA2, a two-parent clustering hierarchy solution, and NOA3, the three-parent variant, saw up to an 83% and 72% reduction in overhead, respectively, when compared to performing one round of a one-parent hierarchical beaconing, as well as 92% and 88% less overhead when compared to one round of two- and three-parent hierarchical beaconing hierarchy.« less

Two Missions, One Secret Service: The Value of the Investigative Mission

DTIC Science & Technology

2011-09-01

a result, support and attention for the investigative mission has waned. This lack of attention to investigations is dangerous for the Secret Service...thesis argues that the types of investigations performed by the Secret Service are not as important as the experiential learning, respite from the...in these three important ways, the Secret Service requires a robust, well-funded and substantial investigative mission to continue to properly provide protection to this nation’s leaders.

SUBOPT: A CAD program for suboptimal linear regulators

NASA Technical Reports Server (NTRS)

Fleming, P. J.

1985-01-01

An interactive software package which provides design solutions for both standard linear quadratic regulator (LQR) and suboptimal linear regulator problems is described. Intended for time-invariant continuous systems, the package is easily modified to include sampled-data systems. LQR designs are obtained by established techniques while the large class of suboptimal problems containing controller and/or performance index options is solved using a robust gradient minimization technique. Numerical examples demonstrate features of the package and recent developments are described.

Extending and Applying the EPIC Architecture for Human Cognition and Performance: Auditory and Spatial Components

DTIC Science & Technology

2013-03-20

Wakefield of the University of Michigan as Co-PI. This extended activity produced a large number of products and accomplishments; however, this report...speech communication will be expanded to provide a robust modeling and prediction capability for tasks involving speech production and speech and non...preparations made to move to the newer Cocoa API instead of the previous Carbon API. In the following sections, an extended treatment will be

Experimental results for correlation-based wavefront sensing

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

Poyneer, L A; Palmer, D W; LaFortune, K N

2005-07-01

Correlation wave-front sensing can improve Adaptive Optics (AO) system performance in two keys areas. For point-source-based AO systems, Correlation is more accurate, more robust to changing conditions and provides lower noise than a centroiding algorithm. Experimental results from the Lick AO system and the SSHCL laser AO system confirm this. For remote imaging, Correlation enables the use of extended objects for wave-front sensing. Results from short horizontal-path experiments will show algorithm properties and requirements.

All-Printed, Foldable Organic Thin-Film Transistors on Glassine Paper.

PubMed

Hyun, Woo Jin; Secor, Ethan B; Rojas, Geoffrey A; Hersam, Mark C; Francis, Lorraine F; Frisbie, C Daniel

2015-11-25

All-printed, foldable organic thin-film transistors are demonstrated on glassine paper with a combination of advanced materials and processing techniques. Glassine paper provides a suitable surface for high-performance printing methods, while graphene electrodes and an ion-gel gate dielectric enable robust stability over 100 folding cycles. Altogether, this study features a practical platform for low-cost, large-area, and foldable electronics. © 2015 WILEY-VCH Verlag GmbH & Co. KGaA, Weinheim.

Communication: Analysing kinetic transition networks for rare events.

PubMed

Stevenson, Jacob D; Wales, David J

2014-07-28

The graph transformation approach is a recently proposed method for computing mean first passage times, rates, and committor probabilities for kinetic transition networks. Here we compare the performance to existing linear algebra methods, focusing on large, sparse networks. We show that graph transformation provides a much more robust framework, succeeding when numerical precision issues cause the other methods to fail completely. These are precisely the situations that correspond to rare event dynamics for which the graph transformation was introduced.

Propagation of kinetic uncertainties through a canonical topology of the TLR4 signaling network in different regions of biochemical reaction space

PubMed Central

2010-01-01

Background Signal transduction networks represent the information processing systems that dictate which dynamical regimes of biochemical activity can be accessible to a cell under certain circumstances. One of the major concerns in molecular systems biology is centered on the elucidation of the robustness properties and information processing capabilities of signal transduction networks. Achieving this goal requires the establishment of causal relations between the design principle of biochemical reaction systems and their emergent dynamical behaviors. Methods In this study, efforts were focused in the construction of a relatively well informed, deterministic, non-linear dynamic model, accounting for reaction mechanisms grounded on standard mass action and Hill saturation kinetics, of the canonical reaction topology underlying Toll-like receptor 4 (TLR4)-mediated signaling events. This signaling mechanism has been shown to be deployed in macrophages during a relatively short time window in response to lypopolysaccharyde (LPS) stimulation, which leads to a rapidly mounted innate immune response. An extensive computational exploration of the biochemical reaction space inhabited by this signal transduction network was performed via local and global perturbation strategies. Importantly, a broad spectrum of biologically plausible dynamical regimes accessible to the network in widely scattered regions of parameter space was reconstructed computationally. Additionally, experimentally reported transcriptional readouts of target pro-inflammatory genes, which are actively modulated by the network in response to LPS stimulation, were also simulated. This was done with the main goal of carrying out an unbiased statistical assessment of the intrinsic robustness properties of this canonical reaction topology. Results Our simulation results provide convincing numerical evidence supporting the idea that a canonical reaction mechanism of the TLR4 signaling network is capable of performing information processing in a robust manner, a functional property that is independent of the signaling task required to be executed. Nevertheless, it was found that the robust performance of the network is not solely determined by its design principle (topology), but this may be heavily dependent on the network's current position in biochemical reaction space. Ultimately, our results enabled us the identification of key rate limiting steps which most effectively control the performance of the system under diverse dynamical regimes. Conclusions Overall, our in silico study suggests that biologically relevant and non-intuitive aspects on the general behavior of a complex biomolecular network can be elucidated only when taking into account a wide spectrum of dynamical regimes attainable by the system. Most importantly, this strategy provides the means for a suitable assessment of the inherent variational constraints imposed by the structure of the system when systematically probing its parameter space. PMID:20230643

Retrospective robustness of the continual reassessment method.

PubMed

O'Quigley, John; Zohar, Sarah

2010-09-01

We study model sensitivity of the continual reassessment method (CRM). The context is that of dose-finding designs where certain design parameters are fixed by the investigator. Although our focus is on the CRM (O'Quigley et al., 1990), the essential ideas can be applied to any sequential dose-finding method. It is expected that different choices of a model family and particular parameterizations will have an impact on performance. Assuming that the constraints outlined in Shen and O'Quigley (1996) are respected, large sample performance is unaffected. However small sample performance will be affected by these choices, which are to some degree arbitrary. This work focuses on the retrospective robustness of the CRM in practice. The question is not of a general theoretical nature where, in the background, we would want to consider large numbers of true potential situations. Instead, the question is raised in the specific context of any actual completed study and is the following: Would we have come to the same conclusion concerning the MTD had we worked with a design specified differently? The sequential nature of the CRM means that this question cannot be answered in any definitive way. We can, though, by appealing to the retrospective CRM (O'Quigley, 2005), provide consistent estimates of the relationships between the MTD and the chosen model. If these estimates suggest that changes in different family model parameters will be accompanied by changes in final recommendation, then we would not be confident in the reliability of the estimated MTD and more work would be needed. Also, of course, at the planning stage, prospective robustness could be studied by simulating trials using particular models and parameterizations.

A Robust Method to Integrate End-to-End Mission Architecture Optimization Tools

NASA Technical Reports Server (NTRS)

Lugo, Rafael; Litton, Daniel; Qu, Min; Shidner, Jeremy; Powell, Richard

2016-01-01

End-to-end mission simulations include multiple phases of flight. For example, an end-to-end Mars mission simulation may include launch from Earth, interplanetary transit to Mars and entry, descent and landing. Each phase of flight is optimized to meet specified constraints and often depend on and impact subsequent phases. The design and optimization tools and methodologies used to combine different aspects of end-to-end framework and their impact on mission planning are presented. This work focuses on a robust implementation of a Multidisciplinary Design Analysis and Optimization (MDAO) method that offers the flexibility to quickly adapt to changing mission design requirements. Different simulations tailored to the liftoff, ascent, and atmospheric entry phases of a trajectory are integrated and optimized in the MDAO program Isight, which provides the user a graphical interface to link simulation inputs and outputs. This approach provides many advantages to mission planners, as it is easily adapted to different mission scenarios and can improve the understanding of the integrated system performance within a particular mission configuration. A Mars direct entry mission using the Space Launch System (SLS) is presented as a generic end-to-end case study. For the given launch period, the SLS launch performance is traded for improved orbit geometry alignment, resulting in an optimized a net payload that is comparable to that in the SLS Mission Planner's Guide.

Robust Period Estimation Using Mutual Information for Multiband Light Curves in the Synoptic Survey Era

NASA Astrophysics Data System (ADS)

Huijse, Pablo; Estévez, Pablo A.; Förster, Francisco; Daniel, Scott F.; Connolly, Andrew J.; Protopapas, Pavlos; Carrasco, Rodrigo; Príncipe, José C.

2018-05-01

The Large Synoptic Survey Telescope (LSST) will produce an unprecedented amount of light curves using six optical bands. Robust and efficient methods that can aggregate data from multidimensional sparsely sampled time-series are needed. In this paper we present a new method for light curve period estimation based on quadratic mutual information (QMI). The proposed method does not assume a particular model for the light curve nor its underlying probability density and it is robust to non-Gaussian noise and outliers. By combining the QMI from several bands the true period can be estimated even when no single-band QMI yields the period. Period recovery performance as a function of average magnitude and sample size is measured using 30,000 synthetic multiband light curves of RR Lyrae and Cepheid variables generated by the LSST Operations and Catalog simulators. The results show that aggregating information from several bands is highly beneficial in LSST sparsely sampled time-series, obtaining an absolute increase in period recovery rate up to 50%. We also show that the QMI is more robust to noise and light curve length (sample size) than the multiband generalizations of the Lomb–Scargle and AoV periodograms, recovering the true period in 10%–30% more cases than its competitors. A python package containing efficient Cython implementations of the QMI and other methods is provided.

Automatic Image Registration of Multimodal Remotely Sensed Data with Global Shearlet Features

NASA Technical Reports Server (NTRS)

Murphy, James M.; Le Moigne, Jacqueline; Harding, David J.

2015-01-01

Automatic image registration is the process of aligning two or more images of approximately the same scene with minimal human assistance. Wavelet-based automatic registration methods are standard, but sometimes are not robust to the choice of initial conditions. That is, if the images to be registered are too far apart relative to the initial guess of the algorithm, the registration algorithm does not converge or has poor accuracy, and is thus not robust. These problems occur because wavelet techniques primarily identify isotropic textural features and are less effective at identifying linear and curvilinear edge features. We integrate the recently developed mathematical construction of shearlets, which is more effective at identifying sparse anisotropic edges, with an existing automatic wavelet-based registration algorithm. Our shearlet features algorithm produces more distinct features than wavelet features algorithms; the separation of edges from textures is even stronger than with wavelets. Our algorithm computes shearlet and wavelet features for the images to be registered, then performs least squares minimization on these features to compute a registration transformation. Our algorithm is two-staged and multiresolution in nature. First, a cascade of shearlet features is used to provide a robust, though approximate, registration. This is then refined by registering with a cascade of wavelet features. Experiments across a variety of image classes show an improved robustness to initial conditions, when compared to wavelet features alone.

Automatic Image Registration of Multi-Modal Remotely Sensed Data with Global Shearlet Features

PubMed Central

Murphy, James M.; Le Moigne, Jacqueline; Harding, David J.

2017-01-01

Automatic image registration is the process of aligning two or more images of approximately the same scene with minimal human assistance. Wavelet-based automatic registration methods are standard, but sometimes are not robust to the choice of initial conditions. That is, if the images to be registered are too far apart relative to the initial guess of the algorithm, the registration algorithm does not converge or has poor accuracy, and is thus not robust. These problems occur because wavelet techniques primarily identify isotropic textural features and are less effective at identifying linear and curvilinear edge features. We integrate the recently developed mathematical construction of shearlets, which is more effective at identifying sparse anisotropic edges, with an existing automatic wavelet-based registration algorithm. Our shearlet features algorithm produces more distinct features than wavelet features algorithms; the separation of edges from textures is even stronger than with wavelets. Our algorithm computes shearlet and wavelet features for the images to be registered, then performs least squares minimization on these features to compute a registration transformation. Our algorithm is two-staged and multiresolution in nature. First, a cascade of shearlet features is used to provide a robust, though approximate, registration. This is then refined by registering with a cascade of wavelet features. Experiments across a variety of image classes show an improved robustness to initial conditions, when compared to wavelet features alone. PMID:29123329

Learning Robust and Discriminative Subspace With Low-Rank Constraints.

PubMed

Li, Sheng; Fu, Yun

2016-11-01

In this paper, we aim at learning robust and discriminative subspaces from noisy data. Subspace learning is widely used in extracting discriminative features for classification. However, when data are contaminated with severe noise, the performance of most existing subspace learning methods would be limited. Recent advances in low-rank modeling provide effective solutions for removing noise or outliers contained in sample sets, which motivates us to take advantage of low-rank constraints in order to exploit robust and discriminative subspace for classification. In particular, we present a discriminative subspace learning method called the supervised regularization-based robust subspace (SRRS) approach, by incorporating the low-rank constraint. SRRS seeks low-rank representations from the noisy data, and learns a discriminative subspace from the recovered clean data jointly. A supervised regularization function is designed to make use of the class label information, and therefore to enhance the discriminability of subspace. Our approach is formulated as a constrained rank-minimization problem. We design an inexact augmented Lagrange multiplier optimization algorithm to solve it. Unlike the existing sparse representation and low-rank learning methods, our approach learns a low-dimensional subspace from recovered data, and explicitly incorporates the supervised information. Our approach and some baselines are evaluated on the COIL-100, ALOI, Extended YaleB, FERET, AR, and KinFace databases. The experimental results demonstrate the effectiveness of our approach, especially when the data contain considerable noise or variations.

Robust multiperson detection and tracking for mobile service and social robots.

PubMed

Li, Liyuan; Yan, Shuicheng; Yu, Xinguo; Tan, Yeow Kee; Li, Haizhou

2012-10-01

This paper proposes an efficient system which integrates multiple vision models for robust multiperson detection and tracking for mobile service and social robots in public environments. The core technique is a novel maximum likelihood (ML)-based algorithm which combines the multimodel detections in mean-shift tracking. First, a likelihood probability which integrates detections and similarity to local appearance is defined. Then, an expectation-maximization (EM)-like mean-shift algorithm is derived under the ML framework. In each iteration, the E-step estimates the associations to the detections, and the M-step locates the new position according to the ML criterion. To be robust to the complex crowded scenarios for multiperson tracking, an improved sequential strategy to perform the mean-shift tracking is proposed. Under this strategy, human objects are tracked sequentially according to their priority order. To balance the efficiency and robustness for real-time performance, at each stage, the first two objects from the list of the priority order are tested, and the one with the higher score is selected. The proposed method has been successfully implemented on real-world service and social robots. The vision system integrates stereo-based and histograms-of-oriented-gradients-based human detections, occlusion reasoning, and sequential mean-shift tracking. Various examples to show the advantages and robustness of the proposed system for multiperson tracking from mobile robots are presented. Quantitative evaluations on the performance of multiperson tracking are also performed. Experimental results indicate that significant improvements have been achieved by using the proposed method.

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

Wiebenga, J. H.; Atzema, E. H.; Boogaard, A. H. van den

Robust design of forming processes using numerical simulations is gaining attention throughout the industry. In this work, it is demonstrated how robust optimization can assist in further stretching the limits of metal forming processes. A deterministic and a robust optimization study are performed, considering a stretch-drawing process of a hemispherical cup product. For the robust optimization study, both the effect of material and process scatter are taken into account. For quantifying the material scatter, samples of 41 coils of a drawing quality forming steel have been collected. The stochastic material behavior is obtained by a hybrid approach, combining mechanical testingmore » and texture analysis, and efficiently implemented in a metamodel based optimization strategy. The deterministic and robust optimization results are subsequently presented and compared, demonstrating an increased process robustness and decreased number of product rejects by application of the robust optimization approach.« less

Tail mean and related robust solution concepts

NASA Astrophysics Data System (ADS)

Ogryczak, Włodzimierz

2014-01-01

Robust optimisation might be viewed as a multicriteria optimisation problem where objectives correspond to the scenarios although their probabilities are unknown or imprecise. The simplest robust solution concept represents a conservative approach focused on the worst-case scenario results optimisation. A softer concept allows one to optimise the tail mean thus combining performances under multiple worst scenarios. We show that while considering robust models allowing the probabilities to vary only within given intervals, the tail mean represents the robust solution for only upper bounded probabilities. For any arbitrary intervals of probabilities the corresponding robust solution may be expressed by the optimisation of appropriately combined mean and tail mean criteria thus remaining easily implementable with auxiliary linear inequalities. Moreover, we use the tail mean concept to develope linear programming implementable robust solution concepts related to risk averse optimisation criteria.

A control method for bilateral teleoperating systems

NASA Astrophysics Data System (ADS)

Strassberg, Yesayahu

1992-01-01

The thesis focuses on control of bilateral master-slave teleoperators. The bilateral control issue of teleoperators is studied and a new scheme that overcomes basic unsolved problems is proposed. A performance measure, based on the multiport modeling method, is introduced in order to evaluate and understand the limitations of earlier published bilateral control laws. Based on the study evaluating the different methods, the objective of the thesis is stated. The proposed control law is then introduced, its ideal performance is demonstrated, and conditions for stability and robustness are derived. It is shown that stability, desired performance, and robustness can be obtained under the assumption that the deviation of the model from the actual system satisfies certain norm inequalities and the measurement uncertainties are bounded. The proposed scheme is validated by numerical simulation. The simulated system is based on the configuration of the RAL (Robotics and Automation Laboratory) telerobot. From the simulation results it is shown that good tracking performance can be obtained. In order to verify the performance of the proposed scheme when applied to a real hardware system, an experimental setup of a three degree of freedom master-slave teleoperator (i.e. three degree of freedom master and three degree of freedom slave robot) was built. Three basic experiments were conducted to verify the performance of the proposed control scheme. The first experiment verified the master control law and its contribution to the robustness and performance of the entire system. The second experiment demonstrated the actual performance of the system while performing a free motion teleoperating task. From the experimental results, it is shown that the control law has good performance and is robust to uncertainties in the models of the master and slave.

Challenges and Opportunities in Reactive Processing and Applications of Advanced Ceramic Materials

NASA Technical Reports Server (NTRS)

Singh, Mrityunjay

2003-01-01

Recently, there has been a great deal of interest in the research, development, and commercialization of innovative synthesis and processing technologies for advanced ceramics and composite materials. Reactive processing approaches have been actively considered due to their robustness, flexibility, and affordability. A wide variety of silicon carbide-based advanced ceramics and composites are currently being fabricated using the processing approaches involving reactive infiltration of liquid and gaseous species into engineered fibrous or microporous carbon performs. The microporous carbon performs have been fabricated using the temperature induced phase separation and pyrolysis of two phase organic (resin-pore former) mixtures and fiber reinforcement of carbon and ceramic particulate bodies. In addition, pyrolyzed native plant cellulose tissues also provide unique carbon templates for manufacturing of non-oxide and oxide ceramics. In spite of great interest in this technology due to their affordability and robustness, there is a lack of scientific basis for process understanding and many technical challenges still remain. The influence of perform properties and other parameters on the resulting microstructure and properties of final material is not well understood. In this presentation, mechanism of silicon-carbon reaction in various systems and the effect of perform microstructure on the mechanical properties of advanced silicon carbide based materials will be discussed. Various examples of applications of reactively processed advanced silicon carbide ceramics and composite materials will be presented.

Correction of phase errors in quantitative water-fat imaging using a monopolar time-interleaved multi-echo gradient echo sequence.

PubMed

Ruschke, Stefan; Eggers, Holger; Kooijman, Hendrik; Diefenbach, Maximilian N; Baum, Thomas; Haase, Axel; Rummeny, Ernst J; Hu, Houchun H; Karampinos, Dimitrios C

2017-09-01

To propose a phase error correction scheme for monopolar time-interleaved multi-echo gradient echo water-fat imaging that allows accurate and robust complex-based quantification of the proton density fat fraction (PDFF). A three-step phase correction scheme is proposed to address a) a phase term induced by echo misalignments that can be measured with a reference scan using reversed readout polarity, b) a phase term induced by the concomitant gradient field that can be predicted from the gradient waveforms, and c) a phase offset between time-interleaved echo trains. Simulations were carried out to characterize the concomitant gradient field-induced PDFF bias and the performance estimating the phase offset between time-interleaved echo trains. Phantom experiments and in vivo liver and thigh imaging were performed to study the relevance of each of the three phase correction steps on PDFF accuracy and robustness. The simulation, phantom, and in vivo results showed in agreement with the theory an echo time-dependent PDFF bias introduced by the three phase error sources. The proposed phase correction scheme was found to provide accurate PDFF estimation independent of the employed echo time combination. Complex-based time-interleaved water-fat imaging was found to give accurate and robust PDFF measurements after applying the proposed phase error correction scheme. Magn Reson Med 78:984-996, 2017. © 2016 International Society for Magnetic Resonance in Medicine. © 2016 International Society for Magnetic Resonance in Medicine.

Implementation of facial recognition with Microsoft Kinect v2 sensor for patient verification.

PubMed

Silverstein, Evan; Snyder, Michael

2017-06-01

The aim of this study was to present a straightforward implementation of facial recognition using the Microsoft Kinect v2 sensor for patient identification in a radiotherapy setting. A facial recognition system was created with the Microsoft Kinect v2 using a facial mapping library distributed with the Kinect v2 SDK as a basis for the algorithm. The system extracts 31 fiducial points representing various facial landmarks which are used in both the creation of a reference data set and subsequent evaluations of real-time sensor data in the matching algorithm. To test the algorithm, a database of 39 faces was created, each with 465 vectors derived from the fiducial points, and a one-to-one matching procedure was performed to obtain sensitivity and specificity data of the facial identification system. ROC curves were plotted to display system performance and identify thresholds for match determination. In addition, system performance as a function of ambient light intensity was tested. Using optimized parameters in the matching algorithm, the sensitivity of the system for 5299 trials was 96.5% and the specificity was 96.7%. The results indicate a fairly robust methodology for verifying, in real-time, a specific face through comparison from a precollected reference data set. In its current implementation, the process of data collection for each face and subsequent matching session averaged approximately 30 s, which may be too onerous to provide a realistic supplement to patient identification in a clinical setting. Despite the time commitment, the data collection process was well tolerated by all participants and most robust when consistent ambient light conditions were maintained across both the reference recording session and subsequent real-time identification sessions. A facial recognition system can be implemented for patient identification using the Microsoft Kinect v2 sensor and the distributed SDK. In its present form, the system is accurate-if time consuming-and further iterations of the method could provide a robust, easy to implement, and cost-effective supplement to traditional patient identification methods. © 2017 American Association of Physicists in Medicine.

On-line implementation of nonlinear parameter estimation for the Space Shuttle main engine

NASA Technical Reports Server (NTRS)

Buckland, Julia H.; Musgrave, Jeffrey L.; Walker, Bruce K.

1992-01-01

We investigate the performance of a nonlinear estimation scheme applied to the estimation of several parameters in a performance model of the Space Shuttle Main Engine. The nonlinear estimator is based upon the extended Kalman filter which has been augmented to provide estimates of several key performance variables. The estimated parameters are directly related to the efficiency of both the low pressure and high pressure fuel turbopumps. Decreases in the parameter estimates may be interpreted as degradations in turbine and/or pump efficiencies which can be useful measures for an online health monitoring algorithm. This paper extends previous work which has focused on off-line parameter estimation by investigating the filter's on-line potential from a computational standpoint. ln addition, we examine the robustness of the algorithm to unmodeled dynamics. The filter uses a reduced-order model of the engine that includes only fuel-side dynamics. The on-line results produced during this study are comparable to off-line results generated previously. The results show that the parameter estimates are sensitive to dynamics not included in the filter model. Off-line results using an extended Kalman filter with a full order engine model to address the robustness problems of the reduced-order model are also presented.

Liver DCE-MRI Registration in Manifold Space Based on Robust Principal Component Analysis.

PubMed

Feng, Qianjin; Zhou, Yujia; Li, Xueli; Mei, Yingjie; Lu, Zhentai; Zhang, Yu; Feng, Yanqiu; Liu, Yaqin; Yang, Wei; Chen, Wufan

2016-09-29

A technical challenge in the registration of dynamic contrast-enhanced magnetic resonance (DCE-MR) imaging in the liver is intensity variations caused by contrast agents. Such variations lead to the failure of the traditional intensity-based registration method. To address this problem, a manifold-based registration framework for liver DCE-MR time series is proposed. We assume that liver DCE-MR time series are located on a low-dimensional manifold and determine intrinsic similarities between frames. Based on the obtained manifold, the large deformation of two dissimilar images can be decomposed into a series of small deformations between adjacent images on the manifold through gradual deformation of each frame to the template image along the geodesic path. Furthermore, manifold construction is important in automating the selection of the template image, which is an approximation of the geodesic mean. Robust principal component analysis is performed to separate motion components from intensity changes induced by contrast agents; the components caused by motion are used to guide registration in eliminating the effect of contrast enhancement. Visual inspection and quantitative assessment are further performed on clinical dataset registration. Experiments show that the proposed method effectively reduces movements while preserving the topology of contrast-enhancing structures and provides improved registration performance.

Mathematical Modeling of RNA-Based Architectures for Closed Loop Control of Gene Expression.

PubMed

Agrawal, Deepak K; Tang, Xun; Westbrook, Alexandra; Marshall, Ryan; Maxwell, Colin S; Lucks, Julius; Noireaux, Vincent; Beisel, Chase L; Dunlop, Mary J; Franco, Elisa

2018-05-08

Feedback allows biological systems to control gene expression precisely and reliably, even in the presence of uncertainty, by sensing and processing environmental changes. Taking inspiration from natural architectures, synthetic biologists have engineered feedback loops to tune the dynamics and improve the robustness and predictability of gene expression. However, experimental implementations of biomolecular control systems are still far from satisfying performance specifications typically achieved by electrical or mechanical control systems. To address this gap, we present mathematical models of biomolecular controllers that enable reference tracking, disturbance rejection, and tuning of the temporal response of gene expression. These controllers employ RNA transcriptional regulators to achieve closed loop control where feedback is introduced via molecular sequestration. Sensitivity analysis of the models allows us to identify which parameters influence the transient and steady state response of a target gene expression process, as well as which biologically plausible parameter values enable perfect reference tracking. We quantify performance using typical control theory metrics to characterize response properties and provide clear selection guidelines for practical applications. Our results indicate that RNA regulators are well-suited for building robust and precise feedback controllers for gene expression. Additionally, our approach illustrates several quantitative methods useful for assessing the performance of biomolecular feedback control systems.

When Can Categorical Variables Be Treated as Continuous? A Comparison of Robust Continuous and Categorical SEM Estimation Methods under Suboptimal Conditions

ERIC Educational Resources Information Center

Rhemtulla, Mijke; Brosseau-Liard, Patricia E.; Savalei, Victoria

2012-01-01

A simulation study compared the performance of robust normal theory maximum likelihood (ML) and robust categorical least squares (cat-LS) methodology for estimating confirmatory factor analysis models with ordinal variables. Data were generated from 2 models with 2-7 categories, 4 sample sizes, 2 latent distributions, and 5 patterns of category…

Multi-Optimisation Consensus Clustering

NASA Astrophysics Data System (ADS)

Li, Jian; Swift, Stephen; Liu, Xiaohui

Ensemble Clustering has been developed to provide an alternative way of obtaining more stable and accurate clustering results. It aims to avoid the biases of individual clustering algorithms. However, it is still a challenge to develop an efficient and robust method for Ensemble Clustering. Based on an existing ensemble clustering method, Consensus Clustering (CC), this paper introduces an advanced Consensus Clustering algorithm called Multi-Optimisation Consensus Clustering (MOCC), which utilises an optimised Agreement Separation criterion and a Multi-Optimisation framework to improve the performance of CC. Fifteen different data sets are used for evaluating the performance of MOCC. The results reveal that MOCC can generate more accurate clustering results than the original CC algorithm.

By-Pass Diode Temperature Tests of a Solar Array Coupon under Space Thermal Environment Conditions

NASA Technical Reports Server (NTRS)

Wright, Kenneth H.; Schneider, Todd A.; Vaughn, Jason A.; Hoang, Bao; Wong, Frankie; Wu, Gordon

2016-01-01

By-Pass diodes are a key design feature of solar arrays and system design must be robust against local heating, especially with implementation of larger solar cells. By-Pass diode testing was performed to aid thermal model development for use in future array designs that utilize larger cell sizes that result in higher string currents. Testing was performed on a 56-cell Advanced Triple Junction solar array coupon provided by SSL. Test conditions were vacuum with cold array backside using discrete by-pass diode current steps of 0.25 A ranging from 0 A to 2.0 A.

Optimization of flexible substrate by gradient elastic modulus design for performance improvement of flexible electronic devices

NASA Astrophysics Data System (ADS)

Xia, Minggang; Liang, Chunping; Hu, Ruixue; Cheng, Zhaofang; Liu, Shiru; Zhang, Shengli

2018-05-01

It is imperative and highly desirable to buffer the stress in flexible electronic devices. In this study, we designed and fabricated lamellate poly(dimethylsiloxane) (PDMS) samples with gradient elastic moduli, motivated by the protection of the pomelo pulp by its skin, followed by the measurements of their elastic moduli. We demonstrated that the electrical and fatigue performances of a Ag-nanowire thin film device on the PDMS substrate with a gradient elastic modulus are significantly better than those of a device on a substrate with a monolayer PDMS. This study provides a robust scheme to effectively protect flexible electronic devices.

Testing of Space Suit Materials for Mars

NASA Technical Reports Server (NTRS)

Larson, Kristine

2016-01-01

Human missions to Mars may require radical changes in our approach to EVA suit design. A major challenge is the balance of building a suit robust enough to complete 50 EVAs in the dirt under intense UV exposure without losing mechanical strength or compromising its mobility. We conducted ground testing on both current and new space suit materials to determine performance degradation after exposure to 2500 hours of Mars mission equivalent UV. This testing will help mature the material technologies and provide performance data that can be used by not only the space suit development teams but for all Mars inflatable and soft goods derived structures from airlocks to habitats.

Constraints on Smoke Injection Height, Source Strength, and Transports from MISR and MODIS

NASA Technical Reports Server (NTRS)

Kahn, Ralph A.; Petrenko, Mariya; Val Martin, Maria; Chin, Mian

2014-01-01

The AeroCom BB (Biomass Burning) Experiment AOD (Aerosol Optical Depth) motivation: We have a substantial set of satellite wildfire plume AOD snapshots and injection heights to help calibrate model/inventory performance; We are 1) adding more fire source-strength cases 2) using MISR to improve the AOD constrains and 3) adding 2008 global injection heights; We selected GFED3-daily due to good overall source strength performance, but any inventory can be tested; Joint effort to test multiple, global models, to draw robust BB injection height and emission strength conclusions. We provide satellite-based injection height and smoke plume AOD climatologies.

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

NASA Astrophysics Data System (ADS)

Ito, Daigoro

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

Robust stabilization of the Space Station in the presence of inertia matrix uncertainty

NASA Technical Reports Server (NTRS)

Wie, Bong; Liu, Qiang; Sunkel, John

1993-01-01

This paper presents a robust H-infinity full-state feedback control synthesis method for uncertain systems with D11 not equal to 0. The method is applied to the robust stabilization problem of the Space Station in the face of inertia matrix uncertainty. The control design objective is to find a robust controller that yields the largest stable hypercube in uncertain parameter space, while satisfying the nominal performance requirements. The significance of employing an uncertain plant model with D11 not equal 0 is demonstrated.

An Epidemiological Network Model for Disease Outbreak Detection

PubMed Central

Reis, Ben Y; Kohane, Isaac S; Mandl, Kenneth D

2007-01-01

Background Advanced disease-surveillance systems have been deployed worldwide to provide early detection of infectious disease outbreaks and bioterrorist attacks. New methods that improve the overall detection capabilities of these systems can have a broad practical impact. Furthermore, most current generation surveillance systems are vulnerable to dramatic and unpredictable shifts in the health-care data that they monitor. These shifts can occur during major public events, such as the Olympics, as a result of population surges and public closures. Shifts can also occur during epidemics and pandemics as a result of quarantines, the worried-well flooding emergency departments or, conversely, the public staying away from hospitals for fear of nosocomial infection. Most surveillance systems are not robust to such shifts in health-care utilization, either because they do not adjust baselines and alert-thresholds to new utilization levels, or because the utilization shifts themselves may trigger an alarm. As a result, public-health crises and major public events threaten to undermine health-surveillance systems at the very times they are needed most. Methods and Findings To address this challenge, we introduce a class of epidemiological network models that monitor the relationships among different health-care data streams instead of monitoring the data streams themselves. By extracting the extra information present in the relationships between the data streams, these models have the potential to improve the detection capabilities of a system. Furthermore, the models' relational nature has the potential to increase a system's robustness to unpredictable baseline shifts. We implemented these models and evaluated their effectiveness using historical emergency department data from five hospitals in a single metropolitan area, recorded over a period of 4.5 y by the Automated Epidemiological Geotemporal Integrated Surveillance real-time public health–surveillance system, developed by the Children's Hospital Informatics Program at the Harvard-MIT Division of Health Sciences and Technology on behalf of the Massachusetts Department of Public Health. We performed experiments with semi-synthetic outbreaks of different magnitudes and simulated baseline shifts of different types and magnitudes. The results show that the network models provide better detection of localized outbreaks, and greater robustness to unpredictable shifts than a reference time-series modeling approach. Conclusions The integrated network models of epidemiological data streams and their interrelationships have the potential to improve current surveillance efforts, providing better localized outbreak detection under normal circumstances, as well as more robust performance in the face of shifts in health-care utilization during epidemics and major public events. PMID:17593895

Decentralized formation flying control in a multiple-team hierarchy.

PubMed

Mueller, Joseph B; Thomas, Stephanie J

2005-12-01

In recent years, formation flying has been recognized as an enabling technology for a variety of mission concepts in both the scientific and defense arenas. Examples of developing missions at NASA include magnetospheric multiscale (MMS), solar imaging radio array (SIRA), and terrestrial planet finder (TPF). For each of these missions, a multiple satellite approach is required in order to accomplish the large-scale geometries imposed by the science objectives. In addition, the paradigm shift of using a multiple satellite cluster rather than a large, monolithic spacecraft has also been motivated by the expected benefits of increased robustness, greater flexibility, and reduced cost. However, the operational costs of monitoring and commanding a fleet of close-orbiting satellites is likely to be unreasonable unless the onboard software is sufficiently autonomous, robust, and scalable to large clusters. This paper presents the prototype of a system that addresses these objectives-a decentralized guidance and control system that is distributed across spacecraft using a multiple team framework. The objective is to divide large clusters into teams of "manageable" size, so that the communication and computation demands driven by N decentralized units are related to the number of satellites in a team rather than the entire cluster. The system is designed to provide a high level of autonomy, to support clusters with large numbers of satellites, to enable the number of spacecraft in the cluster to change post-launch, and to provide for on-orbit software modification. The distributed guidance and control system will be implemented in an object-oriented style using a messaging architecture for networking and threaded applications (MANTA). In this architecture, tasks may be remotely added, removed, or replaced post launch to increase mission flexibility and robustness. This built-in adaptability will allow software modifications to be made on-orbit in a robust manner. The prototype system, which is implemented in Matlab, emulates the object-oriented and message-passing features of the MANTA software. In this paper, the multiple team organization of the cluster is described, and the modular software architecture is presented. The relative dynamics in eccentric reference orbits is reviewed, and families of periodic, relative trajectories are identified, expressed as sets of static geometric parameters. The guidance law design is presented, and an example reconfiguration scenario is used to illustrate the distributed process of assigning geometric goals to the cluster. Next, a decentralized maneuver planning approach is presented that utilizes linear-programming methods to enact reconfiguration and coarse formation keeping maneuvers. Finally, a method for performing online collision avoidance is discussed, and an example is provided to gauge its performance.

The constrained discrete-time state-dependent Riccati equation technique for uncertain nonlinear systems

NASA Astrophysics Data System (ADS)

Chang, Insu

The objective of the thesis is to introduce a relatively general nonlinear controller/estimator synthesis framework using a special type of the state-dependent Riccati equation technique. The continuous time state-dependent Riccati equation (SDRE) technique is extended to discrete-time under input and state constraints, yielding constrained (C) discrete-time (D) SDRE, referred to as CD-SDRE. For the latter, stability analysis and calculation of a region of attraction are carried out. The derivation of the D-SDRE under state-dependent weights is provided. Stability of the D-SDRE feedback system is established using Lyapunov stability approach. Receding horizon strategy is used to take into account the constraints on D-SDRE controller. Stability condition of the CD-SDRE controller is analyzed by using a switched system. The use of CD-SDRE scheme in the presence of constraints is then systematically demonstrated by applying this scheme to problems of spacecraft formation orbit reconfiguration under limited performance on thrusters. Simulation results demonstrate the efficacy and reliability of the proposed CD-SDRE. The CD-SDRE technique is further investigated in a case where there are uncertainties in nonlinear systems to be controlled. First, the system stability under each of the controllers in the robust CD-SDRE technique is separately established. The stability of the closed-loop system under the robust CD-SDRE controller is then proven based on the stability of each control system comprising switching configuration. A high fidelity dynamical model of spacecraft attitude motion in 3-dimensional space is derived with a partially filled fuel tank, assumed to have the first fuel slosh mode. The proposed robust CD-SDRE controller is then applied to the spacecraft attitude control system to stabilize its motion in the presence of uncertainties characterized by the first fuel slosh mode. The performance of the robust CD-SDRE technique is discussed. Subsequently, filtering techniques are investigated by using the D-SDRE technique. Detailed derivation of the D-SDRE-based filter (D-SDREF) is provided under the assumption of Gaussian noises and the stability condition of the error signal between the measured signal and the estimated signals is proven to be input-to-state stable. For the non-Gaussian distributed noises, we propose a filter by combining the D-SDREF and the particle filter (PF), named the combined D-SDRE/PF. Two algorithms for the filtering techniques are provided. Several filtering techniques are compared with challenging numerical examples to show the reliability and efficacy of the proposed D-SDREF and the combined D-SDRE/PF.

Accurate and robust genomic prediction of celiac disease using statistical learning.

PubMed

Abraham, Gad; Tye-Din, Jason A; Bhalala, Oneil G; Kowalczyk, Adam; Zobel, Justin; Inouye, Michael

2014-02-01

Practical application of genomic-based risk stratification to clinical diagnosis is appealing yet performance varies widely depending on the disease and genomic risk score (GRS) method. Celiac disease (CD), a common immune-mediated illness, is strongly genetically determined and requires specific HLA haplotypes. HLA testing can exclude diagnosis but has low specificity, providing little information suitable for clinical risk stratification. Using six European cohorts, we provide a proof-of-concept that statistical learning approaches which simultaneously model all SNPs can generate robust and highly accurate predictive models of CD based on genome-wide SNP profiles. The high predictive capacity replicated both in cross-validation within each cohort (AUC of 0.87-0.89) and in independent replication across cohorts (AUC of 0.86-0.9), despite differences in ethnicity. The models explained 30-35% of disease variance and up to ∼43% of heritability. The GRS's utility was assessed in different clinically relevant settings. Comparable to HLA typing, the GRS can be used to identify individuals without CD with ≥99.6% negative predictive value however, unlike HLA typing, fine-scale stratification of individuals into categories of higher-risk for CD can identify those that would benefit from more invasive and costly definitive testing. The GRS is flexible and its performance can be adapted to the clinical situation by adjusting the threshold cut-off. Despite explaining a minority of disease heritability, our findings indicate a genomic risk score provides clinically relevant information to improve upon current diagnostic pathways for CD and support further studies evaluating the clinical utility of this approach in CD and other complex diseases.

Thermal Performance Testing of Order Dependancy of Aerogels Multilayered Insulation

NASA Technical Reports Server (NTRS)

Johnson, Wesley L.; Fesmire, James E.; Demko, J. A.

2009-01-01

Robust multilayer insulation systems have long been a goal of many research projects. Such insulation systems must provide some degree of structural support and also mechanical integrity during loss of vacuum scenarios while continuing to provide insulative value to the vessel. Aerogel composite blankets can be the best insulation materials in ambient pressure environments; in high vacuum, the thermal performance of aerogel improves by about one order of magnitude. Standard multilayer insulation (MU) is typically 50% worse at ambient pressure and at soft vacuum, but as much as two or three orders of magnitude better at high vacuum. Different combinations of aerogel and multilayer insulation systems have been tested at Cryogenics Test Laboratory of NASA Kennedy Space Center. Analysis performed at Oak Ridge National Laboratory showed an importance to the relative location of the MU and aerogel blankets. Apparent thermal conductivity testing under cryogenic-vacuum conditions was performed to verify the analytical conclusion. Tests results are shown to be in agreement with the analysis which indicated that the best performance is obtained with aerogel layers located in the middle of the blanket insulation system.

Determining the transport mechanism of an enzyme-catalytic complex metabolic network based on biological robustness.

PubMed

Wang, Lei

2013-04-01

Understanding the transport mechanism of 1,3-propanediol (1,3-PD) is of critical importance to do further research on gene regulation. Due to the lack of intracellular information, on the basis of enzyme-catalytic system, using biological robustness as performance index, we present a system identification model to infer the most possible transport mechanism of 1,3-PD, in which the performance index consists of the relative error of the extracellular substance concentrations and biological robustness of the intracellular substance concentrations. We will not use a Boolean framework but prefer a model description based on ordinary differential equations. Among other advantages, this also facilitates the robustness analysis, which is the main goal of this paper. An algorithm is constructed to seek the solution of the identification model. Numerical results show that the most possible transport way is active transport coupled with passive diffusion.

A Computational Framework to Control Verification and Robustness Analysis

NASA Technical Reports Server (NTRS)

Crespo, Luis G.; Kenny, Sean P.; Giesy, Daniel P.

2010-01-01

This paper presents a methodology for evaluating the robustness of a controller based on its ability to satisfy the design requirements. The framework proposed is generic since it allows for high-fidelity models, arbitrary control structures and arbitrary functional dependencies between the requirements and the uncertain parameters. The cornerstone of this contribution is the ability to bound the region of the uncertain parameter space where the degradation in closed-loop performance remains acceptable. The size of this bounding set, whose geometry can be prescribed according to deterministic or probabilistic uncertainty models, is a measure of robustness. The robustness metrics proposed herein are the parametric safety margin, the reliability index, the failure probability and upper bounds to this probability. The performance observed at the control verification setting, where the assumptions and approximations used for control design may no longer hold, will fully determine the proposed control assessment.

Optimal design of loudspeaker arrays for robust cross-talk cancellation using the Taguchi method and the genetic algorithm.

PubMed

Bai, Mingsian R; Tung, Chih-Wei; Lee, Chih-Chung

2005-05-01

An optimal design technique of loudspeaker arrays for cross-talk cancellation with application in three-dimensional audio is presented. An array focusing scheme is presented on the basis of the inverse propagation that relates the transducers to a set of chosen control points. Tikhonov regularization is employed in designing the inverse cancellation filters. An extensive analysis is conducted to explore the cancellation performance and robustness issues. To best compromise the performance and robustness of the cross-talk cancellation system, optimal configurations are obtained with the aid of the Taguchi method and the genetic algorithm (GA). The proposed systems are further justified by physical as well as subjective experiments. The results reveal that large number of loudspeakers, closely spaced configuration, and optimal control point design all contribute to the robustness of cross-talk cancellation systems (CCS) against head misalignment.

Six degree of freedom simulation system for evaluating automated rendezvous and docking spacecraft

NASA Technical Reports Server (NTRS)

Rourke, Kenneth H.; Tsugawa, Roy K.

1991-01-01

Future logistics supply and servicing vehicles such as cargo transfer vehicles (CTV) must have full 6 degree of freedom (6DOF) capability in order to perform requisite rendezvous, proximity operations, and capture operations. The design and performance issues encountered when developing a 6DOF maneuvering spacecraft are very complex with subtle interactions which are not immediately obvious or easily anticipated. In order to deal with these complexities and develop robust maneuvering spacecraft designs, a simulation system and associated family of tools are used at TRW for generating and validating spacecraft performance requirements and guidance algorithms. An overview of the simulator and tools is provided. These are used by TRW for autonomous rendezvous and docking research projects including CTV studies.

Robust optimization of a tandem grating solar thermal absorber

NASA Astrophysics Data System (ADS)

Choi, Jongin; Kim, Mingeon; Kang, Kyeonghwan; Lee, Ikjin; Lee, Bong Jae

2018-04-01

Ideal solar thermal absorbers need to have a high value of the spectral absorptance in the broad solar spectrum to utilize the solar radiation effectively. Majority of recent studies about solar thermal absorbers focus on achieving nearly perfect absorption using nanostructures, whose characteristic dimension is smaller than the wavelength of sunlight. However, precise fabrication of such nanostructures is not easy in reality; that is, unavoidable errors always occur to some extent in the dimension of fabricated nanostructures, causing an undesirable deviation of the absorption performance between the designed structure and the actually fabricated one. In order to minimize the variation in the solar absorptance due to the fabrication error, the robust optimization can be performed during the design process. However, the optimization of solar thermal absorber considering all design variables often requires tremendous computational costs to find an optimum combination of design variables with the robustness as well as the high performance. To achieve this goal, we apply the robust optimization using the Kriging method and the genetic algorithm for designing a tandem grating solar absorber. By constructing a surrogate model through the Kriging method, computational cost can be substantially reduced because exact calculation of the performance for every combination of variables is not necessary. Using the surrogate model and the genetic algorithm, we successfully design an effective solar thermal absorber exhibiting a low-level of performance degradation due to the fabrication uncertainty of design variables.

Robust, Adaptive Functional Regression in Functional Mixed Model Framework.

PubMed

Zhu, Hongxiao; Brown, Philip J; Morris, Jeffrey S

2011-09-01

Functional data are increasingly encountered in scientific studies, and their high dimensionality and complexity lead to many analytical challenges. Various methods for functional data analysis have been developed, including functional response regression methods that involve regression of a functional response on univariate/multivariate predictors with nonparametrically represented functional coefficients. In existing methods, however, the functional regression can be sensitive to outlying curves and outlying regions of curves, so is not robust. In this paper, we introduce a new Bayesian method, robust functional mixed models (R-FMM), for performing robust functional regression within the general functional mixed model framework, which includes multiple continuous or categorical predictors and random effect functions accommodating potential between-function correlation induced by the experimental design. The underlying model involves a hierarchical scale mixture model for the fixed effects, random effect and residual error functions. These modeling assumptions across curves result in robust nonparametric estimators of the fixed and random effect functions which down-weight outlying curves and regions of curves, and produce statistics that can be used to flag global and local outliers. These assumptions also lead to distributions across wavelet coefficients that have outstanding sparsity and adaptive shrinkage properties, with great flexibility for the data to determine the sparsity and the heaviness of the tails. Together with the down-weighting of outliers, these within-curve properties lead to fixed and random effect function estimates that appear in our simulations to be remarkably adaptive in their ability to remove spurious features yet retain true features of the functions. We have developed general code to implement this fully Bayesian method that is automatic, requiring the user to only provide the functional data and design matrices. It is efficient enough to handle large data sets, and yields posterior samples of all model parameters that can be used to perform desired Bayesian estimation and inference. Although we present details for a specific implementation of the R-FMM using specific distributional choices in the hierarchical model, 1D functions, and wavelet transforms, the method can be applied more generally using other heavy-tailed distributions, higher dimensional functions (e.g. images), and using other invertible transformations as alternatives to wavelets.

Robust, Adaptive Functional Regression in Functional Mixed Model Framework

PubMed Central

Zhu, Hongxiao; Brown, Philip J.; Morris, Jeffrey S.

2012-01-01

Functional data are increasingly encountered in scientific studies, and their high dimensionality and complexity lead to many analytical challenges. Various methods for functional data analysis have been developed, including functional response regression methods that involve regression of a functional response on univariate/multivariate predictors with nonparametrically represented functional coefficients. In existing methods, however, the functional regression can be sensitive to outlying curves and outlying regions of curves, so is not robust. In this paper, we introduce a new Bayesian method, robust functional mixed models (R-FMM), for performing robust functional regression within the general functional mixed model framework, which includes multiple continuous or categorical predictors and random effect functions accommodating potential between-function correlation induced by the experimental design. The underlying model involves a hierarchical scale mixture model for the fixed effects, random effect and residual error functions. These modeling assumptions across curves result in robust nonparametric estimators of the fixed and random effect functions which down-weight outlying curves and regions of curves, and produce statistics that can be used to flag global and local outliers. These assumptions also lead to distributions across wavelet coefficients that have outstanding sparsity and adaptive shrinkage properties, with great flexibility for the data to determine the sparsity and the heaviness of the tails. Together with the down-weighting of outliers, these within-curve properties lead to fixed and random effect function estimates that appear in our simulations to be remarkably adaptive in their ability to remove spurious features yet retain true features of the functions. We have developed general code to implement this fully Bayesian method that is automatic, requiring the user to only provide the functional data and design matrices. It is efficient enough to handle large data sets, and yields posterior samples of all model parameters that can be used to perform desired Bayesian estimation and inference. Although we present details for a specific implementation of the R-FMM using specific distributional choices in the hierarchical model, 1D functions, and wavelet transforms, the method can be applied more generally using other heavy-tailed distributions, higher dimensional functions (e.g. images), and using other invertible transformations as alternatives to wavelets. PMID:22308015

Review of LFTs, LMIs, and mu. [Linear Fractional Transformations, Linear Matrix Inequalities

NASA Technical Reports Server (NTRS)

Doyle, John; Packard, Andy; Zhou, Kemin

1991-01-01

The authors present a tutorial overview of linear fractional transformations (LFTs) and the role of the structured singular value, mu, and linear matrix inequalities (LMIs) in solving LFT problems. The authors first introduce the notation for LFTs and briefly discuss some of their properties. They then describe mu and its connections with LFTs. They focus on two standard notions of robust stability and performance, mu stability and performance and Q stability and performance, and their relationship is discussed. Comparisons with the L1 theory of robust performance with structured uncertainty are considered.

Advancements in robust algorithm formulation for speaker identification of whispered speech

NASA Astrophysics Data System (ADS)

Fan, Xing

Whispered speech is an alternative speech production mode from neutral speech, which is used by talkers intentionally in natural conversational scenarios to protect privacy and to avoid certain content from being overheard/made public. Due to the profound differences between whispered and neutral speech in production mechanism and the absence of whispered adaptation data, the performance of speaker identification systems trained with neutral speech degrades significantly. This dissertation therefore focuses on developing a robust closed-set speaker recognition system for whispered speech by using no or limited whispered adaptation data from non-target speakers. This dissertation proposes the concept of "High''/"Low'' performance whispered data for the purpose of speaker identification. A variety of acoustic properties are identified that contribute to the quality of whispered data. An acoustic analysis is also conducted to compare the phoneme/speaker dependency of the differences between whispered and neutral data in the feature domain. The observations from those acoustic analysis are new in this area and also serve as a guidance for developing robust speaker identification systems for whispered speech. This dissertation further proposes two systems for speaker identification of whispered speech. One system focuses on front-end processing. A two-dimensional feature space is proposed to search for "Low''-quality performance based whispered utterances and separate feature mapping functions are applied to vowels and consonants respectively in order to retain the speaker's information shared between whispered and neutral speech. The other system focuses on speech-mode-independent model training. The proposed method generates pseudo whispered features from neutral features by using the statistical information contained in a whispered Universal Background model (UBM) trained from extra collected whispered data from non-target speakers. Four modeling methods are proposed for the transformation estimation in order to generate the pseudo whispered features. Both of the above two systems demonstrate a significant improvement over the baseline system on the evaluation data. This dissertation has therefore contributed to providing a scientific understanding of the differences between whispered and neutral speech as well as improved front-end processing and modeling method for speaker identification of whispered speech. Such advancements will ultimately contribute to improve the robustness of speech processing systems.

Estimating nonrigid motion from inconsistent intensity with robust shape features

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

Liu, Wenyang; Ruan, Dan, E-mail: druan@mednet.ucla.edu; Department of Radiation Oncology, University of California, Los Angeles, California 90095

2013-12-15

Purpose: To develop a nonrigid motion estimation method that is robust to heterogeneous intensity inconsistencies amongst the image pairs or image sequence. Methods: Intensity and contrast variations, as in dynamic contrast enhanced magnetic resonance imaging, present a considerable challenge to registration methods based on general discrepancy metrics. In this study, the authors propose and validate a novel method that is robust to such variations by utilizing shape features. The geometry of interest (GOI) is represented with a flexible zero level set, segmented via well-behaved regularized optimization. The optimization energy drives the zero level set to high image gradient regions, andmore » regularizes it with area and curvature priors. The resulting shape exhibits high consistency even in the presence of intensity or contrast variations. Subsequently, a multiscale nonrigid registration is performed to seek a regular deformation field that minimizes shape discrepancy in the vicinity of GOIs. Results: To establish the working principle, realistic 2D and 3D images were subject to simulated nonrigid motion and synthetic intensity variations, so as to enable quantitative evaluation of registration performance. The proposed method was benchmarked against three alternative registration approaches, specifically, optical flow, B-spline based mutual information, and multimodality demons. When intensity consistency was satisfied, all methods had comparable registration accuracy for the GOIs. When intensities among registration pairs were inconsistent, however, the proposed method yielded pronounced improvement in registration accuracy, with an approximate fivefold reduction in mean absolute error (MAE = 2.25 mm, SD = 0.98 mm), compared to optical flow (MAE = 9.23 mm, SD = 5.36 mm), B-spline based mutual information (MAE = 9.57 mm, SD = 8.74 mm) and mutimodality demons (MAE = 10.07 mm, SD = 4.03 mm). Applying the proposed method on a real MR image sequence also provided qualitatively appealing results, demonstrating good feasibility and applicability of the proposed method. Conclusions: The authors have developed a novel method to estimate the nonrigid motion of GOIs in the presence of spatial intensity and contrast variations, taking advantage of robust shape features. Quantitative analysis and qualitative evaluation demonstrated good promise of the proposed method. Further clinical assessment and validation is being performed.« less

Application of the 3D slicer chest imaging platform segmentation algorithm for large lung nodule delineation

PubMed Central

Parmar, Chintan; Blezek, Daniel; Estepar, Raul San Jose; Pieper, Steve; Kim, John; Aerts, Hugo J. W. L.

2017-01-01

Purpose Accurate segmentation of lung nodules is crucial in the development of imaging biomarkers for predicting malignancy of the nodules. Manual segmentation is time consuming and affected by inter-observer variability. We evaluated the robustness and accuracy of a publically available semiautomatic segmentation algorithm that is implemented in the 3D Slicer Chest Imaging Platform (CIP) and compared it with the performance of manual segmentation. Methods CT images of 354 manually segmented nodules were downloaded from the LIDC database. Four radiologists performed the manual segmentation and assessed various nodule characteristics. The semiautomatic CIP segmentation was initialized using the centroid of the manual segmentations, thereby generating four contours for each nodule. The robustness of both segmentation methods was assessed using the region of uncertainty (δ) and Dice similarity index (DSI). The robustness of the segmentation methods was compared using the Wilcoxon-signed rank test (pWilcoxon<0.05). The Dice similarity index (DSIAgree) between the manual and CIP segmentations was computed to estimate the accuracy of the semiautomatic contours. Results The median computational time of the CIP segmentation was 10 s. The median CIP and manually segmented volumes were 477 ml and 309 ml, respectively. CIP segmentations were significantly more robust than manual segmentations (median δCIP = 14ml, median dsiCIP = 99% vs. median δmanual = 222ml, median dsimanual = 82%) with pWilcoxon~10−16. The agreement between CIP and manual segmentations had a median DSIAgree of 60%. While 13% (47/354) of the nodules did not require any manual adjustment, minor to substantial manual adjustments were needed for 87% (305/354) of the nodules. CIP segmentations were observed to perform poorly (median DSIAgree≈50%) for non-/sub-solid nodules with subtle appearances and poorly defined boundaries. Conclusion Semi-automatic CIP segmentation can potentially reduce the physician workload for 13% of nodules owing to its computational efficiency and superior stability compared to manual segmentation. Although manual adjustment is needed for many cases, CIP segmentation provides a preliminary contour for physicians as a starting point. PMID:28594880

Estimating nonrigid motion from inconsistent intensity with robust shape features.

PubMed

Liu, Wenyang; Ruan, Dan

2013-12-01

To develop a nonrigid motion estimation method that is robust to heterogeneous intensity inconsistencies amongst the image pairs or image sequence. Intensity and contrast variations, as in dynamic contrast enhanced magnetic resonance imaging, present a considerable challenge to registration methods based on general discrepancy metrics. In this study, the authors propose and validate a novel method that is robust to such variations by utilizing shape features. The geometry of interest (GOI) is represented with a flexible zero level set, segmented via well-behaved regularized optimization. The optimization energy drives the zero level set to high image gradient regions, and regularizes it with area and curvature priors. The resulting shape exhibits high consistency even in the presence of intensity or contrast variations. Subsequently, a multiscale nonrigid registration is performed to seek a regular deformation field that minimizes shape discrepancy in the vicinity of GOIs. To establish the working principle, realistic 2D and 3D images were subject to simulated nonrigid motion and synthetic intensity variations, so as to enable quantitative evaluation of registration performance. The proposed method was benchmarked against three alternative registration approaches, specifically, optical flow, B-spline based mutual information, and multimodality demons. When intensity consistency was satisfied, all methods had comparable registration accuracy for the GOIs. When intensities among registration pairs were inconsistent, however, the proposed method yielded pronounced improvement in registration accuracy, with an approximate fivefold reduction in mean absolute error (MAE = 2.25 mm, SD = 0.98 mm), compared to optical flow (MAE = 9.23 mm, SD = 5.36 mm), B-spline based mutual information (MAE = 9.57 mm, SD = 8.74 mm) and mutimodality demons (MAE = 10.07 mm, SD = 4.03 mm). Applying the proposed method on a real MR image sequence also provided qualitatively appealing results, demonstrating good feasibility and applicability of the proposed method. The authors have developed a novel method to estimate the nonrigid motion of GOIs in the presence of spatial intensity and contrast variations, taking advantage of robust shape features. Quantitative analysis and qualitative evaluation demonstrated good promise of the proposed method. Further clinical assessment and validation is being performed.

An Approach for Performance Assessments of Extravehicular Activity Gloves

NASA Technical Reports Server (NTRS)

Aitchison, Lindsay; Benosn, Elizabeth

2014-01-01

The Space Suit Assembly (SSA) Development Team at NASA Johnson Space Center has invested heavily in the advancement of rear-entry planetary exploration suit design but largely deferred development of extravehicular activity (EVA) glove designs, and accepted the risk of using the current flight gloves, Phase VI, for unique mission scenarios outside the Space Shuttle and International Space Station (ISS) Program realm of experience. However, as design reference missions mature, the risks of using heritage hardware have highlighted the need for developing robust new glove technologies. To address the technology gap, the NASA Game-Changing Technology group provided start-up funding for the High Performance EVA Glove (HPEG) Project in the spring of 2012. The overarching goal of the HPEG Project is to develop a robust glove design that increases human performance during EVA and creates pathway for future implementation of emergent technologies, with specific aims of increasing pressurized mobility to 60% of barehanded capability, increasing the durability by 100%, and decreasing the potential of gloves to cause injury during use. The HPEG Project focused initial efforts on identifying potential new technologies and benchmarking the performance of current state of the art gloves to identify trends in design and fit leading to establish standards and metrics against which emerging technologies can be assessed at both the component and assembly levels. The first of the benchmarking tests evaluated the quantitative mobility performance and subjective fit of two sets of prototype EVA gloves developed ILC Dover and David Clark Company as compared to the Phase VI. Both companies were asked to design and fabricate gloves to the same set of NASA provided hand measurements (which corresponded to a single size of Phase Vi glove) and focus their efforts on improving mobility in the metacarpal phalangeal and carpometacarpal joints. Four test subjects representing the design-to hand anthropometry completed range of motion, grip/pinch strength, dexterity, and fit evaluations for each glove design in pressurized conditions, with and without thermal micrometeoroid garments (TMG) installed. This paper provides a detailed description of hardware and test methodologies used and lessons learned.

Balanced excitation and inhibition are required for high-capacity, noise-robust neuronal selectivity

PubMed Central

Abbott, L. F.; Sompolinsky, Haim

2017-01-01

Neurons and networks in the cerebral cortex must operate reliably despite multiple sources of noise. To evaluate the impact of both input and output noise, we determine the robustness of single-neuron stimulus selective responses, as well as the robustness of attractor states of networks of neurons performing memory tasks. We find that robustness to output noise requires synaptic connections to be in a balanced regime in which excitation and inhibition are strong and largely cancel each other. We evaluate the conditions required for this regime to exist and determine the properties of networks operating within it. A plausible synaptic plasticity rule for learning that balances weight configurations is presented. Our theory predicts an optimal ratio of the number of excitatory and inhibitory synapses for maximizing the encoding capacity of balanced networks for given statistics of afferent activations. Previous work has shown that balanced networks amplify spatiotemporal variability and account for observed asynchronous irregular states. Here we present a distinct type of balanced network that amplifies small changes in the impinging signals and emerges automatically from learning to perform neuronal and network functions robustly. PMID:29042519

Dynamic Dazzle Distorts Speed Perception.

PubMed

Hall, Joanna R; Cuthill, Innes C; Baddeley, Roland; Attwood, Angela S; Munafò, Marcus R; Scott-Samuel, Nicholas E

2016-01-01

Static high contrast ('dazzle') patterns, such as zigzags, have been shown to reduce the perceived speed of an object. It has not escaped our notice that this effect has possible military applications and here we report a series of experiments on humans, designed to establish whether dynamic dazzle patterns can cause distortions of perceived speed sufficient to provide effective defence in the field, and the extent to which these effects are robust to a battery of manipulations. Dynamic stripe patterns moving in the same direction as the target are found to increase the perceived speed of that target, whilst dynamic stripes moving in the opposite direction to the target reduce the perceived speed. We establish the optimum position for such dazzle patches; confirm that reduced contrast and the addition of colour do not affect the performance of the dynamic dazzle, and finally, using the CO2 challenge, show that the effect is robust to stressful conditions.

Control Oriented Modeling and Validation of Aeroservoelastic Systems

NASA Technical Reports Server (NTRS)

Crowder, Marianne; deCallafon, Raymond (Principal Investigator)

2002-01-01

Lightweight aircraft design emphasizes the reduction of structural weight to maximize aircraft efficiency and agility at the cost of increasing the likelihood of structural dynamic instabilities. To ensure flight safety, extensive flight testing and active structural servo control strategies are required to explore and expand the boundary of the flight envelope. Aeroservoelastic (ASE) models can provide online flight monitoring of dynamic instabilities to reduce flight time testing and increase flight safety. The success of ASE models is determined by the ability to take into account varying flight conditions and the possibility to perform flight monitoring under the presence of active structural servo control strategies. In this continued study, these aspects are addressed by developing specific methodologies and algorithms for control relevant robust identification and model validation of aeroservoelastic structures. The closed-loop model robust identification and model validation are based on a fractional model approach where the model uncertainties are characterized in a closed-loop relevant way.

Diagnosing the impact of alternative calibration strategies on coupled hydrologic models

NASA Astrophysics Data System (ADS)

Smith, T. J.; Perera, C.; Corrigan, C.

2017-12-01

Hydrologic models represent a significant tool for understanding, predicting, and responding to the impacts of water on society and society on water resources and, as such, are used extensively in water resources planning and management. Given this important role, the validity and fidelity of hydrologic models is imperative. While extensive focus has been paid to improving hydrologic models through better process representation, better parameter estimation, and better uncertainty quantification, significant challenges remain. In this study, we explore a number of competing model calibration scenarios for simple, coupled snowmelt-runoff models to better understand the sensitivity / variability of parameterizations and its impact on model performance, robustness, fidelity, and transferability. Our analysis highlights the sensitivity of coupled snowmelt-runoff model parameterizations to alterations in calibration approach, underscores the concept of information content in hydrologic modeling, and provides insight into potential strategies for improving model robustness / fidelity.

Testing earthquake source inversion methodologies

USGS Publications Warehouse

Page, M.; Mai, P.M.; Schorlemmer, D.

2011-01-01

Source Inversion Validation Workshop; Palm Springs, California, 11-12 September 2010; Nowadays earthquake source inversions are routinely performed after large earthquakes and represent a key connection between recorded seismic and geodetic data and the complex rupture process at depth. The resulting earthquake source models quantify the spatiotemporal evolution of ruptures. They are also used to provide a rapid assessment of the severity of an earthquake and to estimate losses. However, because of uncertainties in the data, assumed fault geometry and velocity structure, and chosen rupture parameterization, it is not clear which features of these source models are robust. Improved understanding of the uncertainty and reliability of earthquake source inversions will allow the scientific community to use the robust features of kinematic inversions to more thoroughly investigate the complexity of the rupture process and to better constrain other earthquakerelated computations, such as ground motion simulations and static stress change calculations.

The Nitrogen Balancing Act: Tracking the Environmental Performance of Food Production

PubMed Central

McLellan, Eileen L; Cassman, Kenneth G; Eagle, Alison J; Woodbury, Peter B; Sela, Shai; Tonitto, Christina; Marjerison, Rebecca D; van Es, Harold M

2018-01-01

Abstract Farmers, food supply-chain entities, and policymakers need a simple but robust indicator to demonstrate progress toward reducing nitrogen pollution associated with food production. We show that nitrogen balance—the difference between nitrogen inputs and nitrogen outputs in an agricultural production system—is a robust measure of nitrogen losses that is simple to calculate, easily understood, and based on readily available farm data. Nitrogen balance provides farmers with a means of demonstrating to an increasingly concerned public that they are succeeding in reducing nitrogen losses while also improving the overall sustainability of their farming operation. Likewise, supply-chain companies and policymakers can use nitrogen balance to track progress toward sustainability goals. We describe the value of nitrogen balance in translating environmental targets into actionable goals for farmers and illustrate the potential roles of science, policy, and agricultural support networks in helping farmers achieve them. PMID:29662247

Clothing Matching for Visually Impaired Persons

PubMed Central

Yuan, Shuai; Tian, YingLi; Arditi, Aries

2012-01-01

Matching clothes is a challenging task for many blind people. In this paper, we present a proof of concept system to solve this problem. The system consists of 1) a camera connected to a computer to perform pattern and color matching process; 2) speech commands for system control and configuration; and 3) audio feedback to provide matching results for both color and patterns of clothes. This system can handle clothes in deficient color without any pattern, as well as clothing with multiple colors and complex patterns to aid both blind and color deficient people. Furthermore, our method is robust to variations of illumination, clothing rotation and wrinkling. To evaluate the proposed prototype, we collect two challenging databases including clothes without any pattern, or with multiple colors and different patterns under different conditions of lighting and rotation. Results reported here demonstrate the robustness and effectiveness of the proposed clothing matching system. PMID:22523465

Adaptive dynamic surface control of flexible-joint robots using self-recurrent wavelet neural networks.

PubMed

Yoo, Sung Jin; Park, Jin Bae; Choi, Yoon Ho

2006-12-01

A new method for the robust control of flexible-joint (FJ) robots with model uncertainties in both robot dynamics and actuator dynamics is proposed. The proposed control system is a combination of the adaptive dynamic surface control (DSC) technique and the self-recurrent wavelet neural network (SRWNN). The adaptive DSC technique provides the ability to overcome the "explosion of complexity" problem in backstepping controllers. The SRWNNs are used to observe the arbitrary model uncertainties of FJ robots, and all their weights are trained online. From the Lyapunov stability analysis, their adaptation laws are induced, and the uniformly ultimately boundedness of all signals in a closed-loop adaptive system is proved. Finally, simulation results for a three-link FJ robot are utilized to validate the good position tracking performance and robustness against payload uncertainties and external disturbances of the proposed control system.

Order Under Uncertainty: Robust Differential Expression Analysis Using Probabilistic Models for Pseudotime Inference

PubMed Central

Campbell, Kieran R.

2016-01-01

Single cell gene expression profiling can be used to quantify transcriptional dynamics in temporal processes, such as cell differentiation, using computational methods to label each cell with a ‘pseudotime’ where true time series experimentation is too difficult to perform. However, owing to the high variability in gene expression between individual cells, there is an inherent uncertainty in the precise temporal ordering of the cells. Pre-existing methods for pseudotime estimation have predominantly given point estimates precluding a rigorous analysis of the implications of uncertainty. We use probabilistic modelling techniques to quantify pseudotime uncertainty and propagate this into downstream differential expression analysis. We demonstrate that reliance on a point estimate of pseudotime can lead to inflated false discovery rates and that probabilistic approaches provide greater robustness and measures of the temporal resolution that can be obtained from pseudotime inference. PMID:27870852

Autonomous Pointing Control of a Large Satellite Antenna Subject to Parametric Uncertainty

PubMed Central

Wu, Shunan; Liu, Yufei; Radice, Gianmarco; Tan, Shujun

2017-01-01

With the development of satellite mobile communications, large antennas are now widely used. The precise pointing of the antenna’s optical axis is essential for many space missions. This paper addresses the challenging problem of high-precision autonomous pointing control of a large satellite antenna. The pointing dynamics are firstly proposed. The proportional–derivative feedback and structural filter to perform pointing maneuvers and suppress antenna vibrations are then presented. An adaptive controller to estimate actual system frequencies in the presence of modal parameters uncertainty is proposed. In order to reduce periodic errors, the modified controllers, which include the proposed adaptive controller and an active disturbance rejection filter, are then developed. The system stability and robustness are analyzed and discussed in the frequency domain. Numerical results are finally provided, and the results have demonstrated that the proposed controllers have good autonomy and robustness. PMID:28287450

Preliminary results from BCG and ECG measurements in the heart failure clinic.

PubMed

Giovangrandi, Laurent; Inan, Omer T; Banerjee, Dipanjan; Kovacs, Gregory T A

2012-01-01

We report on the preliminary deployment of a bathroom scale-based ballistocardiogram (BCG) system for the in-hospital monitoring of patients with heart failure. These early trials provided valuable insights into the challenges and opportunities for such monitoring. In particular, the need for robust algorithms and adapted BCG metric is suggested. The system was designed to be robust and user-friendly, with dual ballistocardiogram (BCG) and electrocardiogram (ECG) capabilities. The BCG was measured from a modified bathroom scale, while the ECG (used as timing reference) was measured using dry handlebar electrodes. The signal conditioning and digitization circuits were USB-powered, and data acquisition performed using a netbook. Four patients with a NYHA class III at admission were measured daily for the duration of their treatment at Stanford hospital. A measure of BCG quality, in essence a quantitative implementation of the BCG classes originally defined in the 1950s, is proposed as a practical parameter.

Robust validation of approximate 1-matrix functionals with few-electron harmonium atoms

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

Cioslowski, Jerzy, E-mail: jerzy@wmf.univ.szczecin.pl; Piris, Mario; Matito, Eduard

2015-12-07

A simple comparison between the exact and approximate correlation components U of the electron-electron repulsion energy of several states of few-electron harmonium atoms with varying confinement strengths provides a stringent validation tool for 1-matrix functionals. The robustness of this tool is clearly demonstrated in a survey of 14 known functionals, which reveals their substandard performance within different electron correlation regimes. Unlike spot-testing that employs dissociation curves of diatomic molecules or more extensive benchmarking against experimental atomization energies of molecules comprising some standard set, the present approach not only uncovers the flaws and patent failures of the functionals but, even moremore » importantly, also allows for pinpointing their root causes. Since the approximate values of U are computed at exact 1-densities, the testing requires minimal programming and thus is particularly suitable for rapid screening of new functionals.« less

Exploiting structure: Introduction and motivation

NASA Technical Reports Server (NTRS)

Xu, Zhong Ling

1994-01-01

This annual report summarizes the research activities that were performed from 26 Jun. 1993 to 28 Feb. 1994. We continued to investigate the Robust Stability of Systems where transfer functions or characteristic polynomials are affine multilinear functions of parameters. An approach that differs from 'Stability by Linear Process' and that reduces the computational burden of checking the robust stability of the system with multilinear uncertainty was found for low order, 2-order, and 3-order cases. We proved a crucial theorem, the so-called Face Theorem. Previously, we have proven Kharitonov's Vertex Theorem and the Edge Theorem by Bartlett. The detail of this proof is contained in the Appendix. This Theorem provides a tool to describe the boundary of the image of the affine multilinear function. For SPR design, we have developed some new results. The third objective for this period is to design a controller for IHM by the H-infinity optimization technique. The details are presented in the Appendix.

A robust anonymous biometric-based authenticated key agreement scheme for multi-server environments

PubMed Central

Huang, Yuanfei; Ma, Fangchao

2017-01-01

In order to improve the security in remote authentication systems, numerous biometric-based authentication schemes using smart cards have been proposed. Recently, Moon et al. presented an authentication scheme to remedy the flaws of Lu et al.’s scheme, and claimed that their improved protocol supports the required security properties. Unfortunately, we found that Moon et al.’s scheme still has weaknesses. In this paper, we show that Moon et al.’s scheme is vulnerable to insider attack, server spoofing attack, user impersonation attack and guessing attack. Furthermore, we propose a robust anonymous multi-server authentication scheme using public key encryption to remove the aforementioned problems. From the subsequent formal and informal security analysis, we demonstrate that our proposed scheme provides strong mutual authentication and satisfies the desirable security requirements. The functional and performance analysis shows that the improved scheme has the best secure functionality and is computational efficient. PMID:29121050

A robust anonymous biometric-based authenticated key agreement scheme for multi-server environments.

PubMed

Guo, Hua; Wang, Pei; Zhang, Xiyong; Huang, Yuanfei; Ma, Fangchao

2017-01-01

In order to improve the security in remote authentication systems, numerous biometric-based authentication schemes using smart cards have been proposed. Recently, Moon et al. presented an authentication scheme to remedy the flaws of Lu et al.'s scheme, and claimed that their improved protocol supports the required security properties. Unfortunately, we found that Moon et al.'s scheme still has weaknesses. In this paper, we show that Moon et al.'s scheme is vulnerable to insider attack, server spoofing attack, user impersonation attack and guessing attack. Furthermore, we propose a robust anonymous multi-server authentication scheme using public key encryption to remove the aforementioned problems. From the subsequent formal and informal security analysis, we demonstrate that our proposed scheme provides strong mutual authentication and satisfies the desirable security requirements. The functional and performance analysis shows that the improved scheme has the best secure functionality and is computational efficient.

Clothing Matching for Visually Impaired Persons.

PubMed

Yuan, Shuai; Tian, Yingli; Arditi, Aries

2011-01-01

Matching clothes is a challenging task for many blind people. In this paper, we present a proof of concept system to solve this problem. The system consists of 1) a camera connected to a computer to perform pattern and color matching process; 2) speech commands for system control and configuration; and 3) audio feedback to provide matching results for both color and patterns of clothes. This system can handle clothes in deficient color without any pattern, as well as clothing with multiple colors and complex patterns to aid both blind and color deficient people. Furthermore, our method is robust to variations of illumination, clothing rotation and wrinkling. To evaluate the proposed prototype, we collect two challenging databases including clothes without any pattern, or with multiple colors and different patterns under different conditions of lighting and rotation. Results reported here demonstrate the robustness and effectiveness of the proposed clothing matching system.

Robustness analysis of elastoplastic structure subjected to double impulse

NASA Astrophysics Data System (ADS)

Kanno, Yoshihiro; Takewaki, Izuru

2016-11-01

The double impulse has extensively been used to evaluate the critical response of an elastoplastic structure against a pulse-type input, including near-fault earthquake ground motions. In this paper, we propose a robustness assessment method for elastoplastic single-degree-of-freedom structures subjected to the double impulse input. Uncertainties in the initial velocity of the input, as well as the natural frequency and the strength of the structure, are considered. As fundamental properties of the structural robustness, we show monotonicity of the robustness measure with respect to the natural frequency. In contrast, we show that robustness is not necessarily improved even if the structural strength is increased. Moreover, the robustness preference between two structures with different values of structural strength can possibly reverse when the performance requirement is changed.

FRIEDA: Flexible Robust Intelligent Elastic Data Management Framework

DOE PAGES

Ghoshal, Devarshi; Hendrix, Valerie; Fox, William; ...

2017-02-01

Scientific applications are increasingly using cloud resources for their data analysis workflows. However, managing data effectively and efficiently over these cloud resources is challenging due to the myriad storage choices with different performance, cost trade-offs, complex application choices and complexity associated with elasticity, failure rates in these environments. The different data access patterns for data-intensive scientific applications require a more flexible and robust data management solution than the ones currently in existence. FRIEDA is a Flexible Robust Intelligent Elastic Data Management framework that employs a range of data management strategies in cloud environments. FRIEDA can manage storage and data lifecyclemore » of applications in cloud environments. There are four different stages in the data management lifecycle of FRIEDA – (i) storage planning, (ii) provisioning and preparation, (iii) data placement, and (iv) execution. FRIEDA defines a data control plane and an execution plane. The data control plane defines the data partition and distribution strategy, whereas the execution plane manages the execution of the application using a master-worker paradigm. FRIEDA also provides different data management strategies, either to partition the data in real-time, or predetermine the data partitions prior to application execution.« less

Chaotic CDMA watermarking algorithm for digital image in FRFT domain

NASA Astrophysics Data System (ADS)

Liu, Weizhong; Yang, Wentao; Feng, Zhuoming; Zou, Xuecheng

2007-11-01

A digital image-watermarking algorithm based on fractional Fourier transform (FRFT) domain is presented by utilizing chaotic CDMA technique in this paper. As a popular and typical transmission technique, CDMA has many advantages such as privacy, anti-jamming and low power spectral density, which can provide robustness against image distortions and malicious attempts to remove or tamper with the watermark. A super-hybrid chaotic map, with good auto-correlation and cross-correlation characteristics, is adopted to produce many quasi-orthogonal codes (QOC) that can replace the periodic PN-code used in traditional CDAM system. The watermarking data is divided into a lot of segments that correspond to different chaotic QOC respectively and are modulated into the CDMA watermarking data embedded into low-frequency amplitude coefficients of FRFT domain of the cover image. During watermark detection, each chaotic QOC extracts its corresponding watermarking segment by calculating correlation coefficients between chaotic QOC and watermarked data of the detected image. The CDMA technique not only can enhance the robustness of watermark but also can compress the data of the modulated watermark. Experimental results show that the watermarking algorithm has good performances in three aspects: better imperceptibility, anti-attack robustness and security.

Cognitive Mapping Based on Conjunctive Representations of Space and Movement

PubMed Central

Zeng, Taiping; Si, Bailu

2017-01-01

It is a challenge to build robust simultaneous localization and mapping (SLAM) system in dynamical large-scale environments. Inspired by recent findings in the entorhinal–hippocampal neuronal circuits, we propose a cognitive mapping model that includes continuous attractor networks of head-direction cells and conjunctive grid cells to integrate velocity information by conjunctive encodings of space and movement. Visual inputs from the local view cells in the model provide feedback cues to correct drifting errors of the attractors caused by the noisy velocity inputs. We demonstrate the mapping performance of the proposed cognitive mapping model on an open-source dataset of 66 km car journey in a 3 km × 1.6 km urban area. Experimental results show that the proposed model is robust in building a coherent semi-metric topological map of the entire urban area using a monocular camera, even though the image inputs contain various changes caused by different light conditions and terrains. The results in this study could inspire both neuroscience and robotic research to better understand the neural computational mechanisms of spatial cognition and to build robust robotic navigation systems in large-scale environments. PMID:29213234

Heading Estimation for Pedestrian Dead Reckoning Based on Robust Adaptive Kalman Filtering.

PubMed

Wu, Dongjin; Xia, Linyuan; Geng, Jijun

2018-06-19

Pedestrian dead reckoning (PDR) using smart phone-embedded micro-electro-mechanical system (MEMS) sensors plays a key role in ubiquitous localization indoors and outdoors. However, as a relative localization method, it suffers from the problem of error accumulation which prevents it from long term independent running. Heading estimation error is one of the main location error sources, and therefore, in order to improve the location tracking performance of the PDR method in complex environments, an approach based on robust adaptive Kalman filtering (RAKF) for estimating accurate headings is proposed. In our approach, outputs from gyroscope, accelerometer, and magnetometer sensors are fused using the solution of Kalman filtering (KF) that the heading measurements derived from accelerations and magnetic field data are used to correct the states integrated from angular rates. In order to identify and control measurement outliers, a maximum likelihood-type estimator (M-estimator)-based model is used. Moreover, an adaptive factor is applied to resist the negative effects of state model disturbances. Extensive experiments under static and dynamic conditions were conducted in indoor environments. The experimental results demonstrate the proposed approach provides more accurate heading estimates and supports more robust and dynamic adaptive location tracking, compared with methods based on conventional KF.

Some conservation issues for the dynamical cores of NWP and climate models

NASA Astrophysics Data System (ADS)

Thuburn, J.

2008-03-01

The rationale for designing atmospheric numerical model dynamical cores with certain conservation properties is reviewed. The conceptual difficulties associated with the multiscale nature of realistic atmospheric flow, and its lack of time-reversibility, are highlighted. A distinction is made between robust invariants, which are conserved or nearly conserved in the adiabatic and frictionless limit, and non-robust invariants, which are not conserved in the limit even though they are conserved by exactly adiabatic frictionless flow. For non-robust invariants, a further distinction is made between processes that directly transfer some quantity from large to small scales, and processes involving a cascade through a continuous range of scales; such cascades may either be explicitly parameterized, or handled implicitly by the dynamical core numerics, accepting the implied non-conservation. An attempt is made to estimate the relative importance of different conservation laws. It is argued that satisfactory model performance requires spurious sources of a conservable quantity to be much smaller than any true physical sources; for several conservable quantities the magnitudes of the physical sources are estimated in order to provide benchmarks against which any spurious sources may be measured.

Improving near-infrared prediction model robustness with support vector machine regression: a pharmaceutical tablet assay example.

PubMed

Igne, Benoît; Drennen, James K; Anderson, Carl A

2014-01-01

Changes in raw materials and process wear and tear can have significant effects on the prediction error of near-infrared calibration models. When the variability that is present during routine manufacturing is not included in the calibration, test, and validation sets, the long-term performance and robustness of the model will be limited. Nonlinearity is a major source of interference. In near-infrared spectroscopy, nonlinearity can arise from light path-length differences that can come from differences in particle size or density. The usefulness of support vector machine (SVM) regression to handle nonlinearity and improve the robustness of calibration models in scenarios where the calibration set did not include all the variability present in test was evaluated. Compared to partial least squares (PLS) regression, SVM regression was less affected by physical (particle size) and chemical (moisture) differences. The linearity of the SVM predicted values was also improved. Nevertheless, although visualization and interpretation tools have been developed to enhance the usability of SVM-based methods, work is yet to be done to provide chemometricians in the pharmaceutical industry with a regression method that can supplement PLS-based methods.

FRIEDA: Flexible Robust Intelligent Elastic Data Management Framework

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

Ghoshal, Devarshi; Hendrix, Valerie; Fox, William

Scientific applications are increasingly using cloud resources for their data analysis workflows. However, managing data effectively and efficiently over these cloud resources is challenging due to the myriad storage choices with different performance, cost trade-offs, complex application choices and complexity associated with elasticity, failure rates in these environments. The different data access patterns for data-intensive scientific applications require a more flexible and robust data management solution than the ones currently in existence. FRIEDA is a Flexible Robust Intelligent Elastic Data Management framework that employs a range of data management strategies in cloud environments. FRIEDA can manage storage and data lifecyclemore » of applications in cloud environments. There are four different stages in the data management lifecycle of FRIEDA – (i) storage planning, (ii) provisioning and preparation, (iii) data placement, and (iv) execution. FRIEDA defines a data control plane and an execution plane. The data control plane defines the data partition and distribution strategy, whereas the execution plane manages the execution of the application using a master-worker paradigm. FRIEDA also provides different data management strategies, either to partition the data in real-time, or predetermine the data partitions prior to application execution.« less

Novel prescribed performance neural control of a flexible air-breathing hypersonic vehicle with unknown initial errors.

PubMed

Bu, Xiangwei; Wu, Xiaoyan; Zhu, Fujing; Huang, Jiaqi; Ma, Zhen; Zhang, Rui

2015-11-01

A novel prescribed performance neural controller with unknown initial errors is addressed for the longitudinal dynamic model of a flexible air-breathing hypersonic vehicle (FAHV) subject to parametric uncertainties. Different from traditional prescribed performance control (PPC) requiring that the initial errors have to be known accurately, this paper investigates the tracking control without accurate initial errors via exploiting a new performance function. A combined neural back-stepping and minimal learning parameter (MLP) technology is employed for exploring a prescribed performance controller that provides robust tracking of velocity and altitude reference trajectories. The highlight is that the transient performance of velocity and altitude tracking errors is satisfactory and the computational load of neural approximation is low. Finally, numerical simulation results from a nonlinear FAHV model demonstrate the efficacy of the proposed strategy. Copyright © 2015 ISA. Published by Elsevier Ltd. All rights reserved.

Development of a single nucleotide polymorphism barcode to genotype Plasmodium vivax infections.

PubMed

Baniecki, Mary Lynn; Faust, Aubrey L; Schaffner, Stephen F; Park, Daniel J; Galinsky, Kevin; Daniels, Rachel F; Hamilton, Elizabeth; Ferreira, Marcelo U; Karunaweera, Nadira D; Serre, David; Zimmerman, Peter A; Sá, Juliana M; Wellems, Thomas E; Musset, Lise; Legrand, Eric; Melnikov, Alexandre; Neafsey, Daniel E; Volkman, Sarah K; Wirth, Dyann F; Sabeti, Pardis C

2015-03-01

Plasmodium vivax, one of the five species of Plasmodium parasites that cause human malaria, is responsible for 25-40% of malaria cases worldwide. Malaria global elimination efforts will benefit from accurate and effective genotyping tools that will provide insight into the population genetics and diversity of this parasite. The recent sequencing of P. vivax isolates from South America, Africa, and Asia presents a new opportunity by uncovering thousands of novel single nucleotide polymorphisms (SNPs). Genotyping a selection of these SNPs provides a robust, low-cost method of identifying parasite infections through their unique genetic signature or barcode. Based on our experience in generating a SNP barcode for P. falciparum using High Resolution Melting (HRM), we have developed a similar tool for P. vivax. We selected globally polymorphic SNPs from available P. vivax genome sequence data that were located in putatively selectively neutral sites (i.e., intergenic, intronic, or 4-fold degenerate coding). From these candidate SNPs we defined a barcode consisting of 42 SNPs. We analyzed the performance of the 42-SNP barcode on 87 P. vivax clinical samples from parasite populations in South America (Brazil, French Guiana), Africa (Ethiopia) and Asia (Sri Lanka). We found that the P. vivax barcode is robust, as it requires only a small quantity of DNA (limit of detection 0.3 ng/μl) to yield reproducible genotype calls, and detects polymorphic genotypes with high sensitivity. The markers are informative across all clinical samples evaluated (average minor allele frequency > 0.1). Population genetic and statistical analyses show the barcode captures high degrees of population diversity and differentiates geographically distinct populations. Our 42-SNP barcode provides a robust, informative, and standardized genetic marker set that accurately identifies a genomic signature for P. vivax infections.