Navigator Accuracy Requirements for Prospective Motion Correction

PubMed Central

Maclaren, Julian; Speck, Oliver; Stucht, Daniel; Schulze, Peter; Hennig, Jürgen; Zaitsev, Maxim

2010-01-01

Prospective motion correction in MR imaging is becoming increasingly popular to prevent the image artefacts that result from subject motion. Navigator information is used to update the position of the imaging volume before every spin excitation so that lines of acquired k-space data are consistent. Errors in the navigator information, however, result in residual errors in each k-space line. This paper presents an analysis linking noise in the tracking system to the power of the resulting image artefacts. An expression is formulated for the required navigator accuracy based on the properties of the imaged object and the desired resolution. Analytical results are compared with computer simulations and experimental data. PMID:19918892

Simplified large African carnivore density estimators from track indices.

PubMed

Winterbach, Christiaan W; Ferreira, Sam M; Funston, Paul J; Somers, Michael J

2016-01-01

The range, population size and trend of large carnivores are important parameters to assess their status globally and to plan conservation strategies. One can use linear models to assess population size and trends of large carnivores from track-based surveys on suitable substrates. The conventional approach of a linear model with intercept may not intercept at zero, but may fit the data better than linear model through the origin. We assess whether a linear regression through the origin is more appropriate than a linear regression with intercept to model large African carnivore densities and track indices. We did simple linear regression with intercept analysis and simple linear regression through the origin and used the confidence interval for ß in the linear model y  =  αx  + ß, Standard Error of Estimate, Mean Squares Residual and Akaike Information Criteria to evaluate the models. The Lion on Clay and Low Density on Sand models with intercept were not significant ( P  > 0.05). The other four models with intercept and the six models thorough origin were all significant ( P  < 0.05). The models using linear regression with intercept all included zero in the confidence interval for ß and the null hypothesis that ß = 0 could not be rejected. All models showed that the linear model through the origin provided a better fit than the linear model with intercept, as indicated by the Standard Error of Estimate and Mean Square Residuals. Akaike Information Criteria showed that linear models through the origin were better and that none of the linear models with intercept had substantial support. Our results showed that linear regression through the origin is justified over the more typical linear regression with intercept for all models we tested. A general model can be used to estimate large carnivore densities from track densities across species and study areas. The formula observed track density = 3.26 × carnivore density can be used to estimate densities of large African carnivores using track counts on sandy substrates in areas where carnivore densities are 0.27 carnivores/100 km 2 or higher. To improve the current models, we need independent data to validate the models and data to test for non-linear relationship between track indices and true density at low densities.

Magneto-optical tracking of flexible laparoscopic ultrasound: model-based online detection and correction of magnetic tracking errors.

PubMed

Feuerstein, Marco; Reichl, Tobias; Vogel, Jakob; Traub, Joerg; Navab, Nassir

2009-06-01

Electromagnetic tracking is currently one of the most promising means of localizing flexible endoscopic instruments such as flexible laparoscopic ultrasound transducers. However, electromagnetic tracking is also susceptible to interference from ferromagnetic material, which distorts the magnetic field and leads to tracking errors. This paper presents new methods for real-time online detection and reduction of dynamic electromagnetic tracking errors when localizing a flexible laparoscopic ultrasound transducer. We use a hybrid tracking setup to combine optical tracking of the transducer shaft and electromagnetic tracking of the flexible transducer tip. A novel approach of modeling the poses of the transducer tip in relation to the transducer shaft allows us to reliably detect and significantly reduce electromagnetic tracking errors. For detecting errors of more than 5 mm, we achieved a sensitivity and specificity of 91% and 93%, respectively. Initial 3-D rms error of 6.91 mm were reduced to 3.15 mm.

Technical aspects of real time positron emission tracking for gated radiotherapy

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

Chamberland, Marc; Xu, Tong, E-mail: txu@physics.carleton.ca; McEwen, Malcolm R.

2016-02-15

Purpose: Respiratory motion can lead to treatment errors in the delivery of radiotherapy treatments. Respiratory gating can assist in better conforming the beam delivery to the target volume. We present a study of the technical aspects of a real time positron emission tracking system for potential use in gated radiotherapy. Methods: The tracking system, called PeTrack, uses implanted positron emission markers and position sensitive gamma ray detectors to track breathing motion in real time. PeTrack uses an expectation–maximization algorithm to track the motion of fiducial markers. A normalized least mean squares adaptive filter predicts the location of the markers amore » short time ahead to account for system response latency. The precision and data collection efficiency of a prototype PeTrack system were measured under conditions simulating gated radiotherapy. The lung insert of a thorax phantom was translated in the inferior–superior direction with regular sinusoidal motion and simulated patient breathing motion (maximum amplitude of motion ±10 mm, period 4 s). The system tracked the motion of a {sup 22}Na fiducial marker (0.34 MBq) embedded in the lung insert every 0.2 s. The position of the was marker was predicted 0.2 s ahead. For sinusoidal motion, the equation used to model the motion was fitted to the data. The precision of the tracking was estimated as the standard deviation of the residuals. Software was also developed to communicate with a Linac and toggle beam delivery. In a separate experiment involving a Linac, 500 monitor units of radiation were delivered to the phantom with a 3 × 3 cm photon beam and with 6 and 10 MV accelerating potential. Radiochromic films were inserted in the phantom to measure spatial dose distribution. In this experiment, the period of motion was set to 60 s to account for beam turn-on latency. The beam was turned off when the marker moved outside of a 5-mm gating window. Results: The precision of the tracking in the IS direction was 0.53 mm for a sinusoidally moving target, with an average count rate ∼250 cps. The average prediction error was 1.1 ± 0.6 mm when the marker moved according to irregular patient breathing motion. Across all beam deliveries during the radiochromic film measurements, the average prediction error was 0.8 ± 0.5 mm. The maximum error was 2.5 mm and the 95th percentile error was 1.5 mm. Clear improvement of the dose distribution was observed between gated and nongated deliveries. The full-width at halfmaximum of the dose profiles of gated deliveries differed by 3 mm or less than the static reference dose distribution. Monitoring of the beam on/off times showed synchronization with the location of the marker within the latency of the system. Conclusions: PeTrack can track the motion of internal fiducial positron emission markers with submillimeter precision. The system can be used to gate the delivery of a Linac beam based on the position of a moving fiducial marker. This highlights the potential of the system for use in respiratory-gated radiotherapy.« less

Distributed Adaptive Neural Network Output Tracking of Leader-Following High-Order Stochastic Nonlinear Multiagent Systems With Unknown Dead-Zone Input.

PubMed

Hua, Changchun; Zhang, Liuliu; Guan, Xinping

2017-01-01

This paper studies the problem of distributed output tracking consensus control for a class of high-order stochastic nonlinear multiagent systems with unknown nonlinear dead-zone under a directed graph topology. The adaptive neural networks are used to approximate the unknown nonlinear functions and a new inequality is used to deal with the completely unknown dead-zone input. Then, we design the controllers based on backstepping method and the dynamic surface control technique. It is strictly proved that the resulting closed-loop system is stable in probability in the sense of semiglobally uniform ultimate boundedness and the tracking errors between the leader and the followers approach to a small residual set based on Lyapunov stability theory. Finally, two simulation examples are presented to show the effectiveness and the advantages of the proposed techniques.

Rover mast calibration, exact camera pointing, and camara handoff for visual target tracking

NASA Technical Reports Server (NTRS)

Kim, Won S.; Ansar, Adnan I.; Steele, Robert D.

2005-01-01

This paper presents three technical elements that we have developed to improve the accuracy of the visual target tracking for single-sol approach-and-instrument placement in future Mars rover missions. An accurate, straightforward method of rover mast calibration is achieved by using a total station, a camera calibration target, and four prism targets mounted on the rover. The method was applied to Rocky8 rover mast calibration and yielded a 1.1-pixel rms residual error. Camera pointing requires inverse kinematic solutions for mast pan and tilt angles such that the target image appears right at the center of the camera image. Two issues were raised. Mast camera frames are in general not parallel to the masthead base frame. Further, the optical axis of the camera model in general does not pass through the center of the image. Despite these issues, we managed to derive non-iterative closed-form exact solutions, which were verified with Matlab routines. Actual camera pointing experiments aver 50 random target image paints yielded less than 1.3-pixel rms pointing error. Finally, a purely geometric method for camera handoff using stereo views of the target has been developed. Experimental test runs show less than 2.5 pixels error on high-resolution Navcam for Pancam-to-Navcam handoff, and less than 4 pixels error on lower-resolution Hazcam for Navcam-to-Hazcam handoff.

Off-line tracking of series parameters in distribution systems using AMI data

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

Williams, Tess L.; Sun, Yannan; Schneider, Kevin

2016-05-01

Electric distribution systems have historically lacked measurement points, and equipment is often operated to its failure point, resulting in customer outages. The widespread deployment of sensors at the distribution level is enabling observability. This paper presents an off-line parameter value tracking procedure that takes advantage of the increasing number of measurement devices being deployed at the distribution level to estimate changes in series impedance parameter values over time. The tracking of parameter values enables non-diurnal and non-seasonal change to be flagged for investigation. The presented method uses an unbalanced Distribution System State Estimation (DSSE) and a measurement residual-based parameter estimationmore » procedure. Measurement residuals from multiple measurement snapshots are combined in order to increase the effective local redundancy and improve the robustness of the calculations in the presence of measurement noise. Data from devices on the primary distribution system and from customer meters, via an AMI system, form the input data set. Results of simulations on the IEEE 13-Node Test Feeder are presented to illustrate the proposed approach applied to changes in series impedance parameters. A 5% change in series resistance elements can be detected in the presence of 2% measurement error when combining less than 1 day of measurement snapshots into a single estimate.« less

Eye-Hand Synergy and Intermittent Behaviors during Target-Directed Tracking with Visual and Non-visual Information

PubMed Central

Huang, Chien-Ting; Hwang, Ing-Shiou

2012-01-01

Visual feedback and non-visual information play different roles in tracking of an external target. This study explored the respective roles of the visual and non-visual information in eleven healthy volunteers who coupled the manual cursor to a rhythmically moving target of 0.5 Hz under three sensorimotor conditions: eye-alone tracking (EA), eye-hand tracking with visual feedback of manual outputs (EH tracking), and the same tracking without such feedback (EHM tracking). Tracking error, kinematic variables, and movement intermittency (saccade and speed pulse) were contrasted among tracking conditions. The results showed that EHM tracking exhibited larger pursuit gain, less tracking error, and less movement intermittency for the ocular plant than EA tracking. With the vision of manual cursor, EH tracking achieved superior tracking congruency of the ocular and manual effectors with smaller movement intermittency than EHM tracking, except that the rate precision of manual action was similar for both types of tracking. The present study demonstrated that visibility of manual consequences altered mutual relationships between movement intermittency and tracking error. The speed pulse metrics of manual output were linked to ocular tracking error, and saccade events were time-locked to the positional error of manual tracking during EH tracking. In conclusion, peripheral non-visual information is critical to smooth pursuit characteristics and rate control of rhythmic manual tracking. Visual information adds to eye-hand synchrony, underlying improved amplitude control and elaborate error interpretation during oculo-manual tracking. PMID:23236498

Corrective Techniques and Future Directions for Treatment of Residual Refractive Error Following Cataract Surgery

PubMed Central

Moshirfar, Majid; McCaughey, Michael V; Santiago-Caban, Luis

2015-01-01

Postoperative residual refractive error following cataract surgery is not an uncommon occurrence for a large proportion of modern-day patients. Residual refractive errors can be broadly classified into 3 main categories: myopic, hyperopic, and astigmatic. The degree to which a residual refractive error adversely affects a patient is dependent on the magnitude of the error, as well as the specific type of intraocular lens the patient possesses. There are a variety of strategies for resolving residual refractive errors that must be individualized for each specific patient scenario. In this review, the authors discuss contemporary methods for rectification of residual refractive error, along with their respective indications/contraindications, and efficacies. PMID:25663845

Corrective Techniques and Future Directions for Treatment of Residual Refractive Error Following Cataract Surgery.

PubMed

Moshirfar, Majid; McCaughey, Michael V; Santiago-Caban, Luis

2014-12-01

Postoperative residual refractive error following cataract surgery is not an uncommon occurrence for a large proportion of modern-day patients. Residual refractive errors can be broadly classified into 3 main categories: myopic, hyperopic, and astigmatic. The degree to which a residual refractive error adversely affects a patient is dependent on the magnitude of the error, as well as the specific type of intraocular lens the patient possesses. There are a variety of strategies for resolving residual refractive errors that must be individualized for each specific patient scenario. In this review, the authors discuss contemporary methods for rectification of residual refractive error, along with their respective indications/contraindications, and efficacies.

Optimum data weighting and error calibration for estimation of gravitational parameters

NASA Technical Reports Server (NTRS)

Lerch, Francis J.

1989-01-01

A new technique was developed for the weighting of data from satellite tracking systems in order to obtain an optimum least-squares solution and an error calibration for the solution parameters. Data sets from optical, electronic, and laser systems on 17 satellites in GEM-T1 Goddard Earth Model-T1 (GEM-T1) were employed toward application of this technique for gravity field parameters. Also GEM-T2 (31 satellites) was recently computed as a direct application of the method and is summarized. The method employs subset solutions of the data associated with the complete solution to agree with their error estimates. With the adjusted weights the process provides for an automatic calibration of the error estimates for the solution parameters. The data weights derived are generally much smaller than corresponding weights obtained from nominal values of observation accuracy or residuals. Independent tests show significant improvement for solutions with optimal weighting. The technique is general and may be applied to orbit parameters, station coordinates, or other parameters than the gravity model.

Error Tracking System

EPA Pesticide Factsheets

Error Tracking System is a database used to store & track error notifications sent by users of EPA's web site. ETS is managed by OIC/OEI. OECA's ECHO & OEI Envirofacts use it. Error notifications from EPA's home Page under Contact Us also uses it.

Hybrid Adaptive Flight Control with Model Inversion Adaptation

NASA Technical Reports Server (NTRS)

Nguyen, Nhan

2011-01-01

This study investigates a hybrid adaptive flight control method as a design possibility for a flight control system that can enable an effective adaptation strategy to deal with off-nominal flight conditions. The hybrid adaptive control blends both direct and indirect adaptive control in a model inversion flight control architecture. The blending of both direct and indirect adaptive control provides a much more flexible and effective adaptive flight control architecture than that with either direct or indirect adaptive control alone. The indirect adaptive control is used to update the model inversion controller by an on-line parameter estimation of uncertain plant dynamics based on two methods. The first parameter estimation method is an indirect adaptive law based on the Lyapunov theory, and the second method is a recursive least-squares indirect adaptive law. The model inversion controller is therefore made to adapt to changes in the plant dynamics due to uncertainty. As a result, the modeling error is reduced that directly leads to a decrease in the tracking error. In conjunction with the indirect adaptive control that updates the model inversion controller, a direct adaptive control is implemented as an augmented command to further reduce any residual tracking error that is not entirely eliminated by the indirect adaptive control.

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

NASA Astrophysics Data System (ADS)

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

2016-11-01

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

Uncertainty of InSAR velocity fields for measuring long-wavelength displacement

NASA Astrophysics Data System (ADS)

Fattahi, H.; Amelung, F.

2014-12-01

Long-wavelength artifacts in InSAR data are the main limitation to measure long-wavelength displacement; they are traditionally attributed mainly to the inaccuracy of the satellite orbits (orbital errors). However, most satellites are precisely tracked resulting in uncertainties of orbits of 2-10 cm. Orbits of these satellites are thus precise enough to obtain precise velocity fields with uncertainties better than 1 mm/yr/100 km for older satellites (e.g. Envisat) and better than 0.2 mm/yr/100 km for modern satellites (e.g. TerraSAR-X and Sentinel-1) [Fattahi & Amelung, 2014]. Such accurate velocity fields are achievable if long-wavelength artifacts from sources other than orbital errors are identified and corrected for. We present a modified Small Baseline approach to measure long-wavelength deformation and evaluate the uncertainty of these measurements. We use a redundant network of interferograms for detection and correction of unwrapping errors to ensure the unbiased estimation of phase history. We distinguish between different sources of long-wavelength artifacts and correct those introduced by atmospheric delay, topographic residuals, timing errors, processing approximations and hardware issues. We evaluate the uncertainty of the velocity fields using a covariance matrix with the contributions from orbital errors and residual atmospheric delay. For contributions from the orbital errors we consider the standard deviation of velocity gradients in range and azimuth directions as a function of orbital uncertainty. For contributions from the residual atmospheric delay we use several approaches including the structure functions of InSAR time-series epochs, the predicted delay from numerical weather models and estimated wet delay from optical imagery. We validate this InSAR approach for measuring long-wavelength deformation by comparing InSAR velocity fields over ~500 km long swath across the southern San Andreas fault system with independent GPS velocities and examine the estimated uncertainties in several non-deforming areas. We show the efficiency of the approach to study the continental deformation across the Chaman fault system at the western Indian plate boundary. Ref: Fattahi, H., & Amelung, F., (2014), InSAR uncertainty due to orbital errors, Geophys, J. Int (in press).

WE-G-213CD-03: A Dual Complementary Verification Method for Dynamic Tumor Tracking on Vero SBRT.

PubMed

Poels, K; Depuydt, T; Verellen, D; De Ridder, M

2012-06-01

to use complementary cine EPID and gimbals log file analysis for in-vivo tracking accuracy monitoring. A clinical prototype of dynamic tracking (DT) was installed on the Vero SBRT system. This prototype version allowed tumor tracking by gimballed linac rotations using an internal-external correspondence model. The DT prototype software allowed the detailed logging of all applied gimbals rotations during tracking. The integration of an EPID on the vero system allowed the acquisition of cine EPID images during DT. We quantified the tracking error on cine EPID (E-EPID) by subtracting the target center (fiducial marker detection) and the field centroid. Dynamic gimbals log file information was combined with orthogonal x-ray verification images to calculate the in-vivo tracking error (E-kVLog). The correlation between E-kVLog and E-EPID was calculated for validation of the gimbals log file. Further, we investigated the sensitivity of the log file tracking error by introducing predefined systematic tracking errors. As an application we calculate gimbals log file tracking error for dynamic hidden target tests to investigate gravity effects and decoupled gimbals rotation from gantry rotation. Finally, calculating complementary cine EPID and log file tracking errors evaluated the clinical accuracy of dynamic tracking. A strong correlation was found between log file and cine EPID tracking error distribution during concurrent measurements (R=0.98). We found sensitivity in the gimbals log files to detect a systematic tracking error up to 0.5 mm. Dynamic hidden target tests showed no gravity influence on tracking performance and high degree of decoupled gimbals and gantry rotation during dynamic arc dynamic tracking. A submillimetric agreement between clinical complementary tracking error measurements was found. Redundancy of the internal gimbals log file with x-ray verification images with complementary independent cine EPID images was implemented to monitor the accuracy of gimballed tumor tracking on Vero SBRT. Research was financially supported by the Flemish government (FWO), Hercules Foundation and BrainLAB AG. © 2012 American Association of Physicists in Medicine.

An experiment in software reliability: Additional analyses using data from automated replications

NASA Technical Reports Server (NTRS)

Dunham, Janet R.; Lauterbach, Linda A.

1988-01-01

A study undertaken to collect software error data of laboratory quality for use in the development of credible methods for predicting the reliability of software used in life-critical applications is summarized. The software error data reported were acquired through automated repetitive run testing of three independent implementations of a launch interceptor condition module of a radar tracking problem. The results are based on 100 test applications to accumulate a sufficient sample size for error rate estimation. The data collected is used to confirm the results of two Boeing studies reported in NASA-CR-165836 Software Reliability: Repetitive Run Experimentation and Modeling, and NASA-CR-172378 Software Reliability: Additional Investigations into Modeling With Replicated Experiments, respectively. That is, the results confirm the log-linear pattern of software error rates and reject the hypothesis of equal error rates per individual fault. This rejection casts doubt on the assumption that the program's failure rate is a constant multiple of the number of residual bugs; an assumption which underlies some of the current models of software reliability. data raises new questions concerning the phenomenon of interacting faults.

Correlated environmental corrections in TOPEX/POSEIDON, with a note on ionospheric accuracy

NASA Technical Reports Server (NTRS)

Zlotnicki, V.

1994-01-01

Estimates of the effectiveness of an altimetric correction, and interpretation of sea level variability as a response to atmospheric forcing, both depend upon assuming that residual errors in altimetric corrections are uncorrelated among themselves and with residual sea level, or knowing the correlations. Not surprisingly, many corrections are highly correlated since they involve atmospheric properties and the ocean surface's response to them. The full corrections (including their geographically varying time mean values), show correlations between electromagnetic bias (mostly the height of wind waves) and either atmospheric pressure or water vapor of -40%, and between atmospheric pressure and water vapor of 28%. In the more commonly used collinear differences (after removal of the geographically varying time mean), atmospheric pressure and wave height show a -30% correlation, atmospheric pressure and water vapor a -10% correlation, both pressure and water vapor a 7% correlation with residual sea level, and a bit surprisingly, ionospheric electron content and wave height a 15% correlation. Only the ocean tide is totally uncorrelated with other corrections or residual sea level. The effectiveness of three ionospheric corrections (TOPEX dual-frequency, a smoothed version of the TOPEX dual-frequency, and Doppler orbitography and radiopositioning integrated by satellite (DORIS) is also evaluated in terms of their reduction in variance of residual sea level. Smooth (90-200 km along-track) versions of the dual-frequency altimeter ionosphere perform best both globally and within 20 deg in latitude from the equator. The noise variance in the 1/s TOPEX inospheric samples is approximately (11 mm) squared, about the same as noise in the DORIS-based correction; however, the latter has its error over scales of order 10(exp 3) km. Within 20 deg of the equator, the DORIS-based correction adds (14 mm) squared to the residual sea level variance.

A practical method of estimating standard error of age in the fission track dating method

USGS Publications Warehouse

Johnson, N.M.; McGee, V.E.; Naeser, C.W.

1979-01-01

A first-order approximation formula for the propagation of error in the fission track age equation is given by PA = C[P2s+P2i+P2??-2rPsPi] 1 2, where PA, Ps, Pi and P?? are the percentage error of age, of spontaneous track density, of induced track density, and of neutron dose, respectively, and C is a constant. The correlation, r, between spontaneous are induced track densities is a crucial element in the error analysis, acting generally to improve the standard error of age. In addition, the correlation parameter r is instrumental is specifying the level of neutron dose, a controlled variable, which will minimize the standard error of age. The results from the approximation equation agree closely with the results from an independent statistical model for the propagation of errors in the fission-track dating method. ?? 1979.

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

PubMed

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

2018-04-01

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

Detecting Signatures of GRACE Sensor Errors in Range-Rate Residuals

NASA Astrophysics Data System (ADS)

Goswami, S.; Flury, J.

2016-12-01

In order to reach the accuracy of the GRACE baseline, predicted earlier from the design simulations, efforts are ongoing since a decade. GRACE error budget is highly dominated by noise from sensors, dealiasing models and modeling errors. GRACE range-rate residuals contain these errors. Thus, their analysis provides an insight to understand the individual contribution to the error budget. Hence, we analyze the range-rate residuals with focus on contribution of sensor errors due to mis-pointing and bad ranging performance in GRACE solutions. For the analysis of pointing errors, we consider two different reprocessed attitude datasets with differences in pointing performance. Then range-rate residuals are computed from these two datasetsrespectively and analysed. We further compare the system noise of four K-and Ka- band frequencies of the two spacecrafts, with range-rate residuals. Strong signatures of mis-pointing errors can be seen in the range-rate residuals. Also, correlation between range frequency noise and range-rate residuals are seen.

Signal analysis and radioholographic methods for airborne radio occultations

NASA Astrophysics Data System (ADS)

Wang, Kuo-Nung

Global Positioning System (GPS) radio occultation (RO) is an atmospheric sounding technique utilizing the change in propagation direction and delay of the GPS signal to measure refractivity, which provides information on temperature and humidity. The GPS-RO technique is now operational on several Low Earth Orbiting (LEO) satellite missions. Nevertheless, when observing localized transient events, such as tropical storms, current LEO satellite systems cannot provide sufficiently high temporal and spatial resolution soundings. An airborne RO (ARO) system has therefore been developed for localized GPS-RO campaigns. The open-loop (OL) tracking in post-processing is used to cross-correlates the received Global Navigation Satellite System (GNSS) signal with an internally generated local carrier signal predicted from a Doppler model and extract the atmospheric refractivity information. OL tracking also allows robust processing of rising GPS signals using backward tracking, which will double the observed occultation event numbers. RO signals in the lower troposphere are adversely affected by rapid phase accelerations and severe signal power fading, however. The negative bias caused by low signal-to-noise ratio (SNR) and multipath ray propagation limits the depth of tracking in the atmosphere. Therefore, we developed a model relating the SNR to the variance in the residual phase of the observed signal produced from OL tracking, and its applicability to airborne data is demonstrated. We then apply this model to set a threshold on refractivity retrieval, based upon the cumulative unwrapping error bias, to determine the altitude limit for reliable signal tracking. To enhance the SNR and decrease the unwrapping error rate, the CIRA-Q climatological model and signal residual phase pre-filtering are utilized to process the ARO residual phase. This more accurately modeled phase and less noisy received signal are shown to greatly reduce the bias caused by unwrapping error at lower altitude. On the other hand, to process the superimposed signal in the lower troposphere with its highly variable moisture distribution, Radio-Holographic (RH) methods such as Phase Matching (PM) have been adapted for ARO platforms to untangle the bending angle of each signal path. Under the assumption of spherically symmetric atmosphere, ARO PM can identify different subsignals using the Method of the Stationary Phase (MSP) and determine the arrival angle for each impact parameter. As a result, each subsignal can be distinguished and its corresponding bending angle can be retrieved without producing a negative bias. The refractivity retrieval results using ARO PM are compared to those using the traditional Geometrical Optics (GO) method. The improvements are shown and discussed in the dissertation. We applied these new methods to the received ARO data collected by the GNSS instrument system for multistatic and occultation sensing (GISMOS) in the 2010 PREDepression Investigation of Cloud systems (PREDICT) campaign. A data set of 5 research flights with 57 occultation events during the formation stage of the Hurricane Karl are processed and analyzed. In this research, the refractivity fractional difference with ERA-I model can be maintained at an average 2% above a height of 2km with a climatological model and ARO PM. Compared to the traditional geometrical optics (GO) method without climatological method assistance, the new ARO processing can effectively decrease the refractivity negative bias and significantly improve the retrieval depth of ARO.

Impact of random pointing and tracking errors on the design of coherent and incoherent optical intersatellite communication links

NASA Technical Reports Server (NTRS)

Chen, Chien-Chung; Gardner, Chester S.

1989-01-01

Given the rms transmitter pointing error and the desired probability of bit error (PBE), it can be shown that an optimal transmitter antenna gain exists which minimizes the required transmitter power. Given the rms local oscillator tracking error, an optimum receiver antenna gain can be found which optimizes the receiver performance. The impact of pointing and tracking errors on the design of direct-detection pulse-position modulation (PPM) and heterodyne noncoherent frequency-shift keying (NCFSK) systems are then analyzed in terms of constraints on the antenna size and the power penalty incurred. It is shown that in the limit of large spatial tracking errors, the advantage in receiver sensitivity for the heterodyne system is quickly offset by the smaller antenna gain and the higher power penalty due to tracking errors. In contrast, for systems with small spatial tracking errors, the heterodyne system is superior because of the higher receiver sensitivity.

Error rate information in attention allocation pilot models

NASA Technical Reports Server (NTRS)

Faulkner, W. H.; Onstott, E. D.

1977-01-01

The Northrop urgency decision pilot model was used in a command tracking task to compare the optimized performance of multiaxis attention allocation pilot models whose urgency functions were (1) based on tracking error alone, and (2) based on both tracking error and error rate. A matrix of system dynamics and command inputs was employed, to create both symmetric and asymmetric two axis compensatory tracking tasks. All tasks were single loop on each axis. Analysis showed that a model that allocates control attention through nonlinear urgency functions using only error information could not achieve performance of the full model whose attention shifting algorithm included both error and error rate terms. Subsequent to this analysis, tracking performance predictions for the full model were verified by piloted flight simulation. Complete model and simulation data are presented.

Interferometric phase measurement techniques for coherent beam combining

NASA Astrophysics Data System (ADS)

Antier, Marie; Bourderionnet, Jérôme; Larat, Christian; Lallier, Eric; Primot, Jérôme; Brignon, Arnaud

2015-03-01

Coherent beam combining of fiber amplifiers provides an attractive mean of reaching high power laser. In an interferometric phase measurement the beams issued for each fiber combined are imaged onto a sensor and interfere with a reference plane wave. This registration of interference patterns on a camera allows the measurement of the exact phase error of each fiber beam in a single shot. Therefore, this method is a promising candidate toward very large number of combined fibers. Based on this technique, several architectures can be proposed to coherently combine a high number of fibers. The first one based on digital holography transfers directly the image of the camera to spatial light modulator (SLM). The generated hologram is used to compensate the phase errors induced by the amplifiers. This architecture has therefore a collective phase measurement and correction. Unlike previous digital holography technique, the probe beams measuring the phase errors between the fibers are co-propagating with the phase-locked signal beams. This architecture is compatible with the use of multi-stage isolated amplifying fibers. In that case, only 20 pixels per fiber on the SLM are needed to obtain a residual phase shift error below λ/10rms. The second proposed architecture calculates the correction applied to each fiber channel by tracking the relative position of the interference finges. In this case, a phase modulator is placed on each channel. In that configuration, only 8 pixels per fiber on the camera is required for a stable close loop operation with a residual phase error of λ/20rms, which demonstrates the scalability of this concept.

Gravity and Macro-Model Tuning for the Geosat Follow-on Spacecraft

NASA Technical Reports Server (NTRS)

Lemoine, Frank G.; Rowlands, David D.; Marr, Gregory C.; Zelensky, Nikita P.; Luthcke, Scott B.; Cox, Christopher M.

1999-01-01

The US Navy's GEOSAT Follow-On (GFO) spacecraft was launched on February 10, 1998 and the primary objective of the mission was to map the oceans using a radar altimeter. The spacecraft tracking complement consisted of GPS receivers, a laser retroreflector and Doppler beacons. Since the GPS receivers have not yet returned reliable data, the only means of providing high-quality precise orbits has been though satellite laser ranging (SLR). The spacecraft has been tracked by the international satellite laser ranging network since April 22, 1998, and an average of 7.4 passes per day have been obtained from US and participating foreign stations. Since the predicted radial orbit error due to the gravity field is two to three cm, the largest contributor to the high SLR residuals (7-10 cm RMS for five day arcs) is the mismodelling of the non-conservative forces, not withstanding the development of a three-dimensional eight-panel model and an analytical attitude model for the GFO spacecraft. The SLR residuals show a clear correlation with beta-prime (solar elevation) angle, peaking in mid-August 1998 when the beta-prime angle reached -80 to -90 degrees. In this paper we discuss the tuning of the non-conservative force model, for GFO and report the subsequent addition of the GFO tracking data to the Earth gravity model solutions.

Optical Tracking Data Validation and Orbit Estimation for Sparse Observations of Satellites by the OWL-Net.

PubMed

Choi, Jin; Jo, Jung Hyun; Yim, Hong-Suh; Choi, Eun-Jung; Cho, Sungki; Park, Jang-Hyun

2018-06-07

An Optical Wide-field patroL-Network (OWL-Net) has been developed for maintaining Korean low Earth orbit (LEO) satellites' orbital ephemeris. The OWL-Net consists of five optical tracking stations. Brightness signals of reflected sunlight of the targets were detected by a charged coupled device (CCD). A chopper system was adopted for fast astrometric data sampling, maximum 50 Hz, within a short observation time. The astrometric accuracy of the optical observation data was validated with precise orbital ephemeris such as Consolidated Prediction File (CPF) data and precise orbit determination result with onboard Global Positioning System (GPS) data from the target satellite. In the optical observation simulation of the OWL-Net for 2017, an average observation span for a single arc of 11 LEO observation targets was about 5 min, while an average optical observation separation time was 5 h. We estimated the position and velocity with an atmospheric drag coefficient of LEO observation targets using a sequential-batch orbit estimation technique after multi-arc batch orbit estimation. Post-fit residuals for the multi-arc batch orbit estimation and sequential-batch orbit estimation were analyzed for the optical measurements and reference orbit (CPF and GPS data). The post-fit residuals with reference show few tens-of-meters errors for in-track direction for multi-arc batch and sequential-batch orbit estimation results.

Real-Time Correction By Optical Tracking with Integrated Geometric Distortion Correction for Reducing Motion Artifacts in fMRI

NASA Astrophysics Data System (ADS)

Rotenberg, David J.

Artifacts caused by head motion are a substantial source of error in fMRI that limits its use in neuroscience research and clinical settings. Real-time scan-plane correction by optical tracking has been shown to correct slice misalignment and non-linear spin-history artifacts, however residual artifacts due to dynamic magnetic field non-uniformity may remain in the data. A recently developed correction technique, PLACE, can correct for absolute geometric distortion using the complex image data from two EPI images, with slightly shifted k-space trajectories. We present a correction approach that integrates PLACE into a real-time scan-plane update system by optical tracking, applied to a tissue-equivalent phantom undergoing complex motion and an fMRI finger tapping experiment with overt head motion to induce dynamic field non-uniformity. Experiments suggest that including volume by volume geometric distortion correction by PLACE can suppress dynamic geometric distortion artifacts in a phantom and in vivo and provide more robust activation maps.

Adaptive fixed-time trajectory tracking control of a stratospheric airship.

PubMed

Zheng, Zewei; Feroskhan, Mir; Sun, Liang

2018-05-01

This paper addresses the fixed-time trajectory tracking control problem of a stratospheric airship. By extending the method of adding a power integrator to a novel adaptive fixed-time control method, the convergence of a stratospheric airship to its reference trajectory is guaranteed to be achieved within a fixed time. The control algorithm is firstly formulated without the consideration of external disturbances to establish the stability of the closed-loop system in fixed-time and demonstrate that the convergence time of the airship is essentially independent of its initial conditions. Subsequently, a smooth adaptive law is incorporated into the proposed fixed-time control framework to provide the system with robustness to external disturbances. Theoretical analyses demonstrate that under the adaptive fixed-time controller, the tracking errors will converge towards a residual set in fixed-time. The results of a comparative simulation study with other recent methods illustrate the remarkable performance and superiority of the proposed control method. Copyright © 2018 ISA. Published by Elsevier Ltd. All rights reserved.

The mean sea surface height and geoid along the Geosat subtrack from Bermuda to Cape Cod

NASA Astrophysics Data System (ADS)

Kelly, Kathryn A.; Joyce, Terrence M.; Schubert, David M.; Caruso, Michael J.

1991-07-01

Measurements of near-surface velocity and concurrent sea level along an ascending Geosat subtrack were used to estimate the mean sea surface height and the Earth's gravitational geoid. Velocity measurements were made on three traverses of a Geosat subtrack within 10 days, using an acoustic Doppler current profiler (ADCP). A small bias in the ADCP velocity was removed by considering a mass balance for two pairs of triangles for which expendable bathythermograph measurements were also made. Because of the large curvature of the Gulf Stream, the gradient wind balance was used to estimate the cross-track component of geostrophic velocity from the ADCP vectors; this component was then integrated to obtain the sea surface height profile. The mean sea surface height was estimated as the difference between the instantaneous sea surface height from ADCP and the Geosat residual sea level, with mesoscale errors reduced by low-pass filtering. The error estimates were divided into a bias, tilt, and mesoscale residual; the bias was ignored because profiles were only determined within a constant of integration. The calculated mean sea surface height estimate agreed with an independent estimate of the mean sea surface height from Geosat, obtained by modeling the Gulf Stream as a Gaussian jet, within the expected errors in the estimates: the tilt error was 0.10 m, and the mesoscale error was 0.044 m. To minimize mesoscale errors in the estimate, the alongtrack geoid estimate was computed as the difference between the mean sea level from the Geosat Exact Repeat Mission and an estimate of the mean sea surface height, rather than as the difference between instantaneous profiles of sea level and sea surface height. In the critical region near the Gulf Stream the estimated error reduction using this method was about 0.07 m. Differences between the geoid estimate and a gravimetric geoid were not within the expected errors: the rms mesoscale difference was 0.24 m rms.

A myocontrolled neuroprosthesis integrated with a passive exoskeleton to support upper limb activities.

PubMed

Ambrosini, Emilia; Ferrante, Simona; Schauer, Thomas; Klauer, Christian; Gaffuri, Marina; Ferrigno, Giancarlo; Pedrocchi, Alessandra

2014-04-01

This work aimed at designing a myocontrolled arm neuroprosthesis for both assistive and rehabilitative purposes. The performance of an adaptive linear prediction filter and a high-pass filter to estimate the volitional EMG was evaluated on healthy subjects (N=10) and neurological patients (N=8) during dynamic hybrid biceps contractions. A significant effect of filter (p=0.017 for healthy; p<0.001 for patients) was obtained. The post hoc analysis revealed that for both groups only the adaptive filter was able to reliably detect the presence of a small volitional contribution. An on/off non-linear controller integrated with an exoskeleton for weight support was developed. The controller allowed the patient to activate/deactivate the stimulation intensity based on the residual EMG estimated by the adaptive filter. Two healthy subjects and 3 people with Spinal Cord Injury were asked to flex the elbow while tracking a trapezoidal target with and without myocontrolled-NMES support. Both healthy subjects and patients easily understood how to use the controller in a single session. Two patients reduced their tracking error by more than 60% with NMES support, while the last patient obtained a tracking error always comparable to the healthy subjects performance (<4°). This study proposes a reliable and feasible solution to combine NMES with voluntary effort. Copyright © 2014 Elsevier Ltd. All rights reserved.

Estimating Ocean Currents from Automatic Identification System Based Ship Drift Measurements

NASA Astrophysics Data System (ADS)

Jakub, Thomas D.

Ship drift is a technique that has been used over the last century and a half to estimate ocean currents. Several of the shortcomings of the ship drift technique include obtaining the data from multiple ships, the time delay in getting those ship positions to a data center for processing and the limited resolution based on the amount of time between position measurements. These shortcomings can be overcome through the use of the Automatic Identification System (AIS). AIS enables more precise ocean current estimates, the option of finer resolution and more timely estimates. In this work, a demonstration of the use of AIS to compute ocean currents is performed. A corresponding error and sensitivity analysis is performed to help identify under which conditions errors will be smaller. A case study in San Francisco Bay with constant AIS message updates was compared against high frequency radar and demonstrated ocean current magnitude residuals of 19 cm/s for ship tracks in a high signal to noise environment. These ship tracks were only minutes long compared to the normally 12 to 24 hour ship tracks. The Gulf of Mexico case study demonstrated the ability to estimate ocean currents over longer baselines and identified the dependency of the estimates on the accuracy of time measurements. Ultimately, AIS measurements when combined with ship drift can provide another method of estimating ocean currents, particularly when other measurements techniques are not available.

A system to use electromagnetic tracking for the quality assurance of brachytherapy catheter digitization

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

Damato, Antonio L., E-mail: adamato@lroc.harvard.edu; Viswanathan, Akila N.; Don, Sarah M.

2014-10-15

Purpose: To investigate the use of a system using electromagnetic tracking (EMT), post-processing and an error-detection algorithm for detecting errors and resolving uncertainties in high-dose-rate brachytherapy catheter digitization for treatment planning. Methods: EMT was used to localize 15 catheters inserted into a phantom using a stepwise acquisition technique. Five distinct acquisition experiments were performed. Noise associated with the acquisition was calculated. The dwell location configuration was extracted from the EMT data. A CT scan of the phantom was performed, and five distinct catheter digitization sessions were performed. No a priori registration of the CT scan coordinate system with the EMTmore » coordinate system was performed. CT-based digitization was automatically extracted from the brachytherapy plan DICOM files (CT), and rigid registration was performed between EMT and CT dwell positions. EMT registration error was characterized in terms of the mean and maximum distance between corresponding EMT and CT dwell positions per catheter. An algorithm for error detection and identification was presented. Three types of errors were systematically simulated: swap of two catheter numbers, partial swap of catheter number identification for parts of the catheters (mix), and catheter-tip shift. Error-detection sensitivity (number of simulated scenarios correctly identified as containing an error/number of simulated scenarios containing an error) and specificity (number of scenarios correctly identified as not containing errors/number of correct scenarios) were calculated. Catheter identification sensitivity (number of catheters correctly identified as erroneous across all scenarios/number of erroneous catheters across all scenarios) and specificity (number of catheters correctly identified as correct across all scenarios/number of correct catheters across all scenarios) were calculated. The mean detected and identified shift was calculated. Results: The maximum noise ±1 standard deviation associated with the EMT acquisitions was 1.0 ± 0.1 mm, and the mean noise was 0.6 ± 0.1 mm. Registration of all the EMT and CT dwell positions was associated with a mean catheter error of 0.6 ± 0.2 mm, a maximum catheter error of 0.9 ± 0.4 mm, a mean dwell error of 1.0 ± 0.3 mm, and a maximum dwell error of 1.3 ± 0.7 mm. Error detection and catheter identification sensitivity and specificity of 100% were observed for swap, mix and shift (≥2.6 mm for error detection; ≥2.7 mm for catheter identification) errors. A mean detected shift of 1.8 ± 0.4 mm and a mean identified shift of 1.9 ± 0.4 mm were observed. Conclusions: Registration of the EMT dwell positions to the CT dwell positions was possible with a residual mean error per catheter of 0.6 ± 0.2 mm and a maximum error for any dwell of 1.3 ± 0.7 mm. These low residual registration errors show that quality assurance of the general characteristics of the catheters and of possible errors affecting one specific dwell position is possible. The sensitivity and specificity of the catheter digitization verification algorithm was 100% for swap and mix errors and for shifts ≥2.6 mm. On average, shifts ≥1.8 mm were detected, and shifts ≥1.9 mm were detected and identified.« less

Motor control and learning with lower-limb myoelectric control in amputees.

PubMed

Alcaide-Aguirre, Ramses E; Morgenroth, David C; Ferris, Daniel P

2013-01-01

Advances in robotic technology have recently enabled the development of powered lower-limb prosthetic limbs. A major hurdle in developing commercially successful powered prostheses is the control interface. Myoelectric signals are one way for prosthetic users to provide feedforward volitional control of prosthesis mechanics. The goal of this study was to assess motor learning in people with lower-limb amputation using proportional myoelectric control from residual-limb muscles. We examined individuals with transtibial amputation and nondisabled controls performing tracking tasks of a virtual object. We assessed how quickly the individuals with amputation improved their performance and whether years since amputation correlated with performance. At the beginning of training, subjects with amputation performed much worse than control subjects. By the end of a short training period, tracking error did not significantly differ between subjects with amputation and nondisabled subjects. Initial but not final performance correlated significantly with time since amputation. This study demonstrates that although subjects with amputation may initially have poor volitional control of their residual lower-limb muscles, training can substantially improve their volitional control. These findings are encouraging for the future use of proportional myoelectric control of powered lower-limb prostheses.

ALT space shuttle barometric altimeter altitude analysis

NASA Technical Reports Server (NTRS)

Killen, R.

1978-01-01

The accuracy was analyzed of the barometric altimeters onboard the space shuttle orbiter. Altitude estimates from the air data systems including the operational instrumentation and the developmental flight instrumentation were obtained for each of the approach and landing test flights. By comparing the barometric altitude estimates to altitudes derived from radar tracking data filtered through a Kalman filter and fully corrected for atmospheric refraction, the errors in the barometric altitudes were shown to be 4 to 5 percent of the Kalman altitudes. By comparing the altitude determined from the true atmosphere derived from weather balloon data to the altitude determined from the U.S. Standard Atmosphere of 1962, it was determined that the assumption of the Standard Atmosphere equations contributes roughly 75 percent of the total error in the baro estimates. After correcting the barometric altitude estimates using an average summer model atmosphere computed for the average latitude of the space shuttle landing sites, the residual error in the altitude estimates was reduced to less than 373 feet. This corresponds to an error of less than 1.5 percent for altitudes above 4000 feet for all flights.

Q-adjusting technique applied to vertical deflections estimation in a single-axis rotation INS/GPS integrated system

NASA Astrophysics Data System (ADS)

Zhu, Jing; Wang, Xingshu; Wang, Jun; Dai, Dongkai; Xiong, Hao

2016-10-01

Former studies have proved that the attitude error in a single-axis rotation INS/GPS integrated system tracks the high frequency component of the deflections of the vertical (DOV) with a fixed delay and tracking error. This paper analyses the influence of the nominal process noise covariance matrix Q on the tracking error as well as the response delay, and proposed a Q-adjusting technique to obtain the attitude error which can track the DOV better. Simulation results show that different settings of Q lead to different response delay and tracking error; there exists optimal Q which leads to a minimum tracking error and a comparatively short response delay; for systems with different accuracy, different Q-adjusting strategy should be adopted. In this way, the DOV estimation accuracy of using the attitude error as the observation can be improved. According to the simulation results, the DOV estimation accuracy after using the Q-adjusting technique is improved by approximate 23% and 33% respectively compared to that of the Earth Model EGM2008 and the direct attitude difference method.

Analysis of Prostate Patient Setup and Tracking Data: Potential Intervention Strategies

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

Su Zhong, E-mail: zsu@floridaproton.org; Zhang Lisha; Murphy, Martin

Purpose: To evaluate the setup, interfraction, and intrafraction organ motion error distributions and simulate intrafraction intervention strategies for prostate radiotherapy. Methods and Materials: A total of 17 patients underwent treatment setup and were monitored using the Calypso system during radiotherapy. On average, the prostate tracking measurements were performed for 8 min/fraction for 28 fractions for each patient. For both patient couch shift data and intrafraction organ motion data, the systematic and random errors were obtained from the patient population. The planning target volume margins were calculated using the van Herk formula. Two intervention strategies were simulated using the tracking data:more » the deviation threshold and period. The related planning target volume margins, time costs, and prostate position 'fluctuation' were presented. Results: The required treatment margin for the left-right, superoinferior, and anteroposterior axes was 8.4, 10.8, and 14.7 mm for skin mark-only setup and 1.3, 2.3, and 2.8 mm using the on-line setup correction, respectively. Prostate motion significantly correlated among the superoinferior and anteroposterior directions. Of the 17 patients, 14 had prostate motion within 5 mm of the initial setup position for {>=}91.6% of the total tracking time. The treatment margin decreased to 1.1, 1.8, and 2.3 mm with a 3-mm threshold correction and to 0.5, 1.0, and 1.5 mm with an every-2-min correction in the left-right, superoinferior, and anteroposterior directions, respectively. The periodic corrections significantly increase the treatment time and increased the number of instances when the setup correction was made during transient excursions. Conclusions: The residual systematic and random error due to intrafraction prostate motion is small after on-line setup correction. Threshold-based and time-based intervention strategies both reduced the planning target volume margins. The time-based strategies increased the treatment time and the in-fraction position fluctuation.« less

Prediction of pilot reserve attention capacity during air-to-air target tracking

NASA Technical Reports Server (NTRS)

Onstott, E. D.; Faulkner, W. H.

1977-01-01

Reserve attention capacity of a pilot was calculated using a pilot model that allocates exclusive model attention according to the ranking of task urgency functions whose variables are tracking error and error rate. The modeled task consisted of tracking a maneuvering target aircraft both vertically and horizontally, and when possible, performing a diverting side task which was simulated by the precise positioning of an electrical stylus and modeled as a task of constant urgency in the attention allocation algorithm. The urgency of the single loop vertical task is simply the magnitude of the vertical tracking error, while the multiloop horizontal task requires a nonlinear urgency measure of error and error rate terms. Comparison of model results with flight simulation data verified the computed model statistics of tracking error of both axes, lateral and longitudinal stick amplitude and rate, and side task episodes. Full data for the simulation tracking statistics as well as the explicit equations and structure of the urgency function multiaxis pilot model are presented.

Aliased tidal errors in TOPEX/POSEIDON sea surface height data

NASA Technical Reports Server (NTRS)

Schlax, Michael G.; Chelton, Dudley B.

1994-01-01

Alias periods and wavelengths for the M(sub 2, S(sub 2), N(sub 2), K(sub 1), O(sub 1), and P(sub 1) tidal constituents are calculated for TOPEX/POSEIDON. Alias wavelenghts calculated in previous studies are shown to be in error, and a correct method is presented. With the exception of the K(sub 1) constituent, all of these tidal aliases for TOPEX/POSEIDON have periods shorter than 90 days and are likely to be confounded with long-period sea surface height signals associated with real ocean processes. In particular, the correspondence between the periods and wavelengths of the M(sub 2) alias and annual baroclinic Rossby waves that plagued Geosat sea surface height data is avoided. The potential for aliasing residual tidal errors in smoothed estimates of sea surface height is calculated for the six tidal constituents. The potential for aliasing the lunar tidal constituents M(sub 2), N(sub 2) and O(sub 1) fluctuates with latitude and is different for estimates made at the crossovers of ascending and descending ground tracks than for estimates at points midway between crossovers. The potential for aliasing the solar tidal constituents S(sub 2), K(sub 1) and P(sub 1) varies smoothly with latitude. S(sub 2) is strongly aliased for latitudes within 50 degress of the equator, while K(sub 1) and P(sub 1) are only weakly aliased in that range. A weighted least squares method for estimating and removing residual tidal errors from TOPEX/POSEIDON sea surface height data is presented. A clear understanding of the nature of aliased tidal error in TOPEX/POSEIDON data aids the unambiguous identification of real propagating sea surface height signals. Unequivocal evidence of annual period, westward propagating waves in the North Atlantic is presented.

Toward real-time endoscopically-guided robotic navigation based on a 3D virtual surgical field model

NASA Astrophysics Data System (ADS)

Gong, Yuanzheng; Hu, Danying; Hannaford, Blake; Seibel, Eric J.

2015-03-01

The challenge is to accurately guide the surgical tool within the three-dimensional (3D) surgical field for roboticallyassisted operations such as tumor margin removal from a debulked brain tumor cavity. The proposed technique is 3D image-guided surgical navigation based on matching intraoperative video frames to a 3D virtual model of the surgical field. A small laser-scanning endoscopic camera was attached to a mock minimally-invasive surgical tool that was manipulated toward a region of interest (residual tumor) within a phantom of a debulked brain tumor. Video frames from the endoscope provided features that were matched to the 3D virtual model, which were reconstructed earlier by raster scanning over the surgical field. Camera pose (position and orientation) is recovered by implementing a constrained bundle adjustment algorithm. Navigational error during the approach to fluorescence target (residual tumor) is determined by comparing the calculated camera pose to the measured camera pose using a micro-positioning stage. From these preliminary results, computation efficiency of the algorithm in MATLAB code is near real-time (2.5 sec for each estimation of pose), which can be improved by implementation in C++. Error analysis produced 3-mm distance error and 2.5 degree of orientation error on average. The sources of these errors come from 1) inaccuracy of the 3D virtual model, generated on a calibrated RAVEN robotic platform with stereo tracking; 2) inaccuracy of endoscope intrinsic parameters, such as focal length; and 3) any endoscopic image distortion from scanning irregularities. This work demonstrates feasibility of micro-camera 3D guidance of a robotic surgical tool.

Geographically correlated orbit error

NASA Technical Reports Server (NTRS)

Rosborough, G. W.

1989-01-01

The dominant error source in estimating the orbital position of a satellite from ground based tracking data is the modeling of the Earth's gravity field. The resulting orbit error due to gravity field model errors are predominantly long wavelength in nature. This results in an orbit error signature that is strongly correlated over distances on the size of ocean basins. Anderle and Hoskin (1977) have shown that the orbit error along a given ground track also is correlated to some degree with the orbit error along adjacent ground tracks. This cross track correlation is verified here and is found to be significant out to nearly 1000 kilometers in the case of TOPEX/POSEIDON when using the GEM-T1 gravity model. Finally, it was determined that even the orbit error at points where ascending and descending ground traces cross is somewhat correlated. The implication of these various correlations is that the orbit error due to gravity error is geographically correlated. Such correlations have direct implications when using altimetry to recover oceanographic signals.

Neuro-Analogical Gate Tuning of Trajectory Data Fusion for a Mecanum-Wheeled Special Needs Chair

PubMed Central

ElSaharty, M. A.; zakzouk, Ezz Eldin

2017-01-01

Trajectory tracking of mobile wheeled chairs using internal shaft encoder and inertia measurement unit(IMU), exhibits several complications and accumulated errors in the tracking process due to wheel slippage, offset drift and integration approximations. These errors can be realized when comparing localization results from such sensors with a camera tracking system. In long trajectory tracking, such errors can accumulate and result in significant deviations which make data from these sensors unreliable for tracking. Meanwhile the utilization of an external camera tracking system is not always a feasible solution depending on the implementation environment. This paper presents a novel sensor fusion method that combines the measurements of internal sensors to accurately predict the location of the wheeled chair in an environment. The method introduces a new analogical OR gate structured with tuned parameters using multi-layer feedforward neural network denoted as “Neuro-Analogical Gate” (NAG). The resulting system minimize any deviation error caused by the sensors, thus accurately tracking the wheeled chair location without the requirement of an external camera tracking system. The fusion methodology has been tested with a prototype Mecanum wheel-based chair, and significant improvement over tracking response, error and performance has been observed. PMID:28045973

TH-AB-202-04: Auto-Adaptive Margin Generation for MLC-Tracked Radiotherapy

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

Glitzner, M; Lagendijk, J; Raaymakers, B

Purpose: To develop an auto-adaptive margin generator for MLC tracking. The generator is able to estimate errors arising in image guided radiotherapy, particularly on an MR-Linac, which depend on the latencies of machine and image processing, as well as on patient motion characteristics. From the estimated error distribution, a segment margin is generated, able to compensate errors up to a user-defined confidence. Method: In every tracking control cycle (TCC, 40ms), the desired aperture D(t) is compared to the actual aperture A(t), a delayed and imperfect representation of D(t). Thus an error e(t)=A(T)-D(T) is measured every TCC. Applying kernel-density-estimation (KDE), themore » cumulative distribution (CDF) of e(t) is estimated. With CDF-confidence limits, upper and lower error limits are extracted for motion axes along and perpendicular leaf-travel direction and applied as margins. To test the dosimetric impact, two representative motion traces were extracted from fast liver-MRI (10Hz). The traces were applied onto a 4D-motion platform and continuously tracked by an Elekta Agility 160 MLC using an artificially imposed tracking delay. Gafchromic film was used to detect dose exposition for static, tracked, and error-compensated tracking cases. The margin generator was parameterized to cover 90% of all tracking errors. Dosimetric impact was rated by calculating the ratio between underexposed points (>5% underdosage) to the total number of points inside FWHM of static exposure. Results: Without imposing adaptive margins, tracking experiments showed a ratio of underexposed points of 17.5% and 14.3% for two motion cases with imaging delays of 200ms and 300ms, respectively. Activating the margin generated yielded total suppression (<1%) of underdosed points. Conclusion: We showed that auto-adaptive error compensation using machine error statistics is possible for MLC tracking. The error compensation margins are calculated on-line, without the need of assuming motion or machine models. Further strategies to reduce consequential overdosages are currently under investigation. This work was funded by the SoRTS consortium, which includes the industry partners Elekta, Philips and Technolution.« less

A high precision dual feedback discrete control system designed for satellite trajectory simulator

NASA Astrophysics Data System (ADS)

Liu, Ximin; Liu, Liren; Sun, Jianfeng; Xu, Nan

2005-08-01

Cooperating with the free-space laser communication terminals, the satellite trajectory simulator is used to test the acquisition, pointing, tracking and communicating performances of the terminals. So the satellite trajectory simulator plays an important role in terminal ground test and verification. Using the double-prism, Sun etc in our group designed a satellite trajectory simulator. In this paper, a high precision dual feedback discrete control system designed for the simulator is given and a digital fabrication of the simulator is made correspondingly. In the dual feedback discrete control system, Proportional- Integral controller is used in velocity feedback loop and Proportional- Integral- Derivative controller is used in position feedback loop. In the controller design, simplex method is introduced and an improvement to the method is made. According to the transfer function of the control system in Z domain, the digital fabrication of the simulator is given when it is exposed to mechanism error and moment disturbance. Typically, when the mechanism error is 100urad, the residual standard error of pitching angle, azimuth angle, x-coordinate position and y-coordinate position are 0.49urad, 6.12urad, 4.56urad, 4.09urad respectively. When the moment disturbance is 0.1rad, the residual standard error of pitching angle, azimuth angle, x-coordinate position and y-coordinate position are 0.26urad, 0.22urad, 0.16urad, 0.15urad respectively. The digital fabrication results demonstrate that the dual feedback discrete control system designed for the simulator can achieve the anticipated high precision performance.

Jason-2 systematic error analysis in the GPS derived orbits

NASA Astrophysics Data System (ADS)

Melachroinos, S.; Lemoine, F. G.; Zelensky, N. P.; Rowlands, D. D.; Luthcke, S. B.; Chinn, D. S.

2011-12-01

Several results related to global or regional sea level changes still too often rely on the assumption that orbit errors coming from station coordinates adoption can be neglected in the total error budget (Ceri et al. 2010). In particular Instantaneous crust-fixed coordinates are obtained by adding to the linear ITRF model the geophysical high-frequency variations. In principle, geocenter motion should also be included in this computation, in order to reference these coordinates to the center of mass of the whole Earth. This correction is currently not applied when computing GDR orbits. Cerri et al. (2010) performed an analysis of systematic errors common to all coordinates along the North/South direction, as this type of bias, also known as Z-shift, has a clear impact on MSL estimates due to the unequal distribution of continental surface in the northern and southern hemispheres. The goal of this paper is to specifically study the main source of errors which comes from the current imprecision in the Z-axis realization of the frame. We focus here on the time variability of this Z-shift, which we can decompose in a drift and a periodic component due to the presumably omitted geocenter motion. A series of Jason-2 GPS-only orbits have been computed at NASA GSFC, using both IGS05 and IGS08. These orbits have been shown to agree radially at less than 1 cm RMS vs our SLR/DORIS std0905 and std1007 reduced-dynamic orbits and in comparison with orbits produced by other analysis centers (Melachroinos et al. 2011). Our GPS-only JASON-2 orbit accuracy is assessed using a number of tests including analysis of independent SLR and altimeter crossover residuals, orbit overlap differences, and direct comparison to orbits generated at GSFC using SLR and DORIS tracking, and to orbits generated externally at other centers. Tests based on SLR-crossover residuals provide the best performance indicator for independent validation of the NASA/GSFC GPS-only reduced dynamic orbits. Reduced dynamic versus dynamic orbit differences are used to characterize the remaining force model error and TRF instability. At first, we quantify the effect of a North/South displacement of the tracking reference points for each of the three techniques. We then compare these results to the study of Morel and Willis (2005) and Ceri et al. (2010). We extend the analysis to the most recent Jason-2 cycles. We evaluate the GPS vs SLR & DORIS orbits produced using the GEODYN.

Predictive and Feedback Performance Errors are Signaled in the Simple Spike Discharge of Individual Purkinje Cells

PubMed Central

Popa, Laurentiu S.; Hewitt, Angela L.; Ebner, Timothy J.

2012-01-01

The cerebellum has been implicated in processing motor errors required for online control of movement and motor learning. The dominant view is that Purkinje cell complex spike discharge signals motor errors. This study investigated whether errors are encoded in the simple spike discharge of Purkinje cells in monkeys trained to manually track a pseudo-randomly moving target. Four task error signals were evaluated based on cursor movement relative to target movement. Linear regression analyses based on firing residuals ensured that the modulation with a specific error parameter was independent of the other error parameters and kinematics. The results demonstrate that simple spike firing in lobules IV–VI is significantly correlated with position, distance and directional errors. Independent of the error signals, the same Purkinje cells encode kinematics. The strongest error modulation occurs at feedback timing. However, in 72% of cells at least one of the R2 temporal profiles resulting from regressing firing with individual errors exhibit two peak R2 values. For these bimodal profiles, the first peak is at a negative τ (lead) and a second peak at a positive τ (lag), implying that Purkinje cells encode both prediction and feedback about an error. For the majority of the bimodal profiles, the signs of the regression coefficients or preferred directions reverse at the times of the peaks. The sign reversal results in opposing simple spike modulation for the predictive and feedback components. Dual error representations may provide the signals needed to generate sensory prediction errors used to update a forward internal model. PMID:23115173

SU-E-J-136: Evaluation of a Non-Invasive Method on Lung Tumor Tracking.

PubMed

Zhao, T; White, B; Low, D

2012-06-01

to develop a non-invasive method to track lung motion in free-breathing patients. A free-breathing breathing model has been developed to use tidal volume and air flow rate as surrogates for lung trajectories. In this study, 4D CT data sets were acquired during simulation and were reconstructed into 10 phases. Total lung capacities were calculated from the reconstructed images. Continuous signals from the abdominal pneumatic belt were correlated to the volumes and were therefore converted into a curve of tidal volumes. Air flow rate were calculated as the first order derivative of the tidal volume curve. Lung trajectories in the 10 reconstructed images were obtained using B-Spline registration. Parameters of the free-breathing lung motion model were fit from the tidal volumes, airflow rates and lung trajectories using the simulation data. Patients were rescanned every week during the treatment. Prediction of lung trajectories from the model were given and compared to the actual positions in BEV. Trajectories of lung were predicted with residual error of 1.49mm at 95th percentile of all tracked points. Tracking was stable and reproducible over two weeks. Non-invasive tumor tracking based on a free-breathing lung motion model is feasible and stable over weeks. © 2012 American Association of Physicists in Medicine.

A new enhanced index tracking model in portfolio optimization with sum weighted approach

NASA Astrophysics Data System (ADS)

Siew, Lam Weng; Jaaman, Saiful Hafizah; Hoe, Lam Weng

2017-04-01

Index tracking is a portfolio management which aims to construct the optimal portfolio to achieve similar return with the benchmark index return at minimum tracking error without purchasing all the stocks that make up the index. Enhanced index tracking is an improved portfolio management which aims to generate higher portfolio return than the benchmark index return besides minimizing the tracking error. The objective of this paper is to propose a new enhanced index tracking model with sum weighted approach to improve the existing index tracking model for tracking the benchmark Technology Index in Malaysia. The optimal portfolio composition and performance of both models are determined and compared in terms of portfolio mean return, tracking error and information ratio. The results of this study show that the optimal portfolio of the proposed model is able to generate higher mean return than the benchmark index at minimum tracking error. Besides that, the proposed model is able to outperform the existing model in tracking the benchmark index. The significance of this study is to propose a new enhanced index tracking model with sum weighted apporach which contributes 67% improvement on the portfolio mean return as compared to the existing model.

Active eye-tracking improves LASIK results.

PubMed

Lee, Yuan-Chieh

2007-06-01

To study the advantage of active eye-tracking for photorefractive surgery. In a prospective, double-masked study, LASIK for myopia and myopic astigmatism was performed in 50 patients using the ALLEGRETTO WAVE version 1007. All patients received LASIK with full comprehension of the importance of fixation during the procedure. All surgical procedures were performed by a single surgeon. The eye-tracker was turned off in one group (n = 25) and kept on in another group (n = 25). Preoperatively and 3 months postoperatively, patients underwent a standard ophthalmic examination, which included comeal topography. In the patients treated with the eye-tracker off, all had uncorrected visual acuity (UCVA) of > or = 20/40 and 64% had > or = 20/20. Compared with the patients treated with the eye-tracker on, they had higher residual cylindrical astigmatism (P < .05). Those treated with the eye-tracker on achieved better UCVA and best spectacle-corrected visual acuity (P < .05). Spherical error and potential visual acuity (TMS-II) were not significantly different between the groups. The flying-spot system can achieve a fair result without active eye-tracking, but active eye-tracking helps improve the visual outcome and reduces postoperative cylindrical astigmatism.

Diffraction analysis and evaluation of several focus- and track-error detection schemes for magneto-optical disk systems

NASA Technical Reports Server (NTRS)

Bernacki, Bruce E.; Mansuripur, M.

1992-01-01

A commonly used tracking method on pre-grooved magneto-optical (MO) media is the push-pull technique, and the astigmatic method is a popular focus-error detection approach. These two methods are analyzed using DIFFRACT, a general-purpose scalar diffraction modeling program, to observe the effects on the error signals due to focusing lens misalignment, Seidel aberrations, and optical crosstalk (feedthrough) between the focusing and tracking servos. Using the results of the astigmatic/push-pull system as a basis for comparison, a novel focus/track-error detection technique that utilizes a ring toric lens is evaluated as well as the obscuration method (focus error detection only).

An Error-Entropy Minimization Algorithm for Tracking Control of Nonlinear Stochastic Systems with Non-Gaussian Variables

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

Liu, Yunlong; Wang, Aiping; Guo, Lei

This paper presents an error-entropy minimization tracking control algorithm for a class of dynamic stochastic system. The system is represented by a set of time-varying discrete nonlinear equations with non-Gaussian stochastic input, where the statistical properties of stochastic input are unknown. By using Parzen windowing with Gaussian kernel to estimate the probability densities of errors, recursive algorithms are then proposed to design the controller such that the tracking error can be minimized. The performance of the error-entropy minimization criterion is compared with the mean-square-error minimization in the simulation results.

Adaptive NN control for discrete-time pure-feedback systems with unknown control direction under amplitude and rate actuator constraints.

PubMed

Chen, Weisheng

2009-07-01

This paper focuses on the problem of adaptive neural network tracking control for a class of discrete-time pure-feedback systems with unknown control direction under amplitude and rate actuator constraints. Two novel state-feedback and output-feedback dynamic control laws are established where the function tanh(.) is employed to solve the saturation constraint problem. Implicit function theorem and mean value theorem are exploited to deal with non-affine variables that are used as actual control. Radial basis function neural networks are used to approximate the desired input function. Discrete Nussbaum gain is used to estimate the unknown sign of control gain. The uniform boundedness of all closed-loop signals is guaranteed. The tracking error is proved to converge to a small residual set around the origin. A simulation example is provided to illustrate the effectiveness of control schemes proposed in this paper.

Improved astigmatic focus error detection method

NASA Technical Reports Server (NTRS)

Bernacki, Bruce E.

1992-01-01

All easy-to-implement focus- and track-error detection methods presently used in magneto-optical (MO) disk drives using pre-grooved media suffer from a side effect known as feedthrough. Feedthrough is the unwanted focus error signal (FES) produced when the optical head is seeking a new track, and light refracted from the pre-grooved disk produces an erroneous FES. Some focus and track-error detection methods are more resistant to feedthrough, but tend to be complicated and/or difficult to keep in alignment as a result of environmental insults. The astigmatic focus/push-pull tracking method is an elegant, easy-to-align focus- and track-error detection method. Unfortunately, it is also highly susceptible to feedthrough when astigmatism is present, with the worst effects caused by astigmatism oriented such that the tangential and sagittal foci are at 45 deg to the track direction. This disclosure outlines a method to nearly completely eliminate the worst-case form of feedthrough due to astigmatism oriented 45 deg to the track direction. Feedthrough due to other primary aberrations is not improved, but performance is identical to the unimproved astigmatic method.

Comparison of direct and heterodyne detection optical intersatellite communication links

NASA Technical Reports Server (NTRS)

Chen, C. C.; Gardner, C. S.

1987-01-01

The performance of direct and heterodyne detection optical intersatellite communication links are evaluated and compared. It is shown that the performance of optical links is very sensitive to the pointing and tracking errors at the transmitter and receiver. In the presence of random pointing and tracking errors, optimal antenna gains exist that will minimize the required transmitter power. In addition to limiting the antenna gains, random pointing and tracking errors also impose a power penalty in the link budget. This power penalty is between 1.6 to 3 dB for a direct detection QPPM link, and 3 to 5 dB for a heterodyne QFSK system. For the heterodyne systems, the carrier phase noise presents another major factor of performance degradation that must be considered. In contrast, the loss due to synchronization error is small. The link budgets for direct and heterodyne detection systems are evaluated. It is shown that, for systems with large pointing and tracking errors, the link budget is dominated by the spatial tracking error, and the direct detection system shows a superior performance because it is less sensitive to the spatial tracking error. On the other hand, for systems with small pointing and tracking jitters, the antenna gains are in general limited by the launch cost, and suboptimal antenna gains are often used in practice. In which case, the heterodyne system has a slightly higher power margin because of higher receiver sensitivity.

The Extended HANDS Characterization and Analysis of Metric Biases

NASA Astrophysics Data System (ADS)

Kelecy, T.; Knox, R.; Cognion, R.

The Extended High Accuracy Network Determination System (Extended HANDS) consists of a network of low cost, high accuracy optical telescopes designed to support space surveillance and development of space object characterization technologies. Comprising off-the-shelf components, the telescopes are designed to provide sub arc-second astrometric accuracy. The design and analysis team are in the process of characterizing the system through development of an error allocation tree whose assessment is supported by simulation, data analysis, and calibration tests. The metric calibration process has revealed 1-2 arc-second biases in the right ascension and declination measurements of reference satellite position, and these have been observed to have fairly distinct characteristics that appear to have some dependence on orbit geometry and tracking rates. The work presented here outlines error models developed to aid in development of the system error budget, and examines characteristic errors (biases, time dependence, etc.) that might be present in each of the relevant system elements used in the data collection and processing, including the metric calibration processing. The relevant reference frames are identified, and include the sensor (CCD camera) reference frame, Earth-fixed topocentric frame, topocentric inertial reference frame, and the geocentric inertial reference frame. The errors modeled in each of these reference frames, when mapped into the topocentric inertial measurement frame, reveal how errors might manifest themselves through the calibration process. The error analysis results that are presented use satellite-sensor geometries taken from periods where actual measurements were collected, and reveal how modeled errors manifest themselves over those specific time periods. These results are compared to the real calibration metric data (right ascension and declination residuals), and sources of the bias are hypothesized. In turn, the actual right ascension and declination calibration residuals are also mapped to other relevant reference frames in an attempt to validate the source of the bias errors. These results will serve as the basis for more focused investigation into specific components embedded in the system and system processes that might contain the source of the observed biases.

Error tracking control for underactuated overhead cranes against arbitrary initial payload swing angles

NASA Astrophysics Data System (ADS)

Zhang, Menghua; Ma, Xin; Rong, Xuewen; Tian, Xincheng; Li, Yibin

2017-02-01

This paper exploits an error tracking control method for overhead crane systems for which the error trajectories for the trolley and the payload swing can be pre-specified. The proposed method does not require that the initial payload swing angle remains zero, whereas this requirement is usually assumed in conventional methods. The significant feature of the proposed method is its superior control performance as well as its strong robustness over different or uncertain rope lengths, payload masses, desired positions, initial payload swing angles, and external disturbances. Owing to the same attenuation behavior, the desired error trajectory for the trolley for each traveling distance is not needed to be reset, which is easy to implement in practical applications. By converting the error tracking overhead crane dynamics to the objective system, we obtain the error tracking control law for arbitrary initial payload swing angles. Lyapunov techniques and LaSalle's invariance theorem are utilized to prove the convergence and stability of the closed-loop system. Simulation and experimental results are illustrated to validate the superior performance of the proposed error tracking control method.

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

PubMed

Xiao, Lingfei; Zhu, Yue

2014-07-01

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

Intraoperative visualization and assessment of electromagnetic tracking error

NASA Astrophysics Data System (ADS)

Harish, Vinyas; Ungi, Tamas; Lasso, Andras; MacDonald, Andrew; Nanji, Sulaiman; Fichtinger, Gabor

2015-03-01

Electromagnetic tracking allows for increased flexibility in designing image-guided interventions, however it is well understood that electromagnetic tracking is prone to error. Visualization and assessment of the tracking error should take place in the operating room with minimal interference with the clinical procedure. The goal was to achieve this ideal in an open-source software implementation in a plug and play manner, without requiring programming from the user. We use optical tracking as a ground truth. An electromagnetic sensor and optical markers are mounted onto a stylus device, pivot calibrated for both trackers. Electromagnetic tracking error is defined as difference of tool tip position between electromagnetic and optical readings. Multiple measurements are interpolated into the thin-plate B-spline transform visualized in real time using 3D Slicer. All tracked devices are used in a plug and play manner through the open-source SlicerIGT and PLUS extensions of the 3D Slicer platform. Tracking error was measured multiple times to assess reproducibility of the method, both with and without placing ferromagnetic objects in the workspace. Results from exhaustive grid sampling and freehand sampling were similar, indicating that a quick freehand sampling is sufficient to detect unexpected or excessive field distortion in the operating room. The software is available as a plug-in for the 3D Slicer platforms. Results demonstrate potential for visualizing electromagnetic tracking error in real time for intraoperative environments in feasibility clinical trials in image-guided interventions.

Combined proportional and additive residual error models in population pharmacokinetic modelling.

PubMed

Proost, Johannes H

2017-11-15

In pharmacokinetic modelling, a combined proportional and additive residual error model is often preferred over a proportional or additive residual error model. Different approaches have been proposed, but a comparison between approaches is still lacking. The theoretical background of the methods is described. Method VAR assumes that the variance of the residual error is the sum of the statistically independent proportional and additive components; this method can be coded in three ways. Method SD assumes that the standard deviation of the residual error is the sum of the proportional and additive components. Using datasets from literature and simulations based on these datasets, the methods are compared using NONMEM. The different coding of methods VAR yield identical results. Using method SD, the values of the parameters describing residual error are lower than for method VAR, but the values of the structural parameters and their inter-individual variability are hardly affected by the choice of the method. Both methods are valid approaches in combined proportional and additive residual error modelling, and selection may be based on OFV. When the result of an analysis is used for simulation purposes, it is essential that the simulation tool uses the same method as used during analysis. Copyright © 2017 Elsevier B.V. All rights reserved.

Attitude guidance and tracking for spacecraft with two reaction wheels

NASA Astrophysics Data System (ADS)

Biggs, James D.; Bai, Yuliang; Henninger, Helen

2018-04-01

This paper addresses the guidance and tracking problem for a rigid-spacecraft using two reaction wheels (RWs). The guidance problem is formulated as an optimal control problem on the special orthogonal group SO(3). The optimal motion is solved analytically as a function of time and is used to reduce the original guidance problem to one of computing the minimum of a nonlinear function. A tracking control using two RWs is developed that extends previous singular quaternion stabilisation controls to tracking controls on the rotation group. The controller is proved to locally asymptotically track the generated reference motions using Lyapunov's direct method. Simulations of a 3U CubeSat demonstrate that this tracking control is robust to initial rotation errors and angular velocity errors in the controlled axis. For initial angular velocity errors in the uncontrolled axis and under significant disturbances the control fails to track. However, the singular tracking control is combined with a nano-magnetic torquer which simply damps the angular velocity in the uncontrolled axis and is shown to provide a practical control method for tracking in the presence of disturbances and initial condition errors.

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

NASA Astrophysics Data System (ADS)

Ghazali, Mohammad; Durali, Mohammad; Salarieh, Hassan

2017-01-01

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

Finite-time sliding surface constrained control for a robot manipulator with an unknown deadzone and disturbance.

PubMed

Ik Han, Seong; Lee, Jangmyung

2016-11-01

This paper presents finite-time sliding mode control (FSMC) with predefined constraints for the tracking error and sliding surface in order to obtain robust positioning of a robot manipulator with input nonlinearity due to an unknown deadzone and external disturbance. An assumed model feedforward FSMC was designed to avoid tedious identification procedures for the manipulator parameters and to obtain a fast response time. Two constraint switching control functions based on the tracking error and finite-time sliding surface were added to the FSMC to guarantee the predefined tracking performance despite the presence of an unknown deadzone and disturbance. The tracking error due to the deadzone and disturbance can be suppressed within the predefined error boundary simply by tuning the gain value of the constraint switching function and without the addition of an extra compensator. Therefore, the designed constraint controller has a simpler structure than conventional transformed error constraint methods and the sliding surface constraint scheme can also indirectly guarantee the tracking error constraint while being more stable than the tracking error constraint control. A simulation and experiment were performed on an articulated robot manipulator to validate the proposed control schemes. Copyright © 2016 ISA. Published by Elsevier Ltd. All rights reserved.

Application of Ensemble Kalman Filter in Power System State Tracking and Sensitivity

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

Li, Yulan; Huang, Zhenyu; Zhou, Ning

2012-05-01

Ensemble Kalman Filter (EnKF) is proposed to track dynamic states of generators. The algorithm of EnKF and its application to generator state tracking are presented in detail. The accuracy and sensitivity of the method are analyzed with respect to initial state errors, measurement noise, unknown fault locations, time steps and parameter errors. It is demonstrated through simulation studies that even with some errors in the parameters, the developed EnKF can effectively track generator dynamic states using disturbance data.

Solar Tracking Error Analysis of Fresnel Reflector

PubMed Central

Zheng, Jiantao; Yan, Junjie; Pei, Jie; Liu, Guanjie

2014-01-01

Depending on the rotational structure of Fresnel reflector, the rotation angle of the mirror was deduced under the eccentric condition. By analyzing the influence of the sun tracking rotation angle error caused by main factors, the change rule and extent of the influence were revealed. It is concluded that the tracking errors caused by the difference between the rotation axis and true north meridian, at noon, were maximum under certain conditions and reduced at morning and afternoon gradually. The tracking error caused by other deviations such as rotating eccentric, latitude, and solar altitude was positive at morning, negative at afternoon, and zero at a certain moment of noon. PMID:24895664

Measurement of electromagnetic tracking error in a navigated breast surgery setup

NASA Astrophysics Data System (ADS)

Harish, Vinyas; Baksh, Aidan; Ungi, Tamas; Lasso, Andras; Baum, Zachary; Gauvin, Gabrielle; Engel, Jay; Rudan, John; Fichtinger, Gabor

2016-03-01

PURPOSE: The measurement of tracking error is crucial to ensure the safety and feasibility of electromagnetically tracked, image-guided procedures. Measurement should occur in a clinical environment because electromagnetic field distortion depends on positioning relative to the field generator and metal objects. However, we could not find an accessible and open-source system for calibration, error measurement, and visualization. We developed such a system and tested it in a navigated breast surgery setup. METHODS: A pointer tool was designed for concurrent electromagnetic and optical tracking. Software modules were developed for automatic calibration of the measurement system, real-time error visualization, and analysis. The system was taken to an operating room to test for field distortion in a navigated breast surgery setup. Positional and rotational electromagnetic tracking errors were then calculated using optical tracking as a ground truth. RESULTS: Our system is quick to set up and can be rapidly deployed. The process from calibration to visualization also only takes a few minutes. Field distortion was measured in the presence of various surgical equipment. Positional and rotational error in a clean field was approximately 0.90 mm and 0.31°. The presence of a surgical table, an electrosurgical cautery, and anesthesia machine increased the error by up to a few tenths of a millimeter and tenth of a degree. CONCLUSION: In a navigated breast surgery setup, measurement and visualization of tracking error defines a safe working area in the presence of surgical equipment. Our system is available as an extension for the open-source 3D Slicer platform.

40 CFR 73.37 - Account error.

Code of Federal Regulations, 2010 CFR

2010-07-01

... ALLOWANCE SYSTEM Allowance Tracking System § 73.37 Account error. The Administrator may, at his or her sole discretion and on his or her own motion, correct any error in any Allowance Tracking System account. Within...

40 CFR 60.4156 - Account error.

Code of Federal Regulations, 2011 CFR

2011-07-01

... Generating Units Hg Allowance Tracking System § 60.4156 Account error. The Administrator may, at his or her sole discretion and on his or her own motion, correct any error in any Hg Allowance Tracking System...

40 CFR 73.37 - Account error.

Code of Federal Regulations, 2011 CFR

2011-07-01

... ALLOWANCE SYSTEM Allowance Tracking System § 73.37 Account error. The Administrator may, at his or her sole discretion and on his or her own motion, correct any error in any Allowance Tracking System account. Within...

Systematic Errors in an Air Track Experiment.

ERIC Educational Resources Information Center

Ramirez, Santos A.; Ham, Joe S.

1990-01-01

Errors found in a common physics experiment to measure acceleration resulting from gravity using a linear air track are investigated. Glider position at release and initial velocity are shown to be sources of systematic error. (CW)

A Minimum Variance Algorithm for Overdetermined TOA Equations with an Altitude Constraint.

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

Romero, Louis A; Mason, John J.

We present a direct (non-iterative) method for solving for the location of a radio frequency (RF) emitter, or an RF navigation receiver, using four or more time of arrival (TOA) measurements and an assumed altitude above an ellipsoidal earth. Both the emitter tracking problem and the navigation application are governed by the same equations, but with slightly different interpreta- tions of several variables. We treat the assumed altitude as a soft constraint, with a specified noise level, just as the TOA measurements are handled, with their respective noise levels. With 4 or more TOA measurements and the assumed altitude, themore » problem is overdetermined and is solved in the weighted least squares sense for the 4 unknowns, the 3-dimensional position and time. We call the new technique the TAQMV (TOA Altitude Quartic Minimum Variance) algorithm, and it achieves the minimum possible error variance for given levels of TOA and altitude estimate noise. The method algebraically produces four solutions, the least-squares solution, and potentially three other low residual solutions, if they exist. In the lightly overdermined cases where multiple local minima in the residual error surface are more likely to occur, this algebraic approach can produce all of the minima even when an iterative approach fails to converge. Algorithm performance in terms of solution error variance and divergence rate for bas eline (iterative) and proposed approach are given in tables.« less

Optimum data weighting and error calibration for estimation of gravitational parameters

NASA Technical Reports Server (NTRS)

Lerch, F. J.

1989-01-01

A new technique was developed for the weighting of data from satellite tracking systems in order to obtain an optimum least squares solution and an error calibration for the solution parameters. Data sets from optical, electronic, and laser systems on 17 satellites in GEM-T1 (Goddard Earth Model, 36x36 spherical harmonic field) were employed toward application of this technique for gravity field parameters. Also, GEM-T2 (31 satellites) was recently computed as a direct application of the method and is summarized here. The method employs subset solutions of the data associated with the complete solution and uses an algorithm to adjust the data weights by requiring the differences of parameters between solutions to agree with their error estimates. With the adjusted weights the process provides for an automatic calibration of the error estimates for the solution parameters. The data weights derived are generally much smaller than corresponding weights obtained from nominal values of observation accuracy or residuals. Independent tests show significant improvement for solutions with optimal weighting as compared to the nominal weighting. The technique is general and may be applied to orbit parameters, station coordinates, or other parameters than the gravity model.

Kalman filter estimation of human pilot-model parameters

NASA Technical Reports Server (NTRS)

Schiess, J. R.; Roland, V. R.

1975-01-01

The parameters of a human pilot-model transfer function are estimated by applying the extended Kalman filter to the corresponding retarded differential-difference equations in the time domain. Use of computer-generated data indicates that most of the parameters, including the implicit time delay, may be reasonably estimated in this way. When applied to two sets of experimental data obtained from a closed-loop tracking task performed by a human, the Kalman filter generated diverging residuals for one of the measurement types, apparently because of model assumption errors. Application of a modified adaptive technique was found to overcome the divergence and to produce reasonable estimates of most of the parameters.

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

Yan, H; Chen, Z; Nath, R

Purpose: kV fluoroscopic imaging combined with MV treatment beam imaging has been investigated for intrafractional motion monitoring and correction. It is, however, subject to additional kV imaging dose to normal tissue. To balance tracking accuracy and imaging dose, we previously proposed an adaptive imaging strategy to dynamically decide future imaging type and moments based on motion tracking uncertainty. kV imaging may be used continuously for maximal accuracy or only when the position uncertainty (probability of out of threshold) is high if a preset imaging dose limit is considered. In this work, we propose more accurate methods to estimate tracking uncertaintymore » through analyzing acquired data in real-time. Methods: We simulated motion tracking process based on a previously developed imaging framework (MV + initial seconds of kV imaging) using real-time breathing data from 42 patients. Motion tracking errors for each time point were collected together with the time point’s corresponding features, such as tumor motion speed and 2D tracking error of previous time points, etc. We tested three methods for error uncertainty estimation based on the features: conditional probability distribution, logistic regression modeling, and support vector machine (SVM) classification to detect errors exceeding a threshold. Results: For conditional probability distribution, polynomial regressions on three features (previous tracking error, prediction quality, and cosine of the angle between the trajectory and the treatment beam) showed strong correlation with the variation (uncertainty) of the mean 3D tracking error and its standard deviation: R-square = 0.94 and 0.90, respectively. The logistic regression and SVM classification successfully identified about 95% of tracking errors exceeding 2.5mm threshold. Conclusion: The proposed methods can reliably estimate the motion tracking uncertainty in real-time, which can be used to guide adaptive additional imaging to confirm the tumor is within the margin or initialize motion compensation if it is out of the margin.« less

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

NASA Astrophysics Data System (ADS)

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

2017-10-01

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

A simple model for studying rotation errors of gimbal mount axes in laser tracking system based on spherical mirror as a reflection unit

NASA Astrophysics Data System (ADS)

Song, Huixu; Shi, Zhaoyao; Chen, Hongfang; Sun, Yanqiang

2018-01-01

This paper presents a novel experimental approach and a simple model for verifying that spherical mirror of laser tracking system could lessen the effect of rotation errors of gimbal mount axes based on relative motion thinking. Enough material and evidence are provided to support that this simple model could replace complex optical system in laser tracking system. This experimental approach and model interchange the kinematic relationship between spherical mirror and gimbal mount axes in laser tracking system. Being fixed stably, gimbal mount axes' rotation error motions are replaced by spatial micro-displacements of spherical mirror. These motions are simulated by driving spherical mirror along the optical axis and vertical direction with the use of precision positioning platform. The effect on the laser ranging measurement accuracy of displacement caused by the rotation errors of gimbal mount axes could be recorded according to the outcome of laser interferometer. The experimental results show that laser ranging measurement error caused by the rotation errors is less than 0.1 μm if radial error motion and axial error motion are under 10 μm. The method based on relative motion thinking not only simplifies the experimental procedure but also achieves that spherical mirror owns the ability to reduce the effect of rotation errors of gimbal mount axes in laser tracking system.

An Enhanced Non-Coherent Pre-Filter Design for Tracking Error Estimation in GNSS Receivers.

PubMed

Luo, Zhibin; Ding, Jicheng; Zhao, Lin; Wu, Mouyan

2017-11-18

Tracking error estimation is of great importance in global navigation satellite system (GNSS) receivers. Any inaccurate estimation for tracking error will decrease the signal tracking ability of signal tracking loops and the accuracies of position fixing, velocity determination, and timing. Tracking error estimation can be done by traditional discriminator, or Kalman filter-based pre-filter. The pre-filter can be divided into two categories: coherent and non-coherent. This paper focuses on the performance improvements of non-coherent pre-filter. Firstly, the signal characteristics of coherent and non-coherent integration-which are the basis of tracking error estimation-are analyzed in detail. After that, the probability distribution of estimation noise of four-quadrant arctangent (ATAN2) discriminator is derived according to the mathematical model of coherent integration. Secondly, the statistical property of observation noise of non-coherent pre-filter is studied through Monte Carlo simulation to set the observation noise variance matrix correctly. Thirdly, a simple fault detection and exclusion (FDE) structure is introduced to the non-coherent pre-filter design, and thus its effective working range for carrier phase error estimation extends from (-0.25 cycle, 0.25 cycle) to (-0.5 cycle, 0.5 cycle). Finally, the estimation accuracies of discriminator, coherent pre-filter, and the enhanced non-coherent pre-filter are evaluated comprehensively through the carefully designed experiment scenario. The pre-filter outperforms traditional discriminator in estimation accuracy. In a highly dynamic scenario, the enhanced non-coherent pre-filter provides accuracy improvements of 41.6%, 46.4%, and 50.36% for carrier phase error, carrier frequency error, and code phase error estimation, respectively, when compared with coherent pre-filter. The enhanced non-coherent pre-filter outperforms the coherent pre-filter in code phase error estimation when carrier-to-noise density ratio is less than 28.8 dB-Hz, in carrier frequency error estimation when carrier-to-noise density ratio is less than 20 dB-Hz, and in carrier phase error estimation when carrier-to-noise density belongs to (15, 23) dB-Hz ∪ (26, 50) dB-Hz.

An Enhanced Non-Coherent Pre-Filter Design for Tracking Error Estimation in GNSS Receivers

PubMed Central

Luo, Zhibin; Ding, Jicheng; Zhao, Lin; Wu, Mouyan

2017-01-01

Tracking error estimation is of great importance in global navigation satellite system (GNSS) receivers. Any inaccurate estimation for tracking error will decrease the signal tracking ability of signal tracking loops and the accuracies of position fixing, velocity determination, and timing. Tracking error estimation can be done by traditional discriminator, or Kalman filter-based pre-filter. The pre-filter can be divided into two categories: coherent and non-coherent. This paper focuses on the performance improvements of non-coherent pre-filter. Firstly, the signal characteristics of coherent and non-coherent integration—which are the basis of tracking error estimation—are analyzed in detail. After that, the probability distribution of estimation noise of four-quadrant arctangent (ATAN2) discriminator is derived according to the mathematical model of coherent integration. Secondly, the statistical property of observation noise of non-coherent pre-filter is studied through Monte Carlo simulation to set the observation noise variance matrix correctly. Thirdly, a simple fault detection and exclusion (FDE) structure is introduced to the non-coherent pre-filter design, and thus its effective working range for carrier phase error estimation extends from (−0.25 cycle, 0.25 cycle) to (−0.5 cycle, 0.5 cycle). Finally, the estimation accuracies of discriminator, coherent pre-filter, and the enhanced non-coherent pre-filter are evaluated comprehensively through the carefully designed experiment scenario. The pre-filter outperforms traditional discriminator in estimation accuracy. In a highly dynamic scenario, the enhanced non-coherent pre-filter provides accuracy improvements of 41.6%, 46.4%, and 50.36% for carrier phase error, carrier frequency error, and code phase error estimation, respectively, when compared with coherent pre-filter. The enhanced non-coherent pre-filter outperforms the coherent pre-filter in code phase error estimation when carrier-to-noise density ratio is less than 28.8 dB-Hz, in carrier frequency error estimation when carrier-to-noise density ratio is less than 20 dB-Hz, and in carrier phase error estimation when carrier-to-noise density belongs to (15, 23) dB-Hz ∪ (26, 50) dB-Hz. PMID:29156581

Lateral charge transport from heavy-ion tracks in integrated circuit chips

NASA Technical Reports Server (NTRS)

Zoutendyk, J. A.; Schwartz, H. R.; Nevill, L. R.

1988-01-01

A 256K DRAM has been used to study the lateral transport of charge (electron-hole pairs) induced by direct ionization from heavy-ion tracks in an IC. The qualitative charge transport has been simulated using a two-dimensional numerical code in cylindrical coordinates. The experimental bit-map data clearly show the manifestation of lateral charge transport in the creation of adjacent multiple-bit errors from a single heavy-ion track. The heavy-ion data further demonstrate the occurrence of multiple-bit errors from single ion tracks with sufficient stopping power. The qualitative numerical simulation results suggest that electric-field-funnel-aided (drift) collection accounts for single error generated by an ion passing through a charge-collecting junction, while multiple errors from a single ion track are due to lateral diffusion of ion-generated charge.

Activity Tracking for Pilot Error Detection from Flight Data

NASA Technical Reports Server (NTRS)

Callantine, Todd J.; Ashford, Rose (Technical Monitor)

2002-01-01

This report presents an application of activity tracking for pilot error detection from flight data, and describes issues surrounding such an application. It first describes the Crew Activity Tracking System (CATS), in-flight data collected from the NASA Langley Boeing 757 Airborne Research Integrated Experiment System aircraft, and a model of B757 flight crew activities. It then presents an example of CATS detecting actual in-flight crew errors.

Modeling and Development of INS-Aided PLLs in a GNSS/INS Deeply-Coupled Hardware Prototype for Dynamic Applications

PubMed Central

Zhang, Tisheng; Niu, Xiaoji; Ban, Yalong; Zhang, Hongping; Shi, Chuang; Liu, Jingnan

2015-01-01

A GNSS/INS deeply-coupled system can improve the satellite signals tracking performance by INS aiding tracking loops under dynamics. However, there was no literature available on the complete modeling of the INS branch in the INS-aided tracking loop, which caused the lack of a theoretical tool to guide the selections of inertial sensors, parameter optimization and quantitative analysis of INS-aided PLLs. This paper makes an effort on the INS branch in modeling and parameter optimization of phase-locked loops (PLLs) based on the scalar-based GNSS/INS deeply-coupled system. It establishes the transfer function between all known error sources and the PLL tracking error, which can be used to quantitatively evaluate the candidate inertial measurement unit (IMU) affecting the carrier phase tracking error. Based on that, a steady-state error model is proposed to design INS-aided PLLs and to analyze their tracking performance. Based on the modeling and error analysis, an integrated deeply-coupled hardware prototype is developed, with the optimization of the aiding information. Finally, the performance of the INS-aided PLLs designed based on the proposed steady-state error model is evaluated through the simulation and road tests of the hardware prototype. PMID:25569751

Performance Improvement of Receivers Based on Ultra-Tight Integration in GNSS-Challenged Environments

PubMed Central

Qin, Feng; Zhan, Xingqun; Du, Gang

2013-01-01

Ultra-tight integration was first proposed by Abbott in 2003 with the purpose of integrating a global navigation satellite system (GNSS) and an inertial navigation system (INS). This technology can improve the tracking performances of a receiver by reconfiguring the tracking loops in GNSS-challenged environments. In this paper, the models of all error sources known to date in the phase lock loops (PLLs) of a standard receiver and an ultra-tightly integrated GNSS/INS receiver are built, respectively. Based on these models, the tracking performances of the two receivers are compared to verify the improvement due to the ultra-tight integration. Meanwhile, the PLL error distributions of the two receivers are also depicted to analyze the error changes of the tracking loops. These results show that the tracking error is significantly reduced in the ultra-tightly integrated GNSS/INS receiver since the receiver's dynamics are estimated and compensated by an INS. Moreover, the mathematical relationship between the tracking performances of the ultra-tightly integrated GNSS/INS receiver and the quality of the selected inertial measurement unit (IMU) is derived from the error models and proved by the error comparisons of four ultra-tightly integrated GNSS/INS receivers aided by different grade IMUs.

Speed and Accuracy of Rapid Speech Output by Adolescents with Residual Speech Sound Errors Including Rhotics

ERIC Educational Resources Information Center

Preston, Jonathan L.; Edwards, Mary Louise

2009-01-01

Children with residual speech sound errors are often underserved clinically, yet there has been a lack of recent research elucidating the specific deficits in this population. Adolescents aged 10-14 with residual speech sound errors (RE) that included rhotics were compared to normally speaking peers on tasks assessing speed and accuracy of speech…

Absolute vs. relative error characterization of electromagnetic tracking accuracy

NASA Astrophysics Data System (ADS)

Matinfar, Mohammad; Narayanasamy, Ganesh; Gutierrez, Luis; Chan, Raymond; Jain, Ameet

2010-02-01

Electromagnetic (EM) tracking systems are often used for real time navigation of medical tools in an Image Guided Therapy (IGT) system. They are specifically advantageous when the medical device requires tracking within the body of a patient where line of sight constraints prevent the use of conventional optical tracking. EM tracking systems are however very sensitive to electromagnetic field distortions. These distortions, arising from changes in the electromagnetic environment due to the presence of conductive ferromagnetic surgical tools or other medical equipment, limit the accuracy of EM tracking, in some cases potentially rendering tracking data unusable. We present a mapping method for the operating region over which EM tracking sensors are used, allowing for characterization of measurement errors, in turn providing physicians with visual feedback about measurement confidence or reliability of localization estimates. In this instance, we employ a calibration phantom to assess distortion within the operating field of the EM tracker and to display in real time the distribution of measurement errors, as well as the location and extent of the field associated with minimal spatial distortion. The accuracy is assessed relative to successive measurements. Error is computed for a reference point and consecutive measurement errors are displayed relative to the reference in order to characterize the accuracy in near-real-time. In an initial set-up phase, the phantom geometry is calibrated by registering the data from a multitude of EM sensors in a non-ferromagnetic ("clean") EM environment. The registration results in the locations of sensors with respect to each other and defines the geometry of the sensors in the phantom. In a measurement phase, the position and orientation data from all sensors are compared with the known geometry of the sensor spacing, and localization errors (displacement and orientation) are computed. Based on error thresholds provided by the operator, the spatial distribution of localization errors are clustered and dynamically displayed as separate confidence zones within the operating region of the EM tracker space.

Toward isolating the role of dopamine in the acquisition of incentive salience attribution.

PubMed

Chow, Jonathan J; Nickell, Justin R; Darna, Mahesh; Beckmann, Joshua S

2016-10-01

Stimulus-reward learning has been heavily linked to the reward-prediction error learning hypothesis and dopaminergic function. However, some evidence suggests dopaminergic function may not strictly underlie reward-prediction error learning, but may be specific to incentive salience attribution. Utilizing a Pavlovian conditioned approach procedure consisting of two stimuli that were equally reward-predictive (both undergoing reward-prediction error learning) but functionally distinct in regard to incentive salience (levers that elicited sign-tracking and tones that elicited goal-tracking), we tested the differential role of D1 and D2 dopamine receptors and nucleus accumbens dopamine in the acquisition of sign- and goal-tracking behavior and their associated conditioned reinforcing value within individuals. Overall, the results revealed that both D1 and D2 inhibition disrupted performance of sign- and goal-tracking. However, D1 inhibition specifically prevented the acquisition of sign-tracking to a lever, instead promoting goal-tracking and decreasing its conditioned reinforcing value, while neither D1 nor D2 signaling was required for goal-tracking in response to a tone. Likewise, nucleus accumbens dopaminergic lesions disrupted acquisition of sign-tracking to a lever, while leaving goal-tracking in response to a tone unaffected. Collectively, these results are the first evidence of an intraindividual dissociation of dopaminergic function in incentive salience attribution from reward-prediction error learning, indicating that incentive salience, reward-prediction error, and their associated dopaminergic signaling exist within individuals and are stimulus-specific. Thus, individual differences in incentive salience attribution may be reflective of a differential balance in dopaminergic function that may bias toward the attribution of incentive salience, relative to reward-prediction error learning only. Copyright © 2016 Elsevier Ltd. All rights reserved.

Method for computing self-consistent solution in a gun code

DOEpatents

Nelson, Eric M

2014-09-23

Complex gun code computations can be made to converge more quickly based on a selection of one or more relaxation parameters. An eigenvalue analysis is applied to error residuals to identify two error eigenvalues that are associated with respective error residuals. Relaxation values can be selected based on these eigenvalues so that error residuals associated with each can be alternately reduced in successive iterations. In some examples, relaxation values that would be unstable if used alone can be used.

Research on wind field algorithm of wind lidar based on BP neural network and grey prediction

NASA Astrophysics Data System (ADS)

Chen, Yong; Chen, Chun-Li; Luo, Xiong; Zhang, Yan; Yang, Ze-hou; Zhou, Jie; Shi, Xiao-ding; Wang, Lei

2018-01-01

This paper uses the BP neural network and grey algorithm to forecast and study radar wind field. In order to reduce the residual error in the wind field prediction which uses BP neural network and grey algorithm, calculating the minimum value of residual error function, adopting the residuals of the gray algorithm trained by BP neural network, using the trained network model to forecast the residual sequence, using the predicted residual error sequence to modify the forecast sequence of the grey algorithm. The test data show that using the grey algorithm modified by BP neural network can effectively reduce the residual value and improve the prediction precision.

Simultaneous localization and calibration for electromagnetic tracking systems.

PubMed

Sadjadi, Hossein; Hashtrudi-Zaad, Keyvan; Fichtinger, Gabor

2016-06-01

In clinical environments, field distortion can cause significant electromagnetic tracking errors. Therefore, dynamic calibration of electromagnetic tracking systems is essential to compensate for measurement errors. It is proposed to integrate the motion model of the tracked instrument with redundant EM sensor observations and to apply a simultaneous localization and mapping algorithm in order to accurately estimate the pose of the instrument and create a map of the field distortion in real-time. Experiments were conducted in the presence of ferromagnetic and electrically-conductive field distorting objects and results compared with those of a conventional sensor fusion approach. The proposed method reduced the tracking error from 3.94±1.61 mm to 1.82±0.62 mm in the presence of steel, and from 0.31±0.22 mm to 0.11±0.14 mm in the presence of aluminum. With reduced tracking error and independence from external tracking devices or pre-operative calibrations, the approach is promising for reliable EM navigation in various clinical procedures. Copyright © 2015 John Wiley & Sons, Ltd. Copyright © 2015 John Wiley & Sons, Ltd.

Research on Measurement Accuracy of Laser Tracking System Based on Spherical Mirror with Rotation Errors of Gimbal Mount Axes

NASA Astrophysics Data System (ADS)

Shi, Zhaoyao; Song, Huixu; Chen, Hongfang; Sun, Yanqiang

2018-02-01

This paper presents a novel experimental approach for confirming that spherical mirror of a laser tracking system can reduce the influences of rotation errors of gimbal mount axes on the measurement accuracy. By simplifying the optical system model of laser tracking system based on spherical mirror, we can easily extract the laser ranging measurement error caused by rotation errors of gimbal mount axes with the positions of spherical mirror, biconvex lens, cat's eye reflector, and measuring beam. The motions of polarization beam splitter and biconvex lens along the optical axis and vertical direction of optical axis are driven by error motions of gimbal mount axes. In order to simplify the experimental process, the motion of biconvex lens is substituted by the motion of spherical mirror according to the principle of relative motion. The laser ranging measurement error caused by the rotation errors of gimbal mount axes could be recorded in the readings of laser interferometer. The experimental results showed that the laser ranging measurement error caused by rotation errors was less than 0.1 μm if radial error motion and axial error motion were within ±10 μm. The experimental method simplified the experimental procedure and the spherical mirror could reduce the influences of rotation errors of gimbal mount axes on the measurement accuracy of the laser tracking system.

Synchronization Design and Error Analysis of Near-Infrared Cameras in Surgical Navigation.

PubMed

Cai, Ken; Yang, Rongqian; Chen, Huazhou; Huang, Yizhou; Wen, Xiaoyan; Huang, Wenhua; Ou, Shanxing

2016-01-01

The accuracy of optical tracking systems is important to scientists. With the improvements reported in this regard, such systems have been applied to an increasing number of operations. To enhance the accuracy of these systems further and to reduce the effect of synchronization and visual field errors, this study introduces a field-programmable gate array (FPGA)-based synchronization control method, a method for measuring synchronous errors, and an error distribution map in field of view. Synchronization control maximizes the parallel processing capability of FPGA, and synchronous error measurement can effectively detect the errors caused by synchronization in an optical tracking system. The distribution of positioning errors can be detected in field of view through the aforementioned error distribution map. Therefore, doctors can perform surgeries in areas with few positioning errors, and the accuracy of optical tracking systems is considerably improved. The system is analyzed and validated in this study through experiments that involve the proposed methods, which can eliminate positioning errors attributed to asynchronous cameras and different fields of view.

A similarity retrieval approach for weighted track and ambient field of tropical cyclones

NASA Astrophysics Data System (ADS)

Li, Ying; Xu, Luan; Hu, Bo; Li, Yuejun

2018-03-01

Retrieving historical tropical cyclones (TC) which have similar position and hazard intensity to the objective TC is an important means in TC track forecast and TC disaster assessment. A new similarity retrieval scheme is put forward based on historical TC track data and ambient field data, including ERA-Interim reanalysis and GFS and EC-fine forecast. It takes account of both TC track similarity and ambient field similarity, and optimal weight combination is explored subsequently. Result shows that both the distance and direction errors of TC track forecast at 24-hour timescale follow an approximately U-shape distribution. They tend to be large when the weight assigned to track similarity is close to 0 or 1.0, while relatively small when track similarity weight is from 0.2˜0.7 for distance error and 0.3˜0.6 for direction error.

SU-G-JeP1-12: Head-To-Head Performance Characterization of Two Multileaf Collimator Tracking Algorithms for Radiotherapy

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

Caillet, V; Colvill, E; Royal North Shore Hospital, St Leonards, Sydney

2016-06-15

Purpose: Multi-leaf collimator (MLC) tracking is being clinically pioneered to continuously compensate for thoracic and abdominal motion during radiotherapy. The purpose of this work is to characterize the performance of two MLC tracking algorithms for cancer radiotherapy, based on a direct optimization and a piecewise leaf fitting approach respectively. Methods: To test the algorithms, both physical and in silico experiments were performed. Previously published high and low modulation VMAT plans for lung and prostate cancer cases were used along with eight patient-measured organ-specific trajectories. For both MLC tracking algorithm, the plans were run with their corresponding patient trajectories. The physicalmore » experiments were performed on a Trilogy Varian linac and a programmable phantom (HexaMotion platform). For each MLC tracking algorithm, plan and patient trajectory, the tracking accuracy was quantified as the difference in aperture area between ideal and fitted MLC. To compare algorithms, the average cumulative tracking error area for each experiment was calculated. The two-sample Kolmogorov-Smirnov (KS) test was used to evaluate the cumulative tracking errors between algorithms. Results: Comparison of tracking errors for the physical and in silico experiments showed minor differences between the two algorithms. The KS D-statistics for the physical experiments were below 0.05 denoting no significant differences between the two distributions pattern and the average error area (direct optimization/piecewise leaf-fitting) were comparable (66.64 cm2/65.65 cm2). For the in silico experiments, the KS D-statistics were below 0.05 and the average errors area were also equivalent (49.38 cm2/48.98 cm2). Conclusion: The comparison between the two leaf fittings algorithms demonstrated no significant differences in tracking errors, neither in a clinically realistic environment nor in silico. The similarities in the two independent algorithms give confidence in the use of either algorithm for clinical implementation.« less

TH-AB-202-02: Real-Time Verification and Error Detection for MLC Tracking Deliveries Using An Electronic Portal Imaging Device

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

J Zwan, B; Central Coast Cancer Centre, Gosford, NSW; Colvill, E

2016-06-15

Purpose: The added complexity of the real-time adaptive multi-leaf collimator (MLC) tracking increases the likelihood of undetected MLC delivery errors. In this work we develop and test a system for real-time delivery verification and error detection for MLC tracking radiotherapy using an electronic portal imaging device (EPID). Methods: The delivery verification system relies on acquisition and real-time analysis of transit EPID image frames acquired at 8.41 fps. In-house software was developed to extract the MLC positions from each image frame. Three comparison metrics were used to verify the MLC positions in real-time: (1) field size, (2) field location and, (3)more » field shape. The delivery verification system was tested for 8 VMAT MLC tracking deliveries (4 prostate and 4 lung) where real patient target motion was reproduced using a Hexamotion motion stage and a Calypso system. Sensitivity and detection delay was quantified for various types of MLC and system errors. Results: For both the prostate and lung test deliveries the MLC-defined field size was measured with an accuracy of 1.25 cm{sup 2} (1 SD). The field location was measured with an accuracy of 0.6 mm and 0.8 mm (1 SD) for lung and prostate respectively. Field location errors (i.e. tracking in wrong direction) with a magnitude of 3 mm were detected within 0.4 s of occurrence in the X direction and 0.8 s in the Y direction. Systematic MLC gap errors were detected as small as 3 mm. The method was not found to be sensitive to random MLC errors and individual MLC calibration errors up to 5 mm. Conclusion: EPID imaging may be used for independent real-time verification of MLC trajectories during MLC tracking deliveries. Thresholds have been determined for error detection and the system has been shown to be sensitive to a range of delivery errors.« less

Auto-tracking system for human lumbar motion analysis.

PubMed

Sui, Fuge; Zhang, Da; Lam, Shing Chun Benny; Zhao, Lifeng; Wang, Dongjun; Bi, Zhenggang; Hu, Yong

2011-01-01

Previous lumbar motion analyses suggest the usefulness of quantitatively characterizing spine motion. However, the application of such measurements is still limited by the lack of user-friendly automatic spine motion analysis systems. This paper describes an automatic analysis system to measure lumbar spine disorders that consists of a spine motion guidance device, an X-ray imaging modality to acquire digitized video fluoroscopy (DVF) sequences and an automated tracking module with a graphical user interface (GUI). DVF sequences of the lumbar spine are recorded during flexion-extension under a guidance device. The automatic tracking software utilizing a particle filter locates the vertebra-of-interest in every frame of the sequence, and the tracking result is displayed on the GUI. Kinematic parameters are also extracted from the tracking results for motion analysis. We observed that, in a bone model test, the maximum fiducial error was 3.7%, and the maximum repeatability error in translation and rotation was 1.2% and 2.6%, respectively. In our simulated DVF sequence study, the automatic tracking was not successful when the noise intensity was greater than 0.50. In a noisy situation, the maximal difference was 1.3 mm in translation and 1° in the rotation angle. The errors were calculated in translation (fiducial error: 2.4%, repeatability error: 0.5%) and in the rotation angle (fiducial error: 1.0%, repeatability error: 0.7%). However, the automatic tracking software could successfully track simulated sequences contaminated by noise at a density ≤ 0.5 with very high accuracy, providing good reliability and robustness. A clinical trial with 10 healthy subjects and 2 lumbar spondylolisthesis patients were enrolled in this study. The measurement with auto-tacking of DVF provided some information not seen in the conventional X-ray. The results proposed the potential use of the proposed system for clinical applications.

Geometric calibration of a coordinate measuring machine using a laser tracking system

NASA Astrophysics Data System (ADS)

Umetsu, Kenta; Furutnani, Ryosyu; Osawa, Sonko; Takatsuji, Toshiyuki; Kurosawa, Tomizo

2005-12-01

This paper proposes a calibration method for a coordinate measuring machine (CMM) using a laser tracking system. The laser tracking system can measure three-dimensional coordinates based on the principle of trilateration with high accuracy and is easy to set up. The accuracy of length measurement of a single laser tracking interferometer (laser tracker) is about 0.3 µm over a length of 600 mm. In this study, we first measured 3D coordinates using the laser tracking system. Secondly, 21 geometric errors, namely, parametric errors of the CMM, were estimated by the comparison of the coordinates obtained by the laser tracking system and those obtained by the CMM. As a result, the estimated parametric errors agreed with those estimated by a ball plate measurement, which demonstrates the validity of the proposed calibration system.

Distributed ESO based cooperative tracking control for high-order nonlinear multiagent systems with lumped disturbance and application in multi flight simulators systems.

PubMed

Cong, Zhang

2018-03-01

Based on extended state observer, a novel and practical design method is developed to solve the distributed cooperative tracking problem of higher-order nonlinear multiagent systems with lumped disturbance in a fixed communication topology directed graph. The proposed method is designed to guarantee all the follower nodes ultimately and uniformly converge to the leader node with bounded residual errors. The leader node, modeled as a higher-order non-autonomous nonlinear system, acts as a command generator giving commands only to a small portion of the networked follower nodes. Extended state observer is used to estimate the local states and lumped disturbance of each follower node. Moreover, each distributed controller can work independently only requiring the relative states and/or the estimated relative states information between itself and its neighbors. Finally an engineering application of multi flight simulators systems is demonstrated to test and verify the effectiveness of the proposed algorithm. Copyright © 2018 ISA. Published by Elsevier Ltd. All rights reserved.

An open-loop system design for deep space signal processing applications

NASA Astrophysics Data System (ADS)

Tang, Jifei; Xia, Lanhua; Mahapatra, Rabi

2018-06-01

A novel open-loop system design with high performance is proposed for space positioning and navigation signal processing. Divided by functions, the system has four modules, bandwidth selectable data recorder, narrowband signal analyzer, time-delay difference of arrival estimator and ANFIS supplement processor. A hardware-software co-design approach is made to accelerate computing capability and improve system efficiency. Embedded with the proposed signal processing algorithms, the designed system is capable of handling tasks with high accuracy over long period of continuous measurements. The experiment results show the Doppler frequency tracking root mean square error during 3 h observation is 0.0128 Hz, while the TDOA residue analysis in correlation power spectrum is 0.1166 rad.

Tracking fin whales in the northeast Pacific Ocean with a seafloor seismic network.

PubMed

Wilcock, William S D

2012-10-01

Ocean bottom seismometer (OBS) networks represent a tool of opportunity to study fin and blue whales. A small OBS network on the Juan de Fuca Ridge in the northeast Pacific Ocean in ~2.3 km of water recorded an extensive data set of 20-Hz fin whale calls. An automated method has been developed to identify arrival times based on instantaneous frequency and amplitude and to locate calls using a grid search even in the presence of a few bad arrival times. When only one whale is calling near the network, tracks can generally be obtained up to distances of ~15 km from the network. When the calls from multiple whales overlap, user supervision is required to identify tracks. The absolute and relative amplitudes of arrivals and their three-component particle motions provide additional constraints on call location but are not useful for extending the distance to which calls can be located. The double-difference method inverts for changes in relative call locations using differences in residuals for pairs of nearby calls recorded on a common station. The method significantly reduces the unsystematic component of the location error, especially when inconsistencies in arrival time observations are minimized by cross-correlation.

Precise orbit computation and sea surface modeling

NASA Technical Reports Server (NTRS)

Wakker, Karel F.; Ambrosius, B. A. C.; Rummel, R.; Vermaat, E.; Deruijter, W. P. M.; Vandermade, J. W.; Zimmerman, J. T. F.

1991-01-01

The research project described below is part of a long-term program at Delft University of Technology aiming at the application of European Remote Sensing satellite (ERS-1) and TOPEX/POSEIDON altimeter measurements for geophysical purposes. This program started in 1980 with the processing of Seasat laser range and altimeter height measurements and concentrates today on the analysis of Geosat altimeter data. The objectives of the TOPEX/POSEIDON research project are the tracking of the satellite by the Dutch mobile laser tracking system MTLRS-2, the computation of precise TOPEX/POSEIDON orbits, the analysis of the spatial and temporal distribution of the orbit errors, the improvement of ERS-1 orbits through the information obtained from the altimeter crossover difference residuals for crossing ERS-1 and TOPEX/POSEIDON tracks, the combination of ERS-1 and TOPEX/POSEIDON altimeter data into a single high-precision data set, and the application of this data set to model the sea surface. The latter application will focus on the determination of detailed regional mean sea surfaces, sea surface variability, ocean topography, and ocean currents in the North Atlantic, the North Sea, the seas around Indonesia, the West Pacific, and the oceans around South Africa.

Feedback attitude sliding mode regulation control of spacecraft using arm motion

NASA Astrophysics Data System (ADS)

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

2013-09-01

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

Bi-Objective Optimal Control Modification Adaptive Control for Systems with Input Uncertainty

NASA Technical Reports Server (NTRS)

Nguyen, Nhan T.

2012-01-01

This paper presents a new model-reference adaptive control method based on a bi-objective optimal control formulation for systems with input uncertainty. A parallel predictor model is constructed to relate the predictor error to the estimation error of the control effectiveness matrix. In this work, we develop an optimal control modification adaptive control approach that seeks to minimize a bi-objective linear quadratic cost function of both the tracking error norm and predictor error norm simultaneously. The resulting adaptive laws for the parametric uncertainty and control effectiveness uncertainty are dependent on both the tracking error and predictor error, while the adaptive laws for the feedback gain and command feedforward gain are only dependent on the tracking error. The optimal control modification term provides robustness to the adaptive laws naturally from the optimal control framework. Simulations demonstrate the effectiveness of the proposed adaptive control approach.

A comparison of gantry-mounted x-ray-based real-time target tracking methods.

PubMed

Montanaro, Tim; Nguyen, Doan Trang; Keall, Paul J; Booth, Jeremy; Caillet, Vincent; Eade, Thomas; Haddad, Carol; Shieh, Chun-Chien

2018-03-01

Most modern radiotherapy machines are built with a 2D kV imaging system. Combining this imaging system with a 2D-3D inference method would allow for a ready-made option for real-time 3D tumor tracking. This work investigates and compares the accuracy of four existing 2D-3D inference methods using both motion traces inferred from external surrogates and measured internally from implanted beacons. Tumor motion data from 160 fractions (46 thoracic/abdominal patients) of Synchrony traces (inferred traces), and 28 fractions (7 lung patients) of Calypso traces (internal traces) from the LIGHT SABR trial (NCT02514512) were used in this study. The motion traces were used as the ground truth. The ground truth trajectories were used in silico to generate 2D positions projected on the kV detector. These 2D traces were then passed to the 2D-3D inference methods: interdimensional correlation, Gaussian probability density function (PDF), arbitrary-shape PDF, and the Kalman filter. The inferred 3D positions were compared with the ground truth to determine tracking errors. The relationships between tracking error and motion magnitude, interdimensional correlation, and breathing periodicity index (BPI) were also investigated. Larger tracking errors were observed from the Calypso traces, with RMS and 95th percentile 3D errors of 0.84-1.25 mm and 1.72-2.64 mm, compared to 0.45-0.68 mm and 0.74-1.13 mm from the Synchrony traces. The Gaussian PDF method was found to be the most accurate, followed by the Kalman filter, the interdimensional correlation method, and the arbitrary-shape PDF method. Tracking error was found to strongly and positively correlate with motion magnitude for both the Synchrony and Calypso traces and for all four methods. Interdimensional correlation and BPI were found to negatively correlate with tracking error only for the Synchrony traces. The Synchrony traces exhibited higher interdimensional correlation than the Calypso traces especially in the anterior-posterior direction. Inferred traces often exhibit higher interdimensional correlation, which are not true representation of thoracic/abdominal motion and may underestimate kV-based tracking errors. The use of internal traces acquired from systems such as Calypso is advised for future kV-based tracking studies. The Gaussian PDF method is the most accurate 2D-3D inference method for tracking thoracic/abdominal targets. Motion magnitude has significant impact on 2D-3D inference error, and should be considered when estimating kV-based tracking error. © 2018 American Association of Physicists in Medicine.

On the determination and investigation of the terrestrial ionospheric refractive indices using GEOS-3/ATS-6 satellite-to-satellite tracking data

NASA Technical Reports Server (NTRS)

Liu, A. S.

1978-01-01

When the radio link between two satellites (GEOS-3/ATS-6) is intercepted by the earth's ionosphere and neutral atmosphere, a change in the Doppler frequency results. Travel through the atmosphere causes the Doppler phase to be advanced in the ionosphere's portion and retarded in the neutral portion of the atmosphere. Analysis of the shortening and lengthening of the phase of the Satellite-to-Satellite Tracking (SST) data that passed within 40-700 km above the earth's surface during its ATS-6 to GEOS-3 to ATS-6 path, caused by the atmosphere, results in refractivity versus height profiles. The SST Doppler data were used directly to adjust the GEOS-3 orbit. Perturbation from the Moon, Sun and a 15th order/degree earth gravity field were included in the orbit solution. This orbit was continued through the occultation period and a model ionosphere was estimated by a least-square adjustment of the Chapman ionosphere parameters from the SST data residuals. The refractivity profile obtained by this model ionosphere was compared to a refractivity profile obtained by a direct integral inversion of the SST data residuals. Systematic differences between the 2 methods were caused by orbital errors, which propagated into the solution. The SST data yielded refractive index profiles in a novel economical manner because no additional or special on-board equipment were required.

A path reconstruction method integrating dead-reckoning and position fixes applied to humpback whales.

PubMed

Wensveen, Paul J; Thomas, Len; Miller, Patrick J O

2015-01-01

Detailed information about animal location and movement is often crucial in studies of natural behaviour and how animals respond to anthropogenic activities. Dead-reckoning can be used to infer such detailed information, but without additional positional data this method results in uncertainty that grows with time. Combining dead-reckoning with new Fastloc-GPS technology should provide good opportunities for reconstructing georeferenced fine-scale tracks, and should be particularly useful for marine animals that spend most of their time under water. We developed a computationally efficient, Bayesian state-space modelling technique to estimate humpback whale locations through time, integrating dead-reckoning using on-animal sensors with measurements of whale locations using on-animal Fastloc-GPS and visual observations. Positional observation models were based upon error measurements made during calibrations. High-resolution 3-dimensional movement tracks were produced for 13 whales using a simple process model in which errors caused by water current movements, non-location sensor errors, and other dead-reckoning errors were accumulated into a combined error term. Positional uncertainty quantified by the track reconstruction model was much greater for tracks with visual positions and few or no GPS positions, indicating a strong benefit to using Fastloc-GPS for track reconstruction. Compared to tracks derived only from position fixes, the inclusion of dead-reckoning data greatly improved the level of detail in the reconstructed tracks of humpback whales. Using cross-validation, a clear improvement in the predictability of out-of-set Fastloc-GPS data was observed compared to more conventional track reconstruction methods. Fastloc-GPS observation errors during calibrations were found to vary by number of GPS satellites received and by orthogonal dimension analysed; visual observation errors varied most by distance to the whale. By systematically accounting for the observation errors in the position fixes, our model provides a quantitative estimate of location uncertainty that can be appropriately incorporated into analyses of animal movement. This generic method has potential application for a wide range of marine animal species and data recording systems.

TOPEX/POSEIDON orbit maintenance maneuver design

NASA Technical Reports Server (NTRS)

Bhat, R. S.; Frauenholz, R. B.; Cannell, Patrick E.

1990-01-01

The Ocean Topography Experiment (TOPEX/POSEIDON) mission orbit requirements are outlined, as well as its control and maneuver spacing requirements including longitude and time targeting. A ground-track prediction model dealing with geopotential, luni-solar gravity, and atmospheric-drag perturbations is considered. Targeting with all modeled perturbations is discussed, and such ground-track prediction errors as initial semimajor axis, orbit-determination, maneuver-execution, and atmospheric-density modeling errors are assessed. A longitude targeting strategy for two extreme situations is investigated employing all modeled perturbations and prediction errors. It is concluded that atmospheric-drag modeling errors are the prevailing ground-track prediction error source early in the mission during high solar flux, and that low solar-flux levels expected late in the experiment stipulate smaller maneuver magnitudes.

A Complementary Note to 'A Lag-1 Smoother Approach to System-Error Estimation': The Intrinsic Limitations of Residual Diagnostics

NASA Technical Reports Server (NTRS)

Todling, Ricardo

2015-01-01

Recently, this author studied an approach to the estimation of system error based on combining observation residuals derived from a sequential filter and fixed lag-1 smoother. While extending the methodology to a variational formulation, experimenting with simple models and making sure consistency was found between the sequential and variational formulations, the limitations of the residual-based approach came clearly to the surface. This note uses the sequential assimilation application to simple nonlinear dynamics to highlight the issue. Only when some of the underlying error statistics are assumed known is it possible to estimate the unknown component. In general, when considerable uncertainties exist in the underlying statistics as a whole, attempts to obtain separate estimates of the various error covariances are bound to lead to misrepresentation of errors. The conclusions are particularly relevant to present-day attempts to estimate observation-error correlations from observation residual statistics. A brief illustration of the issue is also provided by comparing estimates of error correlations derived from a quasi-operational assimilation system and a corresponding Observing System Simulation Experiments framework.

Evaluating and improving the representation of heteroscedastic errors in hydrological models

NASA Astrophysics Data System (ADS)

McInerney, D. J.; Thyer, M. A.; Kavetski, D.; Kuczera, G. A.

2013-12-01

Appropriate representation of residual errors in hydrological modelling is essential for accurate and reliable probabilistic predictions. In particular, residual errors of hydrological models are often heteroscedastic, with large errors associated with high rainfall and runoff events. Recent studies have shown that using a weighted least squares (WLS) approach - where the magnitude of residuals are assumed to be linearly proportional to the magnitude of the flow - captures some of this heteroscedasticity. In this study we explore a range of Bayesian approaches for improving the representation of heteroscedasticity in residual errors. We compare several improved formulations of the WLS approach, the well-known Box-Cox transformation and the more recent log-sinh transformation. Our results confirm that these approaches are able to stabilize the residual error variance, and that it is possible to improve the representation of heteroscedasticity compared with the linear WLS approach. We also find generally good performance of the Box-Cox and log-sinh transformations, although as indicated in earlier publications, the Box-Cox transform sometimes produces unrealistically large prediction limits. Our work explores the trade-offs between these different uncertainty characterization approaches, investigates how their performance varies across diverse catchments and models, and recommends practical approaches suitable for large-scale applications.

Altitude Registration of Limb-Scattered Radiation

NASA Technical Reports Server (NTRS)

Moy, Leslie; Bhartia, Pawan K.; Jaross, Glen; Loughman, Robert; Kramarova, Natalya; Chen, Zhong; Taha, Ghassan; Chen, Grace; Xu, Philippe

2017-01-01

One of the largest constraints to the retrieval of accurate ozone profiles from UV backscatter limb sounding sensors is altitude registration. Two methods, the Rayleigh scattering attitude sensing (RSAS) and absolute radiance residual method (ARRM), are able to determine altitude registration to the accuracy necessary for long-term ozone monitoring. The methods compare model calculations of radiances to measured radiances and are independent of onboard tracking devices. RSAS determines absolute altitude errors, but, because the method is susceptible to aerosol interference, it is limited to latitudes and time periods with minimal aerosol contamination. ARRM, a new technique introduced in this paper, can be applied across all seasons and altitudes. However, it is only appropriate for relative altitude error estimates. The application of RSAS to Limb Profiler (LP) measurements from the Ozone Mapping and Profiler Suite (OMPS) on board the Suomi NPP (SNPP) satellite indicates tangent height (TH) errors greater than 1 km with an absolute accuracy of +/-200 m. Results using ARRM indicate a approx. 300 to 400m intra-orbital TH change varying seasonally +/-100 m, likely due to either errors in the spacecraft pointing or in the geopotential height (GPH) data that we use in our analysis. ARRM shows a change of approx. 200m over 5 years with a relative accuracy (a long-term accuracy) of 100m outside the polar regions.

Ionospheric refraction effects on TOPEX orbit determination accuracy using the Tracking and Data Relay Satellite System (TDRSS)

NASA Technical Reports Server (NTRS)

Radomski, M. S.; Doll, C. E.

1991-01-01

This investigation concerns the effects on Ocean Topography Experiment (TOPEX) spacecraft operational orbit determination of ionospheric refraction error affecting tracking measurements from the Tracking and Data Relay Satellite System (TDRSS). Although tracking error from this source is mitigated by the high frequencies (K-band) used for the space-to-ground links and by the high altitudes for the space-to-space links, these effects are of concern for the relatively high-altitude (1334 kilometers) TOPEX mission. This concern is due to the accuracy required for operational orbit-determination by the Goddard Space Flight Center (GSFC) and to the expectation that solar activity will still be relatively high at TOPEX launch in mid-1992. The ionospheric refraction error on S-band space-to-space links was calculated by a prototype observation-correction algorithm using the Bent model of ionosphere electron densities implemented in the context of the Goddard Trajectory Determination System (GTDS). Orbit determination error was evaluated by comparing parallel TOPEX orbit solutions, applying and omitting the correction, using the same simulated TDRSS tracking observations. The tracking scenarios simulated those planned for the observation phase of the TOPEX mission, with a preponderance of one-way return-link Doppler measurements. The results of the analysis showed most TOPEX operational accuracy requirements to be little affected by space-to-space ionospheric error. The determination of along-track velocity changes after ground-track adjustment maneuvers, however, is significantly affected when compared with the stringent 0.1-millimeter-per-second accuracy requirements, assuming uncoupled premaneuver and postmaneuver orbit determination. Space-to-space ionospheric refraction on the 24-hour postmaneuver arc alone causes 0.2 millimeter-per-second errors in along-track delta-v determination using uncoupled solutions. Coupling the premaneuver and postmaneuver solutions, however, appears likely to reduce this figure substantially. Plans and recommendations for response to these findings are presented.

Altimeter error sources at the 10-cm performance level

NASA Technical Reports Server (NTRS)

Martin, C. F.

1977-01-01

Error sources affecting the calibration and operational use of a 10 cm altimeter are examined to determine the magnitudes of current errors and the investigations necessary to reduce them to acceptable bounds. Errors considered include those affecting operational data pre-processing, and those affecting altitude bias determination, with error budgets developed for both. The most significant error sources affecting pre-processing are bias calibration, propagation corrections for the ionosphere, and measurement noise. No ionospheric models are currently validated at the required 10-25% accuracy level. The optimum smoothing to reduce the effects of measurement noise is investigated and found to be on the order of one second, based on the TASC model of geoid undulations. The 10 cm calibrations are found to be feasible only through the use of altimeter passes that are very high elevation for a tracking station which tracks very close to the time of altimeter track, such as a high elevation pass across the island of Bermuda. By far the largest error source, based on the current state-of-the-art, is the location of the island tracking station relative to mean sea level in the surrounding ocean areas.

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

NASA Technical Reports Server (NTRS)

James, R.; Brownlow, J. D.

1985-01-01

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

SU-E-J-112: The Impact of Cine EPID Image Acquisition Frame Rate On Markerless Soft-Tissue Tracking

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

Yip, S; Rottmann, J; Berbeco, R

2014-06-01

Purpose: Although reduction of the cine EPID acquisition frame rate through multiple frame averaging may reduce hardware memory burden and decrease image noise, it can hinder the continuity of soft-tissue motion leading to poor auto-tracking results. The impact of motion blurring and image noise on the tracking performance was investigated. Methods: Phantom and patient images were acquired at a frame rate of 12.87Hz on an AS1000 portal imager. Low frame rate images were obtained by continuous frame averaging. A previously validated tracking algorithm was employed for auto-tracking. The difference between the programmed and auto-tracked positions of a Las Vegas phantommore » moving in the superior-inferior direction defined the tracking error (δ). Motion blurring was assessed by measuring the area change of the circle with the greatest depth. Additionally, lung tumors on 1747 frames acquired at eleven field angles from four radiotherapy patients are manually and automatically tracked with varying frame averaging. δ was defined by the position difference of the two tracking methods. Image noise was defined as the standard deviation of the background intensity. Motion blurring and image noise were correlated with δ using Pearson correlation coefficient (R). Results: For both phantom and patient studies, the auto-tracking errors increased at frame rates lower than 4.29Hz. Above 4.29Hz, changes in errors were negligible with δ<1.60mm. Motion blurring and image noise were observed to increase and decrease with frame averaging, respectively. Motion blurring and tracking errors were significantly correlated for the phantom (R=0.94) and patient studies (R=0.72). Moderate to poor correlation was found between image noise and tracking error with R -0.58 and -0.19 for both studies, respectively. Conclusion: An image acquisition frame rate of at least 4.29Hz is recommended for cine EPID tracking. Motion blurring in images with frame rates below 4.39Hz can substantially reduce the accuracy of auto-tracking. This work is supported in part by the Varian Medical Systems, Inc.« less

A Track Initiation Method for the Underwater Target Tracking Environment

NASA Astrophysics Data System (ADS)

Li, Dong-dong; Lin, Yang; Zhang, Yao

2018-04-01

A novel efficient track initiation method is proposed for the harsh underwater target tracking environment (heavy clutter and large measurement errors): track splitting, evaluating, pruning and merging method (TSEPM). Track initiation demands that the method should determine the existence and initial state of a target quickly and correctly. Heavy clutter and large measurement errors certainly pose additional difficulties and challenges, which deteriorate and complicate the track initiation in the harsh underwater target tracking environment. There are three primary shortcomings for the current track initiation methods to initialize a target: (a) they cannot eliminate the turbulences of clutter effectively; (b) there may be a high false alarm probability and low detection probability of a track; (c) they cannot estimate the initial state for a new confirmed track correctly. Based on the multiple hypotheses tracking principle and modified logic-based track initiation method, in order to increase the detection probability of a track, track splitting creates a large number of tracks which include the true track originated from the target. And in order to decrease the false alarm probability, based on the evaluation mechanism, track pruning and track merging are proposed to reduce the false tracks. TSEPM method can deal with the track initiation problems derived from heavy clutter and large measurement errors, determine the target's existence and estimate its initial state with the least squares method. What's more, our method is fully automatic and does not require any kind manual input for initializing and tuning any parameter. Simulation results indicate that our new method improves significantly the performance of the track initiation in the harsh underwater target tracking environment.

Geometric error characterization and error budgets. [thematic mapper

NASA Technical Reports Server (NTRS)

Beyer, E.

1982-01-01

Procedures used in characterizing geometric error sources for a spaceborne imaging system are described using the LANDSAT D thematic mapper ground segment processing as the prototype. Software was tested through simulation and is undergoing tests with the operational hardware as part of the prelaunch system evaluation. Geometric accuracy specifications, geometric correction, and control point processing are discussed. Cross track and along track errors are tabulated for the thematic mapper, the spacecraft, and ground processing to show the temporal registration error budget in pixel (42.5 microrad) 90%.

Experimental investigation of control/display augmentation effects in a compensatory tracking task

NASA Technical Reports Server (NTRS)

Garg, Sanjay; Schmidt, David K.

1988-01-01

The effects of control/display augmentation on human performance and workload have been investigated for closed-loop, continuous-tracking tasks by a real-time, man-in-the-loop simulation study. The experimental results obtained indicate that only limited improvement in actual tracking performance is obtainable through display augmentation alone; with a very high level of display augmentation, tracking error will actually deteriorate. Tracking performance improves when status information is furnished for reasonable levels of display quickening; again, very high quickening levels lead to tracking error deterioration due to the incompatibility between the status information and the quickened signal.

Effects of measurement unobservability on neural extended Kalman filter tracking

NASA Astrophysics Data System (ADS)

Stubberud, Stephen C.; Kramer, Kathleen A.

2009-05-01

An important component of tracking fusion systems is the ability to fuse various sensors into a coherent picture of the scene. When multiple sensor systems are being used in an operational setting, the types of data vary. A significant but often overlooked concern of multiple sensors is the incorporation of measurements that are unobservable. An unobservable measurement is one that may provide information about the state, but cannot recreate a full target state. A line of bearing measurement, for example, cannot provide complete position information. Often, such measurements come from passive sensors such as a passive sonar array or an electronic surveillance measure (ESM) system. Unobservable measurements will, over time, result in the measurement uncertainty to grow without bound. While some tracking implementations have triggers to protect against the detrimental effects, many maneuver tracking algorithms avoid discussing this implementation issue. One maneuver tracking technique is the neural extended Kalman filter (NEKF). The NEKF is an adaptive estimation algorithm that estimates the target track as it trains a neural network on line to reduce the error between the a priori target motion model and the actual target dynamics. The weights of neural network are trained in a similar method to the state estimation/parameter estimation Kalman filter techniques. The NEKF has been shown to improve target tracking accuracy through maneuvers and has been use to predict target behavior using the new model that consists of the a priori model and the neural network. The key to the on-line adaptation of the NEKF is the fact that the neural network is trained using the same residuals as the Kalman filter for the tracker. The neural network weights are treated as augmented states to the target track. Through the state-coupling function, the weights are coupled to the target states. Thus, if the measurements cause the states of the target track to be unobservable, then the weights of the neural network have unobservable modes as well. In recent analysis, the NEKF was shown to have a significantly larger growth in the eigenvalues of the error covariance matrix than the standard EKF tracker when the measurements were purely bearings-only. This caused detrimental effects to the ability of the NEKF to model the target dynamics. In this work, the analysis is expanded to determine the detrimental effects of bearings-only measurements of various uncertainties on the performance of the NEKF when these unobservable measurements are interlaced with completely observable measurements. This analysis provides the ability to put implementation limitations on the NEKF when bearings-only sensors are present.

Statistics of the residual refraction errors in laser ranging data

NASA Technical Reports Server (NTRS)

Gardner, C. S.

1977-01-01

A theoretical model for the range error covariance was derived by assuming that the residual refraction errors are due entirely to errors in the meteorological data which are used to calculate the atmospheric correction. The properties of the covariance function are illustrated by evaluating the theoretical model for the special case of a dense network of weather stations uniformly distributed within a circle.

Bayesian inversions of a dynamic vegetation model at four European grassland sites

NASA Astrophysics Data System (ADS)

Minet, J.; Laloy, E.; Tychon, B.; Francois, L.

2015-05-01

Eddy covariance data from four European grassland sites are used to probabilistically invert the CARAIB (CARbon Assimilation In the Biosphere) dynamic vegetation model (DVM) with 10 unknown parameters, using the DREAM(ZS) (DiffeRential Evolution Adaptive Metropolis) Markov chain Monte Carlo (MCMC) sampler. We focus on comparing model inversions, considering both homoscedastic and heteroscedastic eddy covariance residual errors, with variances either fixed a priori or jointly inferred together with the model parameters. Agreements between measured and simulated data during calibration are comparable with previous studies, with root mean square errors (RMSEs) of simulated daily gross primary productivity (GPP), ecosystem respiration (RECO) and evapotranspiration (ET) ranging from 1.73 to 2.19, 1.04 to 1.56 g C m-2 day-1 and 0.50 to 1.28 mm day-1, respectively. For the calibration period, using a homoscedastic eddy covariance residual error model resulted in a better agreement between measured and modelled data than using a heteroscedastic residual error model. However, a model validation experiment showed that CARAIB models calibrated considering heteroscedastic residual errors perform better. Posterior parameter distributions derived from using a heteroscedastic model of the residuals thus appear to be more robust. This is the case even though the classical linear heteroscedastic error model assumed herein did not fully remove heteroscedasticity of the GPP residuals. Despite the fact that the calibrated model is generally capable of fitting the data within measurement errors, systematic bias in the model simulations are observed. These are likely due to model inadequacies such as shortcomings in the photosynthesis modelling. Besides the residual error treatment, differences between model parameter posterior distributions among the four grassland sites are also investigated. It is shown that the marginal distributions of the specific leaf area and characteristic mortality time parameters can be explained by site-specific ecophysiological characteristics.

Goal-oriented explicit residual-type error estimates in XFEM

NASA Astrophysics Data System (ADS)

Rüter, Marcus; Gerasimov, Tymofiy; Stein, Erwin

2013-08-01

A goal-oriented a posteriori error estimator is derived to control the error obtained while approximately evaluating a quantity of engineering interest, represented in terms of a given linear or nonlinear functional, using extended finite elements of Q1 type. The same approximation method is used to solve the dual problem as required for the a posteriori error analysis. It is shown that for both problems to be solved numerically the same singular enrichment functions can be used. The goal-oriented error estimator presented can be classified as explicit residual type, i.e. the residuals of the approximations are used directly to compute upper bounds on the error of the quantity of interest. This approach therefore extends the explicit residual-type error estimator for classical energy norm error control as recently presented in Gerasimov et al. (Int J Numer Meth Eng 90:1118-1155, 2012a). Without loss of generality, the a posteriori error estimator is applied to the model problem of linear elastic fracture mechanics. Thus, emphasis is placed on the fracture criterion, here the J-integral, as the chosen quantity of interest. Finally, various illustrative numerical examples are presented where, on the one hand, the error estimator is compared to its finite element counterpart and, on the other hand, improved enrichment functions, as introduced in Gerasimov et al. (2012b), are discussed.

Application of Tracking and Data Relay Satellite (TDRS) Differenced One-Way Doppler (DOWD) Tracking Data for Orbit Determination and Station Acquisition Support of User Spacecraft Without TDRS Compatible Transponders

NASA Technical Reports Server (NTRS)

Olszewski, A. D., Jr.; Wilcox, T. P.; Beckman, Mark

1996-01-01

Many spacecraft are launched today with only an omni-directional (omni) antenna and do not have an onboard Tracking and Data Relay Satellite (TDRS) transponder that is capable of coherently returning a carrier signal through TDRS. Therefore, other means of tracking need to be explored and used to adequately acquire the spacecraft. Differenced One-Way Doppler (DOWD) tracking data are very useful in eliminating the problems associated with the instability of the onboard oscillators when using strictly one-way Doppler data. This paper investigates the TDRS DOWD tracking data received by the Goddard Space Flight Center (GSFC) Flight Dynamics Facility (FDF) during the launch and early orbit phases for the the Interplanetary Physics Laboratory (WIND) and the National Oceanographic and Atmospheric Administration (NOAA)-J missions. In particular FDF personnel performed an investigation of the data residuals and made an assessment of the acquisition capabilities of DOWD-based solutions. Comparisons of DOWD solutions with existing data types were performed and analyzed in this study. The evaluation also includes atmospheric editing of the DOWD data and a study of the feasibility of solving for Doppler biases in an attempt to minimize error. Furthermore, by comparing the results from WIND and NOAA-J, an attempt is made to show the limitations involved in using DOWD data for the two different mission profiles. The techniques discussed in this paper benefit the launches of spacecraft that do not have TDRS transponders on board, particularly those launched into a low Earth orbit. The use of DOWD data is a valuable asset to missions which do not have a stable local oscillator to enable high-quality solutions from the one-way/return-link Doppler tracking data.

The U.S. Air Force Photorefractive Keratectomy (PRK) Study: Evaluation of Residual Refractive Error and High- and Low-Contrast Visual Acuity

DTIC Science & Technology

2006-07-01

values for statistical analyses in terms of Snellen equivalent VA (Ref 44) and lines gained vs . lost after PRK . The Snellen VA values shown in the...AFRL-SA-BR-TR-2010-0011 THE U.S. AIR FORCE PHOTOREFRACTIVE KERATECTOMY ( PRK ) STUDY: Evaluation of Residual Refractive Error and High...July 2006 4. TITLE AND SUBTITLE THE U.S. AIR FORCE PHOTOREFRACTIVE KERATECTOMY ( PRK ) STUDY: Evaluation of Residual Refractive Error and High- and

An Adaptive INS-Aided PLL Tracking Method for GNSS Receivers in Harsh Environments.

PubMed

Cong, Li; Li, Xin; Jin, Tian; Yue, Song; Xue, Rui

2016-01-23

As the weak link in global navigation satellite system (GNSS) signal processing, the phase-locked loop (PLL) is easily influenced with frequent cycle slips and loss of lock as a result of higher vehicle dynamics and lower signal-to-noise ratios. With inertial navigation system (INS) aid, PLLs' tracking performance can be improved. However, for harsh environments with high dynamics and signal attenuation, the traditional INS-aided PLL with fixed loop parameters has some limitations to improve the tracking adaptability. In this paper, an adaptive INS-aided PLL capable of adjusting its noise bandwidth and coherent integration time has been proposed. Through theoretical analysis, the relation between INS-aided PLL phase tracking error and carrier to noise density ratio (C/N₀), vehicle dynamics, aiding information update time, noise bandwidth, and coherent integration time has been built. The relation formulae are used to choose the optimal integration time and bandwidth for a given application under the minimum tracking error criterion. Software and hardware simulation results verify the correctness of the theoretical analysis, and demonstrate that the adaptive tracking method can effectively improve the PLL tracking ability and integrated GNSS/INS navigation performance. For harsh environments, the tracking sensitivity is increased by 3 to 5 dB, velocity errors are decreased by 36% to 50% and position errors are decreased by 6% to 24% when compared with other INS-aided PLL methods.

Measuring atmospheric density using GPS-LEO tracking data

NASA Astrophysics Data System (ADS)

Kuang, D.; Desai, S.; Sibthorpe, A.; Pi, X.

2014-01-01

We present a method to estimate the total neutral atmospheric density from precise orbit determination of Low Earth Orbit (LEO) satellites. We derive the total atmospheric density by determining the drag force acting on the LEOs through centimeter-level reduced-dynamic precise orbit determination (POD) using onboard Global Positioning System (GPS) tracking data. The precision of the estimated drag accelerations is assessed using various metrics, including differences between estimated along-track accelerations from consecutive 30-h POD solutions which overlap by 6 h, comparison of the resulting accelerations with accelerometer measurements, and comparison against an existing atmospheric density model, DTM-2000. We apply the method to GPS tracking data from CHAMP, GRACE, SAC-C, Jason-2, TerraSAR-X and COSMIC satellites, spanning 12 years (2001-2012) and covering orbital heights from 400 km to 1300 km. Errors in the estimates, including those introduced by deficiencies in other modeled forces (such as solar radiation pressure and Earth radiation pressure), are evaluated and the signal and noise levels for each satellite are analyzed. The estimated density data from CHAMP, GRACE, SAC-C and TerraSAR-X are identified as having high signal and low noise levels. These data all have high correlations with anominal atmospheric density model and show common features in relative residuals with respect to the nominal model in related parameter space. On the contrary, the estimated density data from COSMIC and Jason-2 show errors larger than the actual signal at corresponding altitudes thus having little practical value for this study. The results demonstrate that this method is applicable to data from a variety of missions and can provide useful total neutral density measurements for atmospheric study up to altitude as high as 715 km, with precision and resolution between those derived from traditional special orbital perturbation analysis and those obtained from onboard accelerometers.

Trajectory specification for high capacity air traffic control

NASA Technical Reports Server (NTRS)

Paielli, Russell A. (Inventor)

2010-01-01

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

40 CFR 97.256 - Account error.

Code of Federal Regulations, 2010 CFR

2010-07-01

... BUDGET TRADING PROGRAM AND CAIR NOX AND SO2 TRADING PROGRAMS CAIR SO2 Allowance Tracking System § 97.256... any error in any CAIR SO2 Allowance Tracking System account. Within 10 business days of making such...

An error analysis of the recovery capability of the relative sea-surface profile over the Puerto Rican trench from multi-station and ship tracking of GEOS-2

NASA Technical Reports Server (NTRS)

Stanley, H. R.; Martin, C. F.; Roy, N. A.; Vetter, J. R.

1971-01-01

Error analyses were performed to examine the height error in a relative sea-surface profile as determined by a combination of land-based multistation C-band radars and optical lasers and one ship-based radar tracking the GEOS 2 satellite. It was shown that two relative profiles can be obtained: one using available south-to-north passes of the satellite and one using available north-to-south type passes. An analysis of multi-station tracking capability determined that only Antigua and Grand Turk radars are required to provide satisfactory orbits for south-to-north type satellite passes, while a combination of Merritt Island, Bermuda, and Wallops radars provide secondary orbits for north-to-south passes. Analysis of ship tracking capabilities shows that high elevation single pass range-only solutions are necessary to give only moderate sensitivity to systematic error effects.

Residual volume on land and when immersed in water: effect on percent body fat.

PubMed

Demura, Shinichi; Yamaji, Shunsuke; Kitabayashi, Tamotsu

2006-08-01

There is a large residual volume (RV) error when assessing percent body fat by means of hydrostatic weighing. It has generally been measured before hydrostatic weighing. However, an individual's maximal exhalations on land and in the water may not be identical. The aims of this study were to compare residual volumes and vital capacities on land and when immersed to the neck in water, and to examine the influence of the measurement error on percent body fat. The participants were 20 healthy Japanese males and 20 healthy Japanese females. To assess the influence of the RV error on percent body fat in both conditions and to evaluate the cross-validity of the prediction equation, another 20 males and 20 females were measured using hydrostatic weighing. Residual volume was measured on land and in the water using a nitrogen wash-out technique based on an open-circuit approach. In water, residual volume was measured with the participant sitting on a chair while the whole body, except the head, was submerged . The trial-to-trial reliabilities of residual volume in both conditions were very good (intraclass correlation coefficient > 0.98). Although residual volume measured under the two conditions did not agree completely, they showed a high correlation (males: 0.880; females: 0.853; P < 0.05). The limits of agreement for residual volumes in both conditions using Bland-Altman plots were -0.430 to 0.508 litres. This range was larger than the trial-to-trial error of residual volume on land (-0.260 to 0.304 litres). Moreover, the relationship between percent body fat computed using residual volume measured in both conditions was very good for both sexes (males: r = 0.902; females: r = 0.869, P < 0.0001), and the errors were approximately -6 to 4% (limits of agreement for percent body fat: -3.4 to 2.2% for males; -6.3 to 4.4% for females). We conclude that if these errors are of no importance, residual volume measured on land can be used when assessing body composition.

Accuracy analysis for triangulation and tracking based on time-multiplexed structured light.

PubMed

Wagner, Benjamin; Stüber, Patrick; Wissel, Tobias; Bruder, Ralf; Schweikard, Achim; Ernst, Floris

2014-08-01

The authors' research group is currently developing a new optical head tracking system for intracranial radiosurgery. This tracking system utilizes infrared laser light to measure features of the soft tissue on the patient's forehead. These features are intended to offer highly accurate registration with respect to the rigid skull structure by means of compensating for the soft tissue. In this context, the system also has to be able to quickly generate accurate reconstructions of the skin surface. For this purpose, the authors have developed a laser scanning device which uses time-multiplexed structured light to triangulate surface points. The accuracy of the authors' laser scanning device is analyzed and compared for different triangulation methods. These methods are given by the Linear-Eigen method and a nonlinear least squares method. Since Microsoft's Kinect camera represents an alternative for fast surface reconstruction, the authors' results are also compared to the triangulation accuracy of the Kinect device. Moreover, the authors' laser scanning device was used for tracking of a rigid object to determine how this process is influenced by the remaining triangulation errors. For this experiment, the scanning device was mounted to the end-effector of a robot to be able to calculate a ground truth for the tracking. The analysis of the triangulation accuracy of the authors' laser scanning device revealed a root mean square (RMS) error of 0.16 mm. In comparison, the analysis of the triangulation accuracy of the Kinect device revealed a RMS error of 0.89 mm. It turned out that the remaining triangulation errors only cause small inaccuracies for the tracking of a rigid object. Here, the tracking accuracy was given by a RMS translational error of 0.33 mm and a RMS rotational error of 0.12°. This paper shows that time-multiplexed structured light can be used to generate highly accurate reconstructions of surfaces. Furthermore, the reconstructed point sets can be used for high-accuracy tracking of objects, meeting the strict requirements of intracranial radiosurgery.

Performance of GPS-devices for environmental exposure assessment.

PubMed

Beekhuizen, Johan; Kromhout, Hans; Huss, Anke; Vermeulen, Roel

2013-01-01

Integration of individual time-location patterns with spatially resolved exposure maps enables a more accurate estimation of personal exposures to environmental pollutants than using estimates at fixed locations. Current global positioning system (GPS) devices can be used to track an individual's location. However, information on GPS-performance in environmental exposure assessment is largely missing. We therefore performed two studies. First, a commute-study, where the commute of 12 individuals was tracked twice, testing GPS-performance for five transport modes and two wearing modes. Second, an urban-tracking study, where one individual was tracked repeatedly through different areas, focused on the effect of building obstruction on GPS-performance. The median error from the true path for walking was 3.7 m, biking 2.9 m, train 4.8 m, bus 4.9 m, and car 3.3 m. Errors were larger in a high-rise commercial area (median error=7.1 m) compared with a low-rise residential area (median error=2.2 m). Thus, GPS-performance largely depends on the transport mode and urban built-up. Although ~85% of all errors were <10 m, almost 1% of the errors were >50 m. Modern GPS-devices are useful tools for environmental exposure assessment, but large GPS-errors might affect estimates of exposures with high spatial variability.

Three dimensional tracking with misalignment between display and control axes

NASA Technical Reports Server (NTRS)

Ellis, Stephen R.; Tyler, Mitchell; Kim, Won S.; Stark, Lawrence

1992-01-01

Human operators confronted with misaligned display and control frames of reference performed three dimensional, pursuit tracking in virtual environment and virtual space simulations. Analysis of the components of the tracking errors in the perspective displays presenting virtual space showed that components of the error due to visual motor misalignment may be linearly separated from those associated with the mismatch between display and control coordinate systems. Tracking performance improved with several hours practice despite previous reports that such improvement did not take place.

Analog track angle error displays improve simulated GPS approach performance

DOT National Transportation Integrated Search

1996-01-01

Pilots flying non-precision instrument approaches traditionally rely on a course deviation indicator (CDI) analog display of cross track error (XTE) information. THe new generation of GPS based area navigation (RNAV) receivers can also compute accura...

Particle Tracking on the BNL Relativistic Heavy Ion Collider

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

Dell, G. F.

1986-08-07

Tracking studies including the effects of random multipole errors as well as the effects of random and systematic multipole errors have been made for RHIC. Initial results for operating at an off diagonal working point are discussed.

Residue frequencies and pairing preferences at protein-protein interfaces.

PubMed

Glaser, F; Steinberg, D M; Vakser, I A; Ben-Tal, N

2001-05-01

We used a nonredundant set of 621 protein-protein interfaces of known high-resolution structure to derive residue composition and residue-residue contact preferences. The residue composition at the interfaces, in entire proteins and in whole genomes correlates well, indicating the statistical strength of the data set. Differences between amino acid distributions were observed for interfaces with buried surface area of less than 1,000 A(2) versus interfaces with area of more than 5,000 A(2). Hydrophobic residues were abundant in large interfaces while polar residues were more abundant in small interfaces. The largest residue-residue preferences at the interface were recorded for interactions between pairs of large hydrophobic residues, such as Trp and Leu, and the smallest preferences for pairs of small residues, such as Gly and Ala. On average, contacts between pairs of hydrophobic and polar residues were unfavorable, and the charged residues tended to pair subject to charge complementarity, in agreement with previous reports. A bootstrap procedure, lacking from previous studies, was used for error estimation. It showed that the statistical errors in the set of pairing preferences are generally small; the average standard error is approximately 0.2, i.e., about 8% of the average value of the pairwise index (2.9). However, for a few pairs (e.g., Ser-Ser and Glu-Asp) the standard error is larger in magnitude than the pairing index, which makes it impossible to tell whether contact formation is favorable or unfavorable. The results are interpreted using physicochemical factors and their implications for the energetics of complex formation and for protein docking are discussed. Proteins 2001;43:89-102. Copyright 2001 Wiley-Liss, Inc.

Effects of motion base and g-seat cueing of simulator pilot performance

NASA Technical Reports Server (NTRS)

Ashworth, B. R.; Mckissick, B. T.; Parrish, R. V.

1984-01-01

In order to measure and analyze the effects of a motion plus g-seat cueing system, a manned-flight-simulation experiment was conducted utilizing a pursuit tracking task and an F-16 simulation model in the NASA Langley visual/motion simulator. This experiment provided the information necessary to determine whether motion and g-seat cues have an additive effect on the performance of this task. With respect to the lateral tracking error and roll-control stick force, the answer is affirmative. It is shown that presenting the two cues simultaneously caused significant reductions in lateral tracking error and that using the g-seat and motion base separately provided essentially equal reductions in the pilot's lateral tracking error.

Quantitative evaluation for accumulative calibration error and video-CT registration errors in electromagnetic-tracked endoscopy.

PubMed

Liu, Sheena Xin; Gutiérrez, Luis F; Stanton, Doug

2011-05-01

Electromagnetic (EM)-guided endoscopy has demonstrated its value in minimally invasive interventions. Accuracy evaluation of the system is of paramount importance to clinical applications. Previously, a number of researchers have reported the results of calibrating the EM-guided endoscope; however, the accumulated errors of an integrated system, which ultimately reflect intra-operative performance, have not been characterized. To fill this vacancy, we propose a novel system to perform this evaluation and use a 3D metric to reflect the intra-operative procedural accuracy. This paper first presents a portable design and a method for calibration of an electromagnetic (EM)-tracked endoscopy system. An evaluation scheme is then described that uses the calibration results and EM-CT registration to enable real-time data fusion between CT and endoscopic video images. We present quantitative evaluation results for estimating the accuracy of this system using eight internal fiducials as the targets on an anatomical phantom: the error is obtained by comparing the positions of these targets in the CT space, EM space and endoscopy image space. To obtain 3D error estimation, the 3D locations of the targets in the endoscopy image space are reconstructed from stereo views of the EM-tracked monocular endoscope. Thus, the accumulated errors are evaluated in a controlled environment, where the ground truth information is present and systematic performance (including the calibration error) can be assessed. We obtain the mean in-plane error to be on the order of 2 pixels. To evaluate the data integration performance for virtual navigation, target video-CT registration error (TRE) is measured as the 3D Euclidean distance between the 3D-reconstructed targets of endoscopy video images and the targets identified in CT. The 3D error (TRE) encapsulates EM-CT registration error, EM-tracking error, fiducial localization error, and optical-EM calibration error. We present in this paper our calibration method and a virtual navigation evaluation system for quantifying the overall errors of the intra-operative data integration. We believe this phantom not only offers us good insights to understand the systematic errors encountered in all phases of an EM-tracked endoscopy procedure but also can provide quality control of laboratory experiments for endoscopic procedures before the experiments are transferred from the laboratory to human subjects.

Time synchronization of new-generation BDS satellites using inter-satellite link measurements

NASA Astrophysics Data System (ADS)

Pan, Junyang; Hu, Xiaogong; Zhou, Shanshi; Tang, Chengpan; Guo, Rui; Zhu, Lingfeng; Tang, Guifeng; Hu, Guangming

2018-01-01

Autonomous satellite navigation is based on the ability of a Global Navigation Satellite System (GNSS), such as Beidou, to estimate orbits and clock parameters onboard satellites using Inter-Satellite Link (ISL) measurements instead of tracking data from a ground monitoring network. This paper focuses on the time synchronization of new-generation Beidou Navigation Satellite System (BDS) satellites equipped with an ISL payload. Two modes of Ka-band ISL measurements, Time Division Multiple Access (TDMA) mode and the continuous link mode, were used onboard these BDS satellites. Using a mathematical formulation for each measurement mode along with a derivation of the satellite clock offsets, geometric ranges from the dual one-way measurements were introduced. Then, pseudoranges and clock offsets were evaluated for the new-generation BDS satellites. The evaluation shows that the ranging accuracies of TDMA ISL and the continuous link are approximately 4 cm and 1 cm (root mean square, RMS), respectively. Both lead to ISL clock offset residuals of less than 0.3 ns (RMS). For further validation, time synchronization between these satellites to a ground control station keeping the systematic time in BDT was conducted using L-band Two-way Satellite Time Frequency Transfer (TWSTFT). System errors in the ISL measurements were calibrated by comparing the derived clock offsets with the TWSTFT. The standard deviations of the estimated ISL system errors are less than 0.3 ns, and the calibrated ISL clock parameters are consistent with that of the L-band TWSTFT. For the regional BDS network, the addition of ISL measurements for medium orbit (MEO) BDS satellites increased the clock tracking coverage by more than 40% for each orbital revolution. As a result, the clock predicting error for the satellite M1S was improved from 3.59 to 0.86 ns (RMS), and the predicting error of the satellite M2S was improved from 1.94 to 0.57 ns (RMS), which is a significant improvement by a factor of 3-4.

Comparison between goal programming and cointegration approaches in enhanced index tracking

NASA Astrophysics Data System (ADS)

Lam, Weng Siew; Jamaan, Saiful Hafizah Hj.

2013-04-01

Index tracking is a popular form of passive fund management in stock market. Passive management is a buy-and-hold strategy that aims to achieve rate of return similar to the market return. Index tracking problem is a problem of reproducing the performance of a stock market index, without purchasing all of the stocks that make up the index. This can be done by establishing an optimal portfolio that minimizes risk or tracking error. An improved index tracking (enhanced index tracking) is a dual-objective optimization problem, a trade-off between maximizing the mean return and minimizing the tracking error. Enhanced index tracking aims to generate excess return over the return achieved by the index. The objective of this study is to compare the portfolio compositions and performances by using two different approaches in enhanced index tracking problem, which are goal programming and cointegration. The result of this study shows that the optimal portfolios for both approaches are able to outperform the Malaysia market index which is Kuala Lumpur Composite Index. Both approaches give different optimal portfolio compositions. Besides, the cointegration approach outperforms the goal programming approach because the cointegration approach gives higher mean return and lower risk or tracking error. Therefore, the cointegration approach is more appropriate for the investors in Malaysia.

Boundary control for a constrained two-link rigid-flexible manipulator with prescribed performance

NASA Astrophysics Data System (ADS)

Cao, Fangfei; Liu, Jinkun

2018-05-01

In this paper, we consider a boundary control problem for a constrained two-link rigid-flexible manipulator. The nonlinear system is described by hybrid ordinary differential equation-partial differential equation (ODE-PDE) dynamic model. Based on the coupled ODE-PDE model, boundary control is proposed to regulate the joint positions and eliminate the elastic vibration simultaneously. With the help of prescribed performance functions, the tracking error can converge to an arbitrarily small residual set and the convergence rate is no less than a certain pre-specified value. Asymptotic stability of the closed-loop system is rigorously proved by the LaSalle's Invariance Principle extended to infinite-dimensional system. Numerical simulations are provided to demonstrate the effectiveness of the proposed controller.

Human errors and measurement uncertainty

NASA Astrophysics Data System (ADS)

Kuselman, Ilya; Pennecchi, Francesca

2015-04-01

Evaluating the residual risk of human errors in a measurement and testing laboratory, remaining after the error reduction by the laboratory quality system, and quantifying the consequences of this risk for the quality of the measurement/test results are discussed based on expert judgments and Monte Carlo simulations. A procedure for evaluation of the contribution of the residual risk to the measurement uncertainty budget is proposed. Examples are provided using earlier published sets of expert judgments on human errors in pH measurement of groundwater, elemental analysis of geological samples by inductively coupled plasma mass spectrometry, and multi-residue analysis of pesticides in fruits and vegetables. The human error contribution to the measurement uncertainty budget in the examples was not negligible, yet also not dominant. This was assessed as a good risk management result.

Target motion tracking in MRI-guided transrectal robotic prostate biopsy.

PubMed

Tadayyon, Hadi; Lasso, Andras; Kaushal, Aradhana; Guion, Peter; Fichtinger, Gabor

2011-11-01

MRI-guided prostate needle biopsy requires compensation for organ motion between target planning and needle placement. Two questions are studied and answered in this paper: 1) is rigid registration sufficient in tracking the targets with an error smaller than the clinically significant size of prostate cancer and 2) what is the effect of the number of intraoperative slices on registration accuracy and speed? we propose multislice-to-volume registration algorithms for tracking the biopsy targets within the prostate. Three orthogonal plus additional transverse intraoperative slices are acquired in the approximate center of the prostate and registered with a high-resolution target planning volume. Both rigid and deformable scenarios were implemented. Both simulated and clinical MRI-guided robotic prostate biopsy data were used to assess tracking accuracy. average registration errors in clinical patient data were 2.6 mm for the rigid algorithm and 2.1 mm for the deformable algorithm. rigid tracking appears to be promising. Three tracking slices yield significantly high registration speed with an affordable error.

Precision orbit determination performance for CryoSat-2

NASA Astrophysics Data System (ADS)

Schrama, Ernst

2018-01-01

In this paper we discuss our efforts to perform precision orbit determination (POD) of CryoSat-2 which depends on Doppler and satellite laser ranging tracking data. A dynamic orbit model is set-up and the residuals between the model and the tracking data is evaluated. The average r.m.s. of the 10 s averaged Doppler tracking pass residuals is approximately 0.39 mm/s; and the average of the laser tracking pass residuals becomes 1.42 cm. There are a number of other tests to verify the quality of the orbit solution, we compare our computed orbits against three independent external trajectories provided by the CNES. The CNES products are part of the CryoSat-2 products distributed by ESA. The radial differences of our solution relative to the CNES precision orbits shows an average r.m.s. of 1.25 cm between Jun-2010 and Apr-2017. The SIRAL altimeter crossover difference statistics demonstrate that the quality of our orbit solution is comparable to that of the POE solution computed by the CNES. In this paper we will discuss three important changes in our POD activities that have brought the orbit performance to this level. The improvements concern the way we implement temporal gravity accelerations observed by GRACE; the implementation of ITRF2014 coordinates and velocities for the DORIS beacons and the SLR tracking sites. We also discuss an adjustment of the SLR retroreflector position within the satellite reference frame. An unexpected result is that we find a systematic difference between the median of the 10 s Doppler tracking residuals which displays a statistically significant pattern in the South Atlantic Anomaly (SSA) area where the median of the velocity residuals varies in the range of -0.15 to +0.15 mm/s.

Pilot performance and workload using simulated GPS track angle error displays

DOT National Transportation Integrated Search

1995-01-01

The effect on simulated GPS instrument approach performance and workload resulting from the addition of Track Angle Error (TAE) information to cockpit RNAV receiver displays in explicit analog form was studied experimentally (S display formats, 6 pil...

Can eye-tracking technology improve situational awareness in paramedic clinical education?

PubMed

Williams, Brett; Quested, Andrew; Cooper, Simon

2013-01-01

Human factors play a significant part in clinical error. Situational awareness (SA) means being aware of one's surroundings, comprehending the present situation, and being able to predict outcomes. It is a key human skill that, when properly applied, is associated with reducing medical error: eye-tracking technology can be used to provide an objective and qualitative measure of the initial perception component of SA. Feedback from eye-tracking technology can be used to improve the understanding and teaching of SA in clinical contexts, and consequently, has potential for reducing clinician error and the concomitant adverse events.

Linear quadratic Gaussian and feedforward controllers for the DSS-13 antenna

NASA Technical Reports Server (NTRS)

Gawronski, W. K.; Racho, C. S.; Mellstrom, J. A.

1994-01-01

The controller development and the tracking performance evaluation for the DSS-13 antenna are presented. A trajectory preprocessor, linear quadratic Gaussian (LQG) controller, feedforward controller, and their combination were designed, built, analyzed, and tested. The antenna exhibits nonlinear behavior when the input to the antenna and/or the derivative of this input exceeds the imposed limits; for slewing and acquisition commands, these limits are typically violated. A trajectory preprocessor was designed to ensure that the antenna behaves linearly, just to prevent nonlinear limit cycling. The estimator model for the LQG controller was identified from the data obtained from the field test. Based on an LQG balanced representation, a reduced-order LQG controller was obtained. The feedforward controller and the combination of the LQG and feedforward controller were also investigated. The performance of the controllers was evaluated with the tracking errors (due to following a trajectory) and the disturbance errors (due to the disturbances acting on the antenna). The LQG controller has good disturbance rejection properties and satisfactory tracking errors. The feedforward controller has small tracking errors but poor disturbance rejection properties. The combined LQG and feedforward controller exhibits small tracking errors as well as good disturbance rejection properties. However, the cost for this performance is the complexity of the controller.

Motor-Based Treatment with and without Ultrasound Feedback for Residual Speech-Sound Errors

ERIC Educational Resources Information Center

Preston, Jonathan L.; Leece, Megan C.; Maas, Edwin

2017-01-01

Background: There is a need to develop effective interventions and to compare the efficacy of different interventions for children with residual speech-sound errors (RSSEs). Rhotics (the r-family of sounds) are frequently in error American English-speaking children with RSSEs and are commonly targeted in treatment. One treatment approach involves…

Improving probabilistic prediction of daily streamflow by identifying Pareto optimal approaches for modelling heteroscedastic residual errors

NASA Astrophysics Data System (ADS)

David, McInerney; Mark, Thyer; Dmitri, Kavetski; George, Kuczera

2017-04-01

This study provides guidance to hydrological researchers which enables them to provide probabilistic predictions of daily streamflow with the best reliability and precision for different catchment types (e.g. high/low degree of ephemerality). Reliable and precise probabilistic prediction of daily catchment-scale streamflow requires statistical characterization of residual errors of hydrological models. It is commonly known that hydrological model residual errors are heteroscedastic, i.e. there is a pattern of larger errors in higher streamflow predictions. Although multiple approaches exist for representing this heteroscedasticity, few studies have undertaken a comprehensive evaluation and comparison of these approaches. This study fills this research gap by evaluating 8 common residual error schemes, including standard and weighted least squares, the Box-Cox transformation (with fixed and calibrated power parameter, lambda) and the log-sinh transformation. Case studies include 17 perennial and 6 ephemeral catchments in Australia and USA, and two lumped hydrological models. We find the choice of heteroscedastic error modelling approach significantly impacts on predictive performance, though no single scheme simultaneously optimizes all performance metrics. The set of Pareto optimal schemes, reflecting performance trade-offs, comprises Box-Cox schemes with lambda of 0.2 and 0.5, and the log scheme (lambda=0, perennial catchments only). These schemes significantly outperform even the average-performing remaining schemes (e.g., across ephemeral catchments, median precision tightens from 105% to 40% of observed streamflow, and median biases decrease from 25% to 4%). Theoretical interpretations of empirical results highlight the importance of capturing the skew/kurtosis of raw residuals and reproducing zero flows. Recommendations for researchers and practitioners seeking robust residual error schemes for practical work are provided.

Study on the special vision sensor for detecting position error in robot precise TIG welding of some key part of rocket engine

NASA Astrophysics Data System (ADS)

Zhang, Wenzeng; Chen, Nian; Wang, Bin; Cao, Yipeng

2005-01-01

Rocket engine is a hard-core part of aerospace transportation and thrusting system, whose research and development is very important in national defense, aviation and aerospace. A novel vision sensor is developed, which can be used for error detecting in arc length control and seam tracking in precise pulse TIG welding of the extending part of the rocket engine jet tube. The vision sensor has many advantages, such as imaging with high quality, compactness and multiple functions. The optics design, mechanism design and circuit design of the vision sensor have been described in detail. Utilizing the mirror imaging of Tungsten electrode in the weld pool, a novel method is proposed to detect the arc length and seam tracking error of Tungsten electrode to the center line of joint seam from a single weld image. A calculating model of the method is proposed according to the relation of the Tungsten electrode, weld pool, the mirror of Tungsten electrode in weld pool and joint seam. The new methodologies are given to detect the arc length and seam tracking error. Through analyzing the results of the experiments, a system error modifying method based on a linear function is developed to improve the detecting precise of arc length and seam tracking error. Experimental results show that the final precision of the system reaches 0.1 mm in detecting the arc length and the seam tracking error of Tungsten electrode to the center line of joint seam.

Hand-writing motion tracking with vision-inertial sensor fusion: calibration and error correction.

PubMed

Zhou, Shengli; Fei, Fei; Zhang, Guanglie; Liu, Yunhui; Li, Wen J

2014-08-25

The purpose of this study was to improve the accuracy of real-time ego-motion tracking through inertial sensor and vision sensor fusion. Due to low sampling rates supported by web-based vision sensor and accumulation of errors in inertial sensors, ego-motion tracking with vision sensors is commonly afflicted by slow updating rates, while motion tracking with inertial sensor suffers from rapid deterioration in accuracy with time. This paper starts with a discussion of developed algorithms for calibrating two relative rotations of the system using only one reference image. Next, stochastic noises associated with the inertial sensor are identified using Allan Variance analysis, and modeled according to their characteristics. Finally, the proposed models are incorporated into an extended Kalman filter for inertial sensor and vision sensor fusion. Compared with results from conventional sensor fusion models, we have shown that ego-motion tracking can be greatly enhanced using the proposed error correction model.

Robust model reference adaptive output feedback tracking for uncertain linear systems with actuator fault based on reinforced dead-zone modification.

PubMed

Bagherpoor, H M; Salmasi, Farzad R

2015-07-01

In this paper, robust model reference adaptive tracking controllers are considered for Single-Input Single-Output (SISO) and Multi-Input Multi-Output (MIMO) linear systems containing modeling uncertainties, unknown additive disturbances and actuator fault. Two new lemmas are proposed for both SISO and MIMO, under which dead-zone modification rule is improved such that the tracking error for any reference signal tends to zero in such systems. In the conventional approach, adaption of the controller parameters is ceased inside the dead-zone region which results tracking error, while preserving the system stability. In the proposed scheme, control signal is reinforced with an additive term based on tracking error inside the dead-zone which results in full reference tracking. In addition, no Fault Detection and Diagnosis (FDD) unit is needed in the proposed approach. Closed loop system stability and zero tracking error are proved by considering a suitable Lyapunov functions candidate. It is shown that the proposed control approach can assure that all the signals of the close loop system are bounded in faulty conditions. Finally, validity and performance of the new schemes have been illustrated through numerical simulations of SISO and MIMO systems in the presence of actuator faults, modeling uncertainty and output disturbance. Copyright © 2015 ISA. Published by Elsevier Ltd. All rights reserved.

Effect of visual distraction and auditory feedback on patient effort during robot-assisted movement training after stroke

PubMed Central

2011-01-01

Background Practicing arm and gait movements with robotic assistance after neurologic injury can help patients improve their movement ability, but patients sometimes reduce their effort during training in response to the assistance. Reduced effort has been hypothesized to diminish clinical outcomes of robotic training. To better understand patient slacking, we studied the role of visual distraction and auditory feedback in modulating patient effort during a common robot-assisted tracking task. Methods Fourteen participants with chronic left hemiparesis from stroke, five control participants with chronic right hemiparesis and fourteen non-impaired healthy control participants, tracked a visual target with their arms while receiving adaptive assistance from a robotic arm exoskeleton. We compared four practice conditions: the baseline tracking task alone; tracking while also performing a visual distracter task; tracking with the visual distracter and sound feedback; and tracking with sound feedback. For the distracter task, symbols were randomly displayed in the corners of the computer screen, and the participants were instructed to click a mouse button when a target symbol appeared. The sound feedback consisted of a repeating beep, with the frequency of repetition made to increase with increasing tracking error. Results Participants with stroke halved their effort and doubled their tracking error when performing the visual distracter task with their left hemiparetic arm. With sound feedback, however, these participants increased their effort and decreased their tracking error close to their baseline levels, while also performing the distracter task successfully. These effects were significantly smaller for the participants who used their non-paretic arm and for the participants without stroke. Conclusions Visual distraction decreased participants effort during a standard robot-assisted movement training task. This effect was greater for the hemiparetic arm, suggesting that the increased demands associated with controlling an affected arm make the motor system more prone to slack when distracted. Providing an alternate sensory channel for feedback, i.e., auditory feedback of tracking error, enabled the participants to simultaneously perform the tracking task and distracter task effectively. Thus, incorporating real-time auditory feedback of performance errors might improve clinical outcomes of robotic therapy systems. PMID:21513561

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

NASA Astrophysics Data System (ADS)

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

2018-04-01

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

A method for optical ground station reduce alignment error in satellite-ground quantum experiments

NASA Astrophysics Data System (ADS)

He, Dong; Wang, Qiang; Zhou, Jian-Wei; Song, Zhi-Jun; Zhong, Dai-Jun; Jiang, Yu; Liu, Wan-Sheng; Huang, Yong-Mei

2018-03-01

A satellite dedicated for quantum science experiments, has been developed and successfully launched from Jiuquan, China, on August 16, 2016. Two new optical ground stations (OGSs) were built to cooperate with the satellite to complete satellite-ground quantum experiments. OGS corrected its pointing direction by satellite trajectory error to coarse tracking system and uplink beacon sight, therefore fine tracking CCD and uplink beacon optical axis alignment accuracy was to ensure that beacon could cover the quantum satellite in all time when it passed the OGSs. Unfortunately, when we tested specifications of the OGSs, due to the coarse tracking optical system was commercial telescopes, the change of position of the target in the coarse CCD was up to 600μrad along with the change of elevation angle. In this paper, a method of reduce alignment error between beacon beam and fine tracking CCD is proposed. Firstly, OGS fitted the curve of target positions in coarse CCD along with the change of elevation angle. Secondly, OGS fitted the curve of hexapod secondary mirror positions along with the change of elevation angle. Thirdly, when tracking satellite, the fine tracking error unloaded on the real-time zero point position of coarse CCD which computed by the firstly calibration data. Simultaneously the positions of the hexapod secondary mirror were adjusted by the secondly calibration data. Finally the experiment result is proposed. Results show that the alignment error is less than 50μrad.

The Use of Analog Track Angle Error Display for Improving Simulated GPS Approach Performance

DOT National Transportation Integrated Search

1995-08-01

The effect of adding track angle error (TAE) information to general aviation aircraft cockpit displays used for GPS : nonprecision instrument approaches was studied experimentally. Six pilots flew 120 approaches in a Frasca 242 light : twin aircraft ...

A new method for weakening the combined effect of residual errors on multibeam bathymetric data

NASA Astrophysics Data System (ADS)

Zhao, Jianhu; Yan, Jun; Zhang, Hongmei; Zhang, Yuqing; Wang, Aixue

2014-12-01

Multibeam bathymetric system (MBS) has been widely applied in the marine surveying for providing high-resolution seabed topography. However, some factors degrade the precision of bathymetry, including the sound velocity, the vessel attitude, the misalignment angle of the transducer and so on. Although these factors have been corrected strictly in bathymetric data processing, the final bathymetric result is still affected by their residual errors. In deep water, the result usually cannot meet the requirements of high-precision seabed topography. The combined effect of these residual errors is systematic, and it's difficult to separate and weaken the effect using traditional single-error correction methods. Therefore, the paper puts forward a new method for weakening the effect of residual errors based on the frequency-spectrum characteristics of seabed topography and multibeam bathymetric data. Four steps, namely the separation of the low-frequency and the high-frequency part of bathymetric data, the reconstruction of the trend of actual seabed topography, the merging of the actual trend and the extracted microtopography, and the accuracy evaluation, are involved in the method. Experiment results prove that the proposed method could weaken the combined effect of residual errors on multibeam bathymetric data and efficiently improve the accuracy of the final post-processing results. We suggest that the method should be widely applied to MBS data processing in deep water.

Subnanosecond GPS-based clock synchronization and precision deep-space tracking

NASA Technical Reports Server (NTRS)

Dunn, C. E.; Lichten, S. M.; Jefferson, D. C.; Border, J. S.

1992-01-01

Interferometric spacecraft tracking is accomplished by the Deep Space Network (DSN) by comparing the arrival time of electromagnetic spacecraft signals at ground antennas separated by baselines on the order of 8000 km. Clock synchronization errors within and between DSN stations directly impact the attainable tracking accuracy, with a 0.3-nsec error in clock synchronization resulting in an 11-nrad angular position error. This level of synchronization is currently achieved by observing a quasar which is angularly close to the spacecraft just after the spacecraft observations. By determining the differential arrival times of the random quasar signal at the stations, clock offsets and propagation delays within the atmosphere and within the DSN stations are calibrated. Recent developments in time transfer techniques may allow medium accuracy (50-100 nrad) spacecraft tracking without near-simultaneous quasar-based calibrations. Solutions are presented for a worldwide network of Global Positioning System (GPS) receivers in which the formal errors for DSN clock offset parameters are less than 0.5 nsec. Comparisons of clock rate offsets derived from GPS measurements and from very long baseline interferometry (VLBI), as well as the examination of clock closure, suggest that these formal errors are a realistic measure of GPS-based clock offset precision and accuracy. Incorporating GPS-based clock synchronization measurements into a spacecraft differential ranging system would allow tracking without near-simultaneous quasar observations. The impact on individual spacecraft navigation-error sources due to elimination of quasar-based calibrations is presented. System implementation, including calibration of station electronic delays, is discussed.

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.

Engineering evaluations and studies. Report for IUS studies

NASA Technical Reports Server (NTRS)

1981-01-01

The reviews, investigations, and analyses of the Inertial Upper Stage (IUS) Spacecraft Tracking and Data Network (STDN) transponder are reviewed. Carrier lock detector performance for Tracking and Data Relay Satellite System (TDRSS) dual-mode operation is discussed, as is the problem of predicting instantaneous frequency error in the carrier loop. Coastal loop performance analysis is critiqued and the static tracking phase error induced by thermal noise biases is discussed.

Evaluation of the accuracy of the CyberKnife Synchrony™ Respiratory Tracking System using a plastic scintillator.

PubMed

Akino, Yuichi; Sumida, Iori; Shiomi, Hiroya; Higashinaka, Naokazu; Murashima, Yoshiichi; Hayashida, Miori; Mabuchi, Nobuhisa; Ogawa, Kazuhiko

2018-06-01

The Synchrony ™ Respiratory Tracking System of the CyberKnife ® Robotic Radiosurgery System (Accuray, Inc., Sunnyvale CA) enables real-time tracking of moving targets such as lung and liver tumors during radiotherapy. Although film measurements have been used for quality assurance of the tracking system, they cannot evaluate the temporal tracking accuracy. We have developed a verification system using a plastic scintillator that can evaluate the temporal accuracy of the CyberKnife Synchrony. A phantom consisting of a U-shaped plastic frame with three fiducial markers was used. The phantom was moved on a plastic scintillator plate. To identify the phantom position on the recording video in darkness, four pieces of fluorescent tape representing the corners of a 10 cm × 10 cm square around an 8 cm × 8 cm window were attached to the phantom. For a stable respiration model, the phantom was moved with the fourth power of a sinusoidal wave with breathing cycles of 4, 3, and 2 s and an amplitude of 1 cm. To simulate irregular breathing, the respiratory cycle was varied with Gaussian random numbers. A virtual target was generated at the center of the fluorescent markers using the MultiPlan ™ treatment planning system. Photon beams were irradiated using a fiducial tracking technique. In a dark room, the fluorescent light of the markers and the scintillation light of the beam position were recorded using a camera. For each video frame, a homography matrix was calculated from the four fluorescent marker positions, and the beam position derived from the scintillation light was corrected. To correct the displacement of the beam position due to oblique irradiation angles and other systematic measurement errors, offset values were derived from measurements with the phantom held stationary. The average SDs of beam position measured without phantom motion were 0.16 mm and 0.20 mm for lateral and longitudinal directions, respectively. For the stable respiration model, the tracking errors (mean ± SD) were 0.40 ± 0.64 mm, -0.07 ± 0.79 mm, and 0.45 ± 1.14 mm for breathing cycles of 4, 3, and 2 s, respectively. The tracking errors showed significant linear correlation with the phantom velocity. The correlation coefficients were 0.897, 0.913, and 0.957 for breathing cycles of 4, 3, and 2 s, respectively. The unstable respiration model also showed linear correlation between tracking errors and phantom velocity. The probability of tracking error incidents increased with decreasing length of the respiratory cycles. Although the tracking error incidents increased with larger variations in respiratory cycle, the effect on the cumulative probability was insignificant. For a respiratory cycle of 4 s, the maximum tracking error was 1.10 mm and 1.43 mm at the probability of 10% and 5%, respectively. Large tracking errors were observed when there was phase shift between the tumor and the LED marker. This technique allows evaluation of the motion tracking accuracy of the Synchrony ™ system over time by measurement of the photon beam. The velocity of the target and phase shift have significant effects on accuracy. This article is protected by copyright. All rights reserved. This article is protected by copyright. All rights reserved.

Altitude registration of limb-scattered radiation

NASA Astrophysics Data System (ADS)

Moy, Leslie; Bhartia, Pawan K.; Jaross, Glen; Loughman, Robert; Kramarova, Natalya; Chen, Zhong; Taha, Ghassan; Chen, Grace; Xu, Philippe

2017-01-01

One of the largest constraints to the retrieval of accurate ozone profiles from UV backscatter limb sounding sensors is altitude registration. Two methods, the Rayleigh scattering attitude sensing (RSAS) and absolute radiance residual method (ARRM), are able to determine altitude registration to the accuracy necessary for long-term ozone monitoring. The methods compare model calculations of radiances to measured radiances and are independent of onboard tracking devices. RSAS determines absolute altitude errors, but, because the method is susceptible to aerosol interference, it is limited to latitudes and time periods with minimal aerosol contamination. ARRM, a new technique introduced in this paper, can be applied across all seasons and altitudes. However, it is only appropriate for relative altitude error estimates. The application of RSAS to Limb Profiler (LP) measurements from the Ozone Mapping and Profiler Suite (OMPS) on board the Suomi NPP (SNPP) satellite indicates tangent height (TH) errors greater than 1 km with an absolute accuracy of ±200 m. Results using ARRM indicate a ˜ 300 to 400 m intra-orbital TH change varying seasonally ±100 m, likely due to either errors in the spacecraft pointing or in the geopotential height (GPH) data that we use in our analysis. ARRM shows a change of ˜ 200 m over ˜ 5 years with a relative accuracy (a long-term accuracy) of ±100 m outside the polar regions.

Refraction-compensated motion tracking of unrestrained small animals in positron emission tomography.

PubMed

Kyme, Andre; Meikle, Steven; Baldock, Clive; Fulton, Roger

2012-08-01

Motion-compensated radiotracer imaging of fully conscious rodents represents an important paradigm shift for preclinical investigations. In such studies, if motion tracking is performed through a transparent enclosure containing the awake animal, light refraction at the interface will introduce errors in stereo pose estimation. We have performed a thorough investigation of how this impacts the accuracy of pose estimates and the resulting motion correction, and developed an efficient method to predict and correct for refraction-based error. The refraction model underlying this study was validated using a state-of-the-art motion tracking system. Refraction-based error was shown to be dependent on tracking marker size, working distance, and interface thickness and tilt. Correcting for refraction error improved the spatial resolution and quantitative accuracy of motion-corrected positron emission tomography images. Since the methods are general, they may also be useful in other contexts where data are corrupted by refraction effects. Crown Copyright © 2012. Published by Elsevier B.V. All rights reserved.

Determining an empirical estimate of the tracking inconsistency component for true astrometric uncertainties

NASA Astrophysics Data System (ADS)

Ramanjooloo, Yudish; Tholen, David J.; Fohring, Dora; Claytor, Zach; Hung, Denise

2017-10-01

The asteroid community is moving towards the implementation of a new astrometric reporting format. This new format will finally include of complementary astrometric uncertainties in the reported observations. The availability of uncertainties will allow ephemeris predictions and orbit solutions to be constrained with greater reliability, thereby improving the efficiency of the community's follow-up and recovery efforts.Our current uncertainty model involves our uncertainties in centroiding on the trailed stars and asteroid and the uncertainty due to the astrometric solution. The accuracy of our astrometric measurements are reliant on how well we can minimise the offset between the spatial and temporal centroids of the stars and the asteroid. This offset is currently unmodelled and can be caused by variations in the cloud transparency, the seeing and tracking inconsistencies. The magnitude zero point of the image, which is affected by fluctuating weather conditions and the catalog bias in the photometric magnitudes, can serve as an indicator of the presence and thickness of clouds. Through comparison of the astrometric uncertainties to the orbit solution residuals, it was apparent that a component of the error analysis remained unaccounted for, as a result of cloud coverage and thickness, telescope tracking inconsistencies and variable seeing. This work will attempt to quantify the tracking inconsistency component. We have acquired a rich dataset with the University of Hawaii 2.24 metre telescope (UH-88 inch) that is well positioned to construct an empirical estimate of the tracking inconsistency component. This work is funded by NASA grant NXX13AI64G.

Error analysis and algorithm implementation for an improved optical-electric tracking device based on MEMS

NASA Astrophysics Data System (ADS)

Sun, Hong; Wu, Qian-zhong

2013-09-01

In order to improve the precision of optical-electric tracking device, proposing a kind of improved optical-electric tracking device based on MEMS, in allusion to the tracking error of gyroscope senor and the random drift, According to the principles of time series analysis of random sequence, establish AR model of gyro random error based on Kalman filter algorithm, then the output signals of gyro are multiple filtered with Kalman filter. And use ARM as micro controller servo motor is controlled by fuzzy PID full closed loop control algorithm, and add advanced correction and feed-forward links to improve response lag of angle input, Free-forward can make output perfectly follow input. The function of lead compensation link is to shorten the response of input signals, so as to reduce errors. Use the wireless video monitor module and remote monitoring software (Visual Basic 6.0) to monitor servo motor state in real time, the video monitor module gathers video signals, and the wireless video module will sent these signals to upper computer, so that show the motor running state in the window of Visual Basic 6.0. At the same time, take a detailed analysis to the main error source. Through the quantitative analysis of the errors from bandwidth and gyro sensor, it makes the proportion of each error in the whole error more intuitive, consequently, decrease the error of the system. Through the simulation and experiment results shows the system has good following characteristic, and it is very valuable for engineering application.

Improving z-tracking accuracy in the two-photon single-particle tracking microscope.

PubMed

Liu, C; Liu, Y-L; Perillo, E P; Jiang, N; Dunn, A K; Yeh, H-C

2015-10-12

Here, we present a method that can improve the z-tracking accuracy of the recently invented TSUNAMI (Tracking of Single particles Using Nonlinear And Multiplexed Illumination) microscope. This method utilizes a maximum likelihood estimator (MLE) to determine the particle's 3D position that maximizes the likelihood of the observed time-correlated photon count distribution. Our Monte Carlo simulations show that the MLE-based tracking scheme can improve the z-tracking accuracy of TSUNAMI microscope by 1.7 fold. In addition, MLE is also found to reduce the temporal correlation of the z-tracking error. Taking advantage of the smaller and less temporally correlated z-tracking error, we have precisely recovered the hybridization-melting kinetics of a DNA model system from thousands of short single-particle trajectories in silico . Our method can be generally applied to other 3D single-particle tracking techniques.

Improving z-tracking accuracy in the two-photon single-particle tracking microscope

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

Liu, C.; Liu, Y.-L.; Perillo, E. P.

Here, we present a method that can improve the z-tracking accuracy of the recently invented TSUNAMI (Tracking of Single particles Using Nonlinear And Multiplexed Illumination) microscope. This method utilizes a maximum likelihood estimator (MLE) to determine the particle's 3D position that maximizes the likelihood of the observed time-correlated photon count distribution. Our Monte Carlo simulations show that the MLE-based tracking scheme can improve the z-tracking accuracy of TSUNAMI microscope by 1.7 fold. In addition, MLE is also found to reduce the temporal correlation of the z-tracking error. Taking advantage of the smaller and less temporally correlated z-tracking error, we havemore » precisely recovered the hybridization-melting kinetics of a DNA model system from thousands of short single-particle trajectories in silico. Our method can be generally applied to other 3D single-particle tracking techniques.« less

Space-based IR tracking bias removal using background star observations

NASA Astrophysics Data System (ADS)

Clemons, T. M., III; Chang, K. C.

2009-05-01

This paper provides the results of a proposed methodology for removing sensor bias from a space-based infrared (IR) tracking system through the use of stars detected in the background field of the tracking sensor. The tracking system consists of two satellites flying in a lead-follower formation tracking a ballistic target. Each satellite is equipped with a narrow-view IR sensor that provides azimuth and elevation to the target. The tracking problem is made more difficult due to a constant, non-varying or slowly varying bias error present in each sensor's line of sight measurements. As known stars are detected during the target tracking process, the instantaneous sensor pointing error can be calculated as the difference between star detection reading and the known position of the star. The system then utilizes a separate bias filter to estimate the bias value based on these detections and correct the target line of sight measurements to improve the target state vector. The target state vector is estimated through a Linearized Kalman Filter (LKF) for the highly non-linear problem of tracking a ballistic missile. Scenarios are created using Satellite Toolkit(C) for trajectories with associated sensor observations. Mean Square Error results are given for tracking during the period when the target is in view of the satellite IR sensors. The results of this research provide a potential solution to bias correction while simultaneously tracking a target.

Analysis of the PLL phase error in presence of simulated ionospheric scintillation events

NASA Astrophysics Data System (ADS)

Forte, B.

2012-01-01

The functioning of standard phase locked loops (PLL), including those used to track radio signals from Global Navigation Satellite Systems (GNSS), is based on a linear approximation which holds in presence of small phase errors. Such an approximation represents a reasonable assumption in most of the propagation channels. However, in presence of a fading channel the phase error may become large, making the linear approximation no longer valid. The PLL is then expected to operate in a non-linear regime. As PLLs are generally designed and expected to operate in their linear regime, whenever the non-linear regime comes into play, they will experience a serious limitation in their capability to track the corresponding signals. The phase error and the performance of a typical PLL embedded into a commercial multiconstellation GNSS receiver were analyzed in presence of simulated ionospheric scintillation. Large phase errors occurred during scintillation-induced signal fluctuations although cycle slips only occurred during the signal re-acquisition after a loss of lock. Losses of lock occurred whenever the signal faded below the minimumC/N0threshold allowed for tracking. The simulations were performed for different signals (GPS L1C/A, GPS L2C, GPS L5 and Galileo L1). L5 and L2C proved to be weaker than L1. It appeared evident that the conditions driving the PLL phase error in the specific case of GPS receivers in presence of scintillation-induced signal perturbations need to be evaluated in terms of the combination of the minimumC/N0 tracking threshold, lock detector thresholds, possible cycle slips in the tracking PLL and accuracy of the observables (i.e. the error propagation onto the observables stage).

Tracking-Learning-Detection.

PubMed

Kalal, Zdenek; Mikolajczyk, Krystian; Matas, Jiri

2012-07-01

This paper investigates long-term tracking of unknown objects in a video stream. The object is defined by its location and extent in a single frame. In every frame that follows, the task is to determine the object's location and extent or indicate that the object is not present. We propose a novel tracking framework (TLD) that explicitly decomposes the long-term tracking task into tracking, learning, and detection. The tracker follows the object from frame to frame. The detector localizes all appearances that have been observed so far and corrects the tracker if necessary. The learning estimates the detector's errors and updates it to avoid these errors in the future. We study how to identify the detector's errors and learn from them. We develop a novel learning method (P-N learning) which estimates the errors by a pair of "experts": (1) P-expert estimates missed detections, and (2) N-expert estimates false alarms. The learning process is modeled as a discrete dynamical system and the conditions under which the learning guarantees improvement are found. We describe our real-time implementation of the TLD framework and the P-N learning. We carry out an extensive quantitative evaluation which shows a significant improvement over state-of-the-art approaches.

Methods to Improve the Maintenance of the Earth Catalog of Satellites During Severe Solar Storms

NASA Technical Reports Server (NTRS)

Wilkin, Paul G.; Tolson, Robert H.

1998-01-01

The objective of this thesis is to investigate methods to improve the ability to maintain the inventory of orbital elements of Earth satellites during periods of atmospheric disturbance brought on by severe solar activity. Existing techniques do not account for such atmospheric dynamics, resulting in tracking errors of several seconds in predicted crossing time. Two techniques are examined to reduce of these tracking errors. First, density predicted from various atmospheric models is fit to the orbital decay rate for a number of satellites. An orbital decay model is then developed that could be used to reduce tracking errors by accounting for atmospheric changes. The second approach utilizes a Kalman filter to estimate the orbital decay rate of a satellite after every observation. The new information is used to predict the next observation. Results from the first approach demonstrated the feasibility of building an orbital decay model based on predicted atmospheric density. Correlation of atmospheric density to orbital decay was as high as 0.88. However, it is clear that contemporary: atmospheric models need further improvement in modeling density perturbations polar region brought on by solar activity. The second approach resulted in a dramatic reduction in tracking errors for certain satellites during severe solar Storms. For example, in the limited cases studied, the reduction in tracking errors ranged from 79 to 25 percent.

Evaluation of tracking accuracy of the CyberKnife system using a webcam and printed calibrated grid.

PubMed

Sumida, Iori; Shiomi, Hiroya; Higashinaka, Naokazu; Murashima, Yoshikazu; Miyamoto, Youichi; Yamazaki, Hideya; Mabuchi, Nobuhisa; Tsuda, Eimei; Ogawa, Kazuhiko

2016-03-08

Tracking accuracy for the CyberKnife's Synchrony system is commonly evaluated using a film-based verification method. We have evaluated a verification system that uses a webcam and a printed calibrated grid to verify tracking accuracy over three different motion patterns. A box with an attached printed calibrated grid and four fiducial markers was attached to the motion phantom. A target marker was positioned at the grid's center. The box was set up using the other three markers. Target tracking accuracy was evaluated under three conditions: 1) stationary; 2) sinusoidal motion with different amplitudes of 5, 10, 15, and 20 mm for the same cycle of 4 s and different cycles of 2, 4, 6, and 8 s with the same amplitude of 15 mm; and 3) irregular breathing patterns in six human volunteers breathing normally. Infrared markers were placed on the volunteers' abdomens, and their trajectories were used to simulate the target motion. All tests were performed with one-dimensional motion in craniocaudal direction. The webcam captured the grid's motion and a laser beam was used to simulate the CyberKnife's beam. Tracking error was defined as the difference between the grid's center and the laser beam. With a stationary target, mean tracking error was measured at 0.4 mm. For sinusoidal motion, tracking error was less than 2 mm for any amplitude and breathing cycle. For the volunteers' breathing patterns, the mean tracking error range was 0.78-1.67 mm. Therefore, accurate lesion targeting requires individual quality assurance for each patient.

Usefulness of Guided Breathing for Dose Rate-Regulated Tracking

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

Han-Oh, Sarah; Department of Radiation Oncology, University of Maryland Medical System, Baltimore, MD; Yi, Byong Yong

2009-02-01

Purpose: To evaluate the usefulness of guided breathing for dose rate-regulated tracking (DRRT), a new technique to compensate for intrafraction tumor motion. Methods and Materials: DRRT uses a preprogrammed multileaf collimator sequence that tracks the tumor motion derived from four-dimensional computed tomography and the corresponding breathing signals measured before treatment. Because the multileaf collimator speed can be controlled by adjusting the dose rate, the multileaf collimator positions are adjusted in real time during treatment by dose rate regulation, thereby maintaining synchrony with the tumor motion. DRRT treatment was simulated with free, audio-guided, and audiovisual-guided breathing signals acquired from 23 lungmore » cancer patients. The tracking error and duty cycle for each patient were determined as a function of the system time delay (range, 0-1.0 s). Results: The tracking error and duty cycle averaged for all 23 patients was 1.9 {+-} 0.8 mm and 92% {+-} 5%, 1.9 {+-} 1.0 mm and 93% {+-} 6%, and 1.8 {+-} 0.7 mm and 92% {+-} 6% for the free, audio-guided, and audiovisual-guided breathing, respectively, for a time delay of 0.35 s. The small differences in both the tracking error and the duty cycle with guided breathing were not statistically significant. Conclusion: DRRT by its nature adapts well to variations in breathing frequency, which is also the motivation for guided-breathing techniques. Because of this redundancy, guided breathing does not result in significant improvements for either the tracking error or the duty cycle when DRRT is used for real-time tumor tracking.« less

Gravity model improvement using the DORIS tracking system on the SPOT 2 satellite

NASA Technical Reports Server (NTRS)

Nerem, R. S.; Lerch, F. J.; Williamson, R. G.; Klosko, S. M.; Robbins, J. W.; Patel, G. B.

1994-01-01

A high-precision radiometric satellite tracking system, Doppler Orbitography and Radio-positioning Integrated by Satellite system (DORIS), has recently been developed by the French space agency, Centre National d'Etudes Spatiales (CNES). DORIS was designed to provide tracking support for missions such as the joint United States/French TOPEX/Poseidon. As part of the flight testing process, a DORIS package was flown on the French SPOT 2 satellite. A substantial quantity of geodetic quality tracking data was obtained on SPOT 2 from an extensive international DORIS tracking network. These data were analyzed to assess their accuracy and to evaluate the gravitational modeling enhancements provided by these data in combination with the Goddard Earth Model-T3 (GEM-T3) gravitational model. These observations have noise levels of 0.4 to 0.5 mm/s, with few residual systematic effects. Although the SPOT 2 satellite experiences high atmospheric drag forces, the precision and global coverage of the DORIS tracking data have enabled more extensive orbit parameterization to mitigate these effects. As a result, the SPOT 2 orbital errors have been reduced to an estimated radial accuracy in the 10-20 cm RMS range. The addition of these data, which encompass many regions heretofore lacking in precision satellite tracking, has significantly improved GEM-T3 and allowed greatly improved orbit accuracies for Sun-synchronous satellites like SPOT 2 (such as ERS 1 and EOS). Comparison of the ensuing gravity model with other contemporary fields (GRIM-4C2, TEG2B, and OSU91A) provides a means to assess the current state of knowledge of the Earth's gravity field. Thus, the DORIS experiment on SPOT 2 has provided a strong basis for evaluating this new orbit tracking technology and has demonstrated the important contribution of the DORIS network to the success of the TOPEX/Poseidon mission.

Design Considerations of Polishing Lap for Computer-Controlled Cylindrical Polishing Process

NASA Technical Reports Server (NTRS)

Khan, Gufran S.; Gubarev, Mikhail; Arnold, William; Ramsey, Brian D.

2009-01-01

This paper establishes a relationship between the polishing process parameters and the generation of mid spatial-frequency error. The consideration of the polishing lap design to optimize the process in order to keep residual errors to a minimum and optimization of the process (speeds, stroke, etc.) and to keep the residual mid spatial-frequency error to a minimum, is also presented.

Tracking control of a closed-chain five-bar robot with two degrees of freedom by integration of an approximation-based approach and mechanical design.

PubMed

Cheng, Long; Hou, Zeng-Guang; Tan, Min; Zhang, W J

2012-10-01

The trajectory tracking problem of a closed-chain five-bar robot is studied in this paper. Based on an error transformation function and the backstepping technique, an approximation-based tracking algorithm is proposed, which can guarantee the control performance of the robotic system in both the stable and transient phases. In particular, the overshoot, settling time, and final tracking error of the robotic system can be all adjusted by properly setting the parameters in the error transformation function. The radial basis function neural network (RBFNN) is used to compensate the complicated nonlinear terms in the closed-loop dynamics of the robotic system. The approximation error of the RBFNN is only required to be bounded, which simplifies the initial "trail-and-error" configuration of the neural network. Illustrative examples are given to verify the theoretical analysis and illustrate the effectiveness of the proposed algorithm. Finally, it is also shown that the proposed approximation-based controller can be simplified by a smart mechanical design of the closed-chain robot, which demonstrates the promise of the integrated design and control philosophy.

An error analysis perspective for patient alignment systems.

PubMed

Figl, Michael; Kaar, Marcus; Hoffman, Rainer; Kratochwil, Alfred; Hummel, Johann

2013-09-01

This paper analyses the effects of error sources which can be found in patient alignment systems. As an example, an ultrasound (US) repositioning system and its transformation chain are assessed. The findings of this concept can also be applied to any navigation system. In a first step, all error sources were identified and where applicable, corresponding target registration errors were computed. By applying error propagation calculations on these commonly used registration/calibration and tracking errors, we were able to analyse the components of the overall error. Furthermore, we defined a special situation where the whole registration chain reduces to the error caused by the tracking system. Additionally, we used a phantom to evaluate the errors arising from the image-to-image registration procedure, depending on the image metric used. We have also discussed how this analysis can be applied to other positioning systems such as Cone Beam CT-based systems or Brainlab's ExacTrac. The estimates found by our error propagation analysis are in good agreement with the numbers found in the phantom study but significantly smaller than results from patient evaluations. We probably underestimated human influences such as the US scan head positioning by the operator and tissue deformation. Rotational errors of the tracking system can multiply these errors, depending on the relative position of tracker and probe. We were able to analyse the components of the overall error of a typical patient positioning system. We consider this to be a contribution to the optimization of the positioning accuracy for computer guidance systems.

Design and Performance Evaluation on Ultra-Wideband Time-Of-Arrival 3D Tracking System

NASA Technical Reports Server (NTRS)

Ni, Jianjun; Arndt, Dickey; Ngo, Phong; Dusl, John

2012-01-01

A three-dimensional (3D) Ultra-Wideband (UWB) Time--of-Arrival (TOA) tracking system has been studied at NASA Johnson Space Center (JSC) to provide the tracking capability inside the International Space Station (ISS) modules for various applications. One of applications is to locate and report the location where crew experienced possible high level of carbon-dioxide and felt upset. In order to accurately locate those places in a multipath intensive environment like ISS modules, it requires a robust real-time location system (RTLS) which can provide the required accuracy and update rate. A 3D UWB TOA tracking system with two-way ranging has been proposed and studied. The designed system will be tested in the Wireless Habitat Testbed which simulates the ISS module environment. In this presentation, we discuss the 3D TOA tracking algorithm and the performance evaluation based on different tracking baseline configurations. The simulation results show that two configurations of the tracking baseline are feasible. With 100 picoseconds standard deviation (STD) of TOA estimates, the average tracking error 0.2392 feet (about 7 centimeters) can be achieved for configuration Twisted Rectangle while the average tracking error 0.9183 feet (about 28 centimeters) can be achieved for configuration Slightly-Twisted Top Rectangle . The tracking accuracy can be further improved with the improvement of the STD of TOA estimates. With 10 picoseconds STD of TOA estimates, the average tracking error 0.0239 feet (less than 1 centimeter) can be achieved for configuration "Twisted Rectangle".

Magnetic Resonance Imaging–Guided versus Surrogate-Based Motion Tracking in Liver Radiation Therapy: A Prospective Comparative Study

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

Paganelli, Chiara, E-mail: chiara.paganelli@polimi.it; Seregni, Matteo; Fattori, Giovanni

Purpose: This study applied automatic feature detection on cine–magnetic resonance imaging (MRI) liver images in order to provide a prospective comparison between MRI-guided and surrogate-based tracking methods for motion-compensated liver radiation therapy. Methods and Materials: In a population of 30 subjects (5 volunteers plus 25 patients), 2 oblique sagittal slices were acquired across the liver at high temporal resolution. An algorithm based on scale invariant feature transform (SIFT) was used to extract and track multiple features throughout the image sequence. The position of abdominal markers was also measured directly from the image series, and the internal motion of each featuremore » was quantified through multiparametric analysis. Surrogate-based tumor tracking with a state-of-the-art external/internal correlation model was simulated. The geometrical tracking error was measured, and its correlation with external motion parameters was also investigated. Finally, the potential gain in tracking accuracy relying on MRI guidance was quantified as a function of the maximum allowed tracking error. Results: An average of 45 features was extracted for each subject across the whole liver. The multi-parametric motion analysis reported relevant inter- and intrasubject variability, highlighting the value of patient-specific and spatially-distributed measurements. Surrogate-based tracking errors (relative to the motion amplitude) were were in the range 7% to 23% (1.02-3.57mm) and were significantly influenced by external motion parameters. The gain of MRI guidance compared to surrogate-based motion tracking was larger than 30% in 50% of the subjects when considering a 1.5-mm tracking error tolerance. Conclusions: Automatic feature detection applied to cine-MRI allows detailed liver motion description to be obtained. Such information was used to quantify the performance of surrogate-based tracking methods and to provide a prospective comparison with respect to MRI-guided radiation therapy, which could support the definition of patient-specific optimal treatment strategies.« less

High variability in strain estimation errors when using a commercial ultrasound speckle tracking algorithm on tendon tissue.

PubMed

Fröberg, Åsa; Mårtensson, Mattias; Larsson, Matilda; Janerot-Sjöberg, Birgitta; D'Hooge, Jan; Arndt, Anton

2016-10-01

Ultrasound speckle tracking offers a non-invasive way of studying strain in the free Achilles tendon where no anatomical landmarks are available for tracking. This provides new possibilities for studying injury mechanisms during sport activity and the effects of shoes, orthotic devices, and rehabilitation protocols on tendon biomechanics. To investigate the feasibility of using a commercial ultrasound speckle tracking algorithm for assessing strain in tendon tissue. A polyvinyl alcohol (PVA) phantom, three porcine tendons, and a human Achilles tendon were mounted in a materials testing machine and loaded to 4% peak strain. Ultrasound long-axis cine-loops of the samples were recorded. Speckle tracking analysis of axial strain was performed using a commercial speckle tracking software. Estimated strain was then compared to reference strain known from the materials testing machine. Two frame rates and two region of interest (ROI) sizes were evaluated. Best agreement between estimated strain and reference strain was found in the PVA phantom (absolute error in peak strain: 0.21 ± 0.08%). The absolute error in peak strain varied between 0.72 ± 0.65% and 10.64 ± 3.40% in the different tendon samples. Strain determined with a frame rate of 39.4 Hz had lower errors than 78.6 Hz as was the case with a 22 mm compared to an 11 mm ROI. Errors in peak strain estimation showed high variability between tendon samples and were large in relation to strain levels previously described in the Achilles tendon. © The Foundation Acta Radiologica 2016.

Error floor behavior study of LDPC codes for concatenated codes design

NASA Astrophysics Data System (ADS)

Chen, Weigang; Yin, Liuguo; Lu, Jianhua

2007-11-01

Error floor behavior of low-density parity-check (LDPC) codes using quantized decoding algorithms is statistically studied with experimental results on a hardware evaluation platform. The results present the distribution of the residual errors after decoding failure and reveal that the number of residual error bits in a codeword is usually very small using quantized sum-product (SP) algorithm. Therefore, LDPC code may serve as the inner code in a concatenated coding system with a high code rate outer code and thus an ultra low error floor can be achieved. This conclusion is also verified by the experimental results.

Trajectory Control of Rendezvous with Maneuver Target Spacecraft

NASA Technical Reports Server (NTRS)

Zhou, Zhinqiang

2012-01-01

In this paper, a nonlinear trajectory control algorithm of rendezvous with maneuvering target spacecraft is presented. The disturbance forces on the chaser and target spacecraft and the thrust forces on the chaser spacecraft are considered in the analysis. The control algorithm developed in this paper uses the relative distance and relative velocity between the target and chaser spacecraft as the inputs. A general formula of reference relative trajectory of the chaser spacecraft to the target spacecraft is developed and applied to four different proximity maneuvers, which are in-track circling, cross-track circling, in-track spiral rendezvous and cross-track spiral rendezvous. The closed-loop differential equations of the proximity relative motion with the control algorithm are derived. It is proven in the paper that the tracking errors between the commanded relative trajectory and the actual relative trajectory are bounded within a constant region determined by the control gains. The prediction of the tracking errors is obtained. Design examples are provided to show the implementation of the control algorithm. The simulation results show that the actual relative trajectory tracks the commanded relative trajectory tightly. The predicted tracking errors match those calculated in the simulation results. The control algorithm developed in this paper can also be applied to interception of maneuver target spacecraft and relative trajectory control of spacecraft formation flying.

Two States Mapping Based Time Series Neural Network Model for Compensation Prediction Residual Error

NASA Astrophysics Data System (ADS)

Jung, Insung; Koo, Lockjo; Wang, Gi-Nam

2008-11-01

The objective of this paper was to design a model of human bio signal data prediction system for decreasing of prediction error using two states mapping based time series neural network BP (back-propagation) model. Normally, a lot of the industry has been applied neural network model by training them in a supervised manner with the error back-propagation algorithm for time series prediction systems. However, it still has got a residual error between real value and prediction result. Therefore, we designed two states of neural network model for compensation residual error which is possible to use in the prevention of sudden death and metabolic syndrome disease such as hypertension disease and obesity. We determined that most of the simulation cases were satisfied by the two states mapping based time series prediction model. In particular, small sample size of times series were more accurate than the standard MLP model.

Modeling of the Mode S tracking system in support of aircraft safety research

NASA Technical Reports Server (NTRS)

Sorensen, J. A.; Goka, T.

1982-01-01

This report collects, documents, and models data relating the expected accuracies of tracking variables to be obtained from the FAA's Mode S Secondary Surveillance Radar system. The data include measured range and azimuth to the tracked aircraft plus the encoded altitude transmitted via the Mode S data link. A brief summary is made of the Mode S system status and its potential applications for aircraft safety improvement including accident analysis. FAA flight test results are presented demonstrating Mode S range and azimuth accuracy and error characteristics and comparing Mode S to the current ATCRBS radar tracking system. Data are also presented that describe the expected accuracy and error characteristics of encoded altitude. These data are used to formulate mathematical error models of the Mode S variables and encoded altitude. A brief analytical assessment is made of the real-time tracking accuracy available from using Mode S and how it could be improved with down-linked velocity.

Hand-Writing Motion Tracking with Vision-Inertial Sensor Fusion: Calibration and Error Correction

PubMed Central

Zhou, Shengli; Fei, Fei; Zhang, Guanglie; Liu, Yunhui; Li, Wen J.

2014-01-01

The purpose of this study was to improve the accuracy of real-time ego-motion tracking through inertial sensor and vision sensor fusion. Due to low sampling rates supported by web-based vision sensor and accumulation of errors in inertial sensors, ego-motion tracking with vision sensors is commonly afflicted by slow updating rates, while motion tracking with inertial sensor suffers from rapid deterioration in accuracy with time. This paper starts with a discussion of developed algorithms for calibrating two relative rotations of the system using only one reference image. Next, stochastic noises associated with the inertial sensor are identified using Allan Variance analysis, and modeled according to their characteristics. Finally, the proposed models are incorporated into an extended Kalman filter for inertial sensor and vision sensor fusion. Compared with results from conventional sensor fusion models, we have shown that ego-motion tracking can be greatly enhanced using the proposed error correction model. PMID:25157546

Improved setup and positioning accuracy using a three‐point customized cushion/mask/bite‐block immobilization system for stereotactic reirradiation of head and neck cancer

PubMed Central

Wang, He; Wang, Congjun; Tung, Samuel; Dimmitt, Andrew Wilson; Wong, Pei Fong; Edson, Mark A.; Garden, Adam S.; Rosenthal, David I.; Fuller, Clifton D.; Gunn, Gary B.; Takiar, Vinita; Wang, Xin A.; Luo, Dershan; Yang, James N.; Wong, Jennifer

2016-01-01

The purpose of this study was to investigate the setup and positioning uncertainty of a custom cushion/mask/bite‐block (CMB) immobilization system and determine PTV margin for image‐guided head and neck stereotactic ablative radiotherapy (HN‐SABR). We analyzed 105 treatment sessions among 21 patients treated with HN‐SABR for recurrent head and neck cancers using a custom CMB immobilization system. Initial patient setup was performed using the ExacTrac infrared (IR) tracking system and initial setup errors were based on comparison of ExacTrac IR tracking system to corrected online ExacTrac X‐rays images registered to treatment plans. Residual setup errors were determined using repeat verification X‐ray. The online ExacTrac corrections were compared to cone‐beam CT (CBCT) before treatment to assess agreement. Intrafractional positioning errors were determined using prebeam X‐rays. The systematic and random errors were analyzed. The initial translational setup errors were −0.8±1.3 mm, −0.8±1.6 mm, and 0.3±1.9 mm in AP, CC, and LR directions, respectively, with a three‐dimensional (3D) vector of 2.7±1.4 mm. The initial rotational errors were up to 2.4° if 6D couch is not available. CBCT agreed with ExacTrac X‐ray images to within 2 mm and 2.5°. The intrafractional uncertainties were 0.1±0.6 mm, 0.1±0.6 mm, and 0.2±0.5 mm in AP, CC, and LR directions, respectively, and 0.0∘±0.5°, 0.0∘±0.6°, and −0.1∘±0.4∘ in yaw, roll, and pitch direction, respectively. The translational vector was 0.9±0.6 mm. The calculated PTV margins mPTV(90,95) were within 1.6 mm when using image guidance for online setup correction. The use of image guidance for online setup correction, in combination with our customized CMB device, highly restricted target motion during treatments and provided robust immobilization to ensure minimum dose of 95% to target volume with 2.0 mm PTV margin for HN‐SABR. PACS number(s): 87.55.ne PMID:27167275

A probabilistic approach to the drag-based model

NASA Astrophysics Data System (ADS)

Napoletano, Gianluca; Forte, Roberta; Moro, Dario Del; Pietropaolo, Ermanno; Giovannelli, Luca; Berrilli, Francesco

2018-02-01

The forecast of the time of arrival (ToA) of a coronal mass ejection (CME) to Earth is of critical importance for our high-technology society and for any future manned exploration of the Solar System. As critical as the forecast accuracy is the knowledge of its precision, i.e. the error associated to the estimate. We propose a statistical approach for the computation of the ToA using the drag-based model by introducing the probability distributions, rather than exact values, as input parameters, thus allowing the evaluation of the uncertainty on the forecast. We test this approach using a set of CMEs whose transit times are known, and obtain extremely promising results: the average value of the absolute differences between measure and forecast is 9.1h, and half of these residuals are within the estimated errors. These results suggest that this approach deserves further investigation. We are working to realize a real-time implementation which ingests the outputs of automated CME tracking algorithms as inputs to create a database of events useful for a further validation of the approach.

Multivariable manual control with simultaneous visual and auditory presentation of information. [for improved compensatory tracking performance of human operator

NASA Technical Reports Server (NTRS)

Uhlemann, H.; Geiser, G.

1975-01-01

Multivariable manual compensatory tracking experiments were carried out in order to determine typical strategies of the human operator and conditions for improvement of his performance if one of the visual displays of the tracking errors is supplemented by an auditory feedback. Because the tracking error of the system which is only visually displayed is found to decrease, but not in general that of the auditorally supported system, it was concluded that the auditory feedback unloads the visual system of the operator who can then concentrate on the remaining exclusively visual displays.

Utilization of satellite-satellite tracking data for determination of the geocentric gravitational constant (GM)

NASA Technical Reports Server (NTRS)

Martin, C. F.; Oh, I. H.

1979-01-01

Range rate tracking of GEOS 3 through the ATS 6 satellite was used, along with ground tracking of GEOS 3, to estimate the geocentric gravitational constant (GM). Using multiple half day arcs, a GM of 398600.52 + or - 0.12 cu km/sq sec was estimated using the GEM 10 gravity model, based on speed of light of 299792.458 km/sec. Tracking station coordinates were simultaneously adjusted, leaving geopotential model error as the dominant error source. Baselines between the adjusted NASA laser sites show better than 15 cm agreement with multiple short arc GEOS 3 solutions.

The Utilization of Starute Decelerators for Improved Upper Atmosphere Measurements

DTIC Science & Technology

1974-12-01

34 ECOM-5489, May 1973. 17. Miller, Walter B., and Donald R. Veazey , "An Integrated Error Description of Active and Passive Balloon Tracking Systems," ECOM...20. Miller, Walter B., and Donald R. Veazey , "Vertical Efficiency of Active and Passive Balloon Tracking Systems from a Standpoint of Integrated Error...5542, May 1974. 60. Miller, Walter B., and Donald R. Veazey , "On Increasing Vertical Efficiency of a Passive Balloon Tracking Device by Optimal Choice

Dictionary learning-based spatiotemporal regularization for 3D dense speckle tracking

NASA Astrophysics Data System (ADS)

Lu, Allen; Zontak, Maria; Parajuli, Nripesh; Stendahl, John C.; Boutagy, Nabil; Eberle, Melissa; O'Donnell, Matthew; Sinusas, Albert J.; Duncan, James S.

2017-03-01

Speckle tracking is a common method for non-rigid tissue motion analysis in 3D echocardiography, where unique texture patterns are tracked through the cardiac cycle. However, poor tracking often occurs due to inherent ultrasound issues, such as image artifacts and speckle decorrelation; thus regularization is required. Various methods, such as optical flow, elastic registration, and block matching techniques have been proposed to track speckle motion. Such methods typically apply spatial and temporal regularization in a separate manner. In this paper, we propose a joint spatiotemporal regularization method based on an adaptive dictionary representation of the dense 3D+time Lagrangian motion field. Sparse dictionaries have good signal adaptive and noise-reduction properties; however, they are prone to quantization errors. Our method takes advantage of the desirable noise suppression, while avoiding the undesirable quantization error. The idea is to enforce regularization only on the poorly tracked trajectories. Specifically, our method 1.) builds data-driven 4-dimensional dictionary of Lagrangian displacements using sparse learning, 2.) automatically identifies poorly tracked trajectories (outliers) based on sparse reconstruction errors, and 3.) performs sparse reconstruction of the outliers only. Our approach can be applied on dense Lagrangian motion fields calculated by any method. We demonstrate the effectiveness of our approach on a baseline block matching speckle tracking and evaluate performance of the proposed algorithm using tracking and strain accuracy analysis.

Research on the error model of airborne celestial/inertial integrated navigation system

NASA Astrophysics Data System (ADS)

Zheng, Xiaoqiang; Deng, Xiaoguo; Yang, Xiaoxu; Dong, Qiang

2015-02-01

Celestial navigation subsystem of airborne celestial/inertial integrated navigation system periodically correct the positioning error and heading drift of the inertial navigation system, by which the inertial navigation system can greatly improve the accuracy of long-endurance navigation. Thus the navigation accuracy of airborne celestial navigation subsystem directly decides the accuracy of the integrated navigation system if it works for long time. By building the mathematical model of the airborne celestial navigation system based on the inertial navigation system, using the method of linear coordinate transformation, we establish the error transfer equation for the positioning algorithm of airborne celestial system. Based on these we built the positioning error model of the celestial navigation. And then, based on the positioning error model we analyze and simulate the positioning error which are caused by the error of the star tracking platform with the MATLAB software. Finally, the positioning error model is verified by the information of the star obtained from the optical measurement device in range and the device whose location are known. The analysis and simulation results show that the level accuracy and north accuracy of tracking platform are important factors that limit airborne celestial navigation systems to improve the positioning accuracy, and the positioning error have an approximate linear relationship with the level error and north error of tracking platform. The error of the verification results are in 1000m, which shows that the model is correct.

Analysis of GRACE Range-rate Residuals with Emphasis on Reprocessed Star-Camera Datasets

NASA Astrophysics Data System (ADS)

Goswami, S.; Flury, J.; Naeimi, M.; Bandikova, T.; Guerr, T. M.; Klinger, B.

2015-12-01

Since March 2002 the two GRACE satellites orbit the Earth at rela-tively low altitude. Determination of the gravity field of the Earth including itstemporal variations from the satellites' orbits and the inter-satellite measure-ments is the goal of the mission. Yet, the time-variable gravity signal has notbeen fully exploited. This can be seen better in the computed post-fit range-rateresiduals. The errors reflected in the range-rate residuals are due to the differ-ent sources as systematic errors, mismodelling errors and tone errors. Here, weanalyse the effect of three different star-camera data sets on the post-fit range-rate residuals. On the one hand, we consider the available attitude data andon other hand we take the two different data sets which has been reprocessedat Institute of Geodesy, Hannover and Institute of Theoretical Geodesy andSatellite Geodesy, TU Graz Austria respectively. Then the differences in therange-rate residuals computed from different attitude dataset are analyzed inthis study. Details will be given and results will be discussed.

Chromosomal locus tracking with proper accounting of static and dynamic errors

PubMed Central

Backlund, Mikael P.; Joyner, Ryan; Moerner, W. E.

2015-01-01

The mean-squared displacement (MSD) and velocity autocorrelation (VAC) of tracked single particles or molecules are ubiquitous metrics for extracting parameters that describe the object’s motion, but they are both corrupted by experimental errors that hinder the quantitative extraction of underlying parameters. For the simple case of pure Brownian motion, the effects of localization error due to photon statistics (“static error”) and motion blur due to finite exposure time (“dynamic error”) on the MSD and VAC are already routinely treated. However, particles moving through complex environments such as cells, nuclei, or polymers often exhibit anomalous diffusion, for which the effects of these errors are less often sufficiently treated. We present data from tracked chromosomal loci in yeast that demonstrate the necessity of properly accounting for both static and dynamic error in the context of an anomalous diffusion that is consistent with a fractional Brownian motion (FBM). We compare these data to analytical forms of the expected values of the MSD and VAC for a general FBM in the presence of these errors. PMID:26172745

Real-time catheter tracking for high-dose-rate prostate brachytherapy using an electromagnetic 3D-guidance device: A preliminary performance study

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

Zhou Jun; Sebastian, Evelyn; Mangona, Victor

2013-02-15

Purpose: In order to increase the accuracy and speed of catheter reconstruction in a high-dose-rate (HDR) prostate implant procedure, an automatic tracking system has been developed using an electromagnetic (EM) device (trakSTAR, Ascension Technology, VT). The performance of the system, including the accuracy and noise level with various tracking parameters and conditions, were investigated. Methods: A direct current (dc) EM transmitter (midrange model) and a sensor with diameter of 1.3 mm (Model 130) were used in the trakSTAR system for tracking catheter position during HDR prostate brachytherapy. Localization accuracy was assessed under both static and dynamic analyses conditions. For themore » static analysis, a calibration phantom was used to investigate error dependency on operating room (OR) table height (bottom vs midposition vs top), sensor position (distal tip of catheter vs connector end of catheter), direction [left-right (LR) vs anterior-posterior (AP) vs superior-inferior (SI)], sampling frequency (40 vs 80 vs 120 Hz), and interference from OR equipment (present vs absent). The mean and standard deviation of the localization offset in each direction and the corresponding error vectors were calculated. For dynamic analysis, the paths of five straight catheters were tracked to study the effects of directions, sampling frequency, and interference of EM field. Statistical analysis was conducted to compare the results in different configurations. Results: When interference was present in the static analysis, the error vectors were significantly higher at the top table position (3.3 {+-} 1.3 vs 1.8 {+-} 0.9 mm at bottom and 1.7 {+-} 1.0 mm at middle, p < 0.001), at catheter end position (3.1 {+-} 1.1 vs 1.4 {+-} 0.7 mm at the tip position, p < 0.001), and at 40 Hz sampling frequency (2.6 {+-} 1.1 vs 2.4 {+-} 1.5 mm at 80 Hz and 1.8 {+-} 1.1 at 160 Hz, p < 0.001). So did the mean offset errors in the LR direction (-1.7 {+-} 1.4 vs 0.4 {+-} 0.5 mm in AP and 0.8 {+-} 0.8 mm in SI directions, p < 0.001). The error vectors were significantly higher with surrounding interference (2.2 {+-} 1.3 mm) vs without interference (1.0 {+-} 0.7 mm, p < 0.001). An accuracy of 1.6 {+-} 0.2 mm can be reached when using optimum configuration (160 Hz at middle table position). When interference was present in the dynamic tracking, the mean tracking errors in LR direction (1.4 {+-} 0.5 mm) was significantly higher than that in AP direction (0.3 {+-} 0.2 mm, p < 0.001). So did the mean vector errors at 40 Hz (2.1 {+-} 0.2 mm vs 1.3 {+-} 0.2 mm at 80 Hz and 0.9 {+-} 0.2 mm at 160 Hz, p < 0.05). However, when interference was absent, they were comparable in the both directions and at all sampling frequencies. An accuracy of 0.9 {+-} 0.2 mm was obtained for the dynamic tracking when using optimum configuration. Conclusions: The performance of an EM tracking system depends highly on the system configuration and surrounding environment. The accuracy of EM tracking for catheter reconstruction in a prostate HDR brachytherapy procedure can be improved by reducing interference from surrounding equipment, decreasing distance from transmitter to tracking area, and choosing appropriated sampling frequency. A calibration scheme is needed to further reduce the tracking error when the interference is high.« less

Impact of Representing Model Error in a Hybrid Ensemble-Variational Data Assimilation System for Track Forecast of Tropical Cyclones over the Bay of Bengal

NASA Astrophysics Data System (ADS)

Kutty, Govindan; Muraleedharan, Rohit; Kesarkar, Amit P.

2018-03-01

Uncertainties in the numerical weather prediction models are generally not well-represented in ensemble-based data assimilation (DA) systems. The performance of an ensemble-based DA system becomes suboptimal, if the sources of error are undersampled in the forecast system. The present study examines the effect of accounting for model error treatments in the hybrid ensemble transform Kalman filter—three-dimensional variational (3DVAR) DA system (hybrid) in the track forecast of two tropical cyclones viz. Hudhud and Thane, formed over the Bay of Bengal, using Advanced Research Weather Research and Forecasting (ARW-WRF) model. We investigated the effect of two types of model error treatment schemes and their combination on the hybrid DA system; (i) multiphysics approach, which uses different combination of cumulus, microphysics and planetary boundary layer schemes, (ii) stochastic kinetic energy backscatter (SKEB) scheme, which perturbs the horizontal wind and potential temperature tendencies, (iii) a combination of both multiphysics and SKEB scheme. Substantial improvements are noticed in the track positions of both the cyclones, when flow-dependent ensemble covariance is used in 3DVAR framework. Explicit model error representation is found to be beneficial in treating the underdispersive ensembles. Among the model error schemes used in this study, a combination of multiphysics and SKEB schemes has outperformed the other two schemes with improved track forecast for both the tropical cyclones.

An auxiliary frequency tracking system for general purpose lock-in amplifiers

NASA Astrophysics Data System (ADS)

Xie, Kai; Chen, Liuhao; Huang, Anfeng; Zhao, Kai; Zhang, Hanlu

2018-04-01

Lock-in amplifiers (LIAs) are designed to measure weak signals submerged by noise. This is achieved with a signal modulator to avoid low-frequency noise and a narrow-band filter to suppress out-of-band noise. In asynchronous measurement, even a slight frequency deviation between the modulator and the reference may lead to measurement error because the filter’s passband is not flat. Because many commercial LIAs are unable to track frequency deviations, in this paper we propose an auxiliary frequency tracking system. We analyze the measurement error caused by the frequency deviation and propose both a tracking method and an auto-tracking system. This approach requires only three basic parameters, which can be obtained from any general purpose LIA via its communications interface, to calculate the frequency deviation from the phase difference. The proposed auxiliary tracking system is designed as a peripheral connected to the LIA’s serial port, removing the need for an additional power supply. The test results verified the effectiveness of the proposed system; the modified commercial LIA (model SR-850) was able to track the frequency deviation and continuous drift. For step frequency deviations, a steady tracking error of less than 0.001% was achieved within three adjustments, and the worst tracking accuracy was still better than 0.1% for a continuous frequency drift. The tracking system can be used to expand the application scope of commercial LIAs, especially for remote measurements in which the modulation clock and the local reference are separated.

A Real-Time Orbit Determination Method for Smooth Transition from Optical Tracking to Laser Ranging of Debris

PubMed Central

Li, Bin; Sang, Jizhang; Zhang, Zhongping

2016-01-01

A critical requirement to achieve high efficiency of debris laser tracking is to have sufficiently accurate orbit predictions (OP) in both the pointing direction (better than 20 arc seconds) and distance from the tracking station to the debris objects, with the former more important than the latter because of the narrow laser beam. When the two line element (TLE) is used to provide the orbit predictions, the resultant pointing errors are usually on the order of tens to hundreds of arc seconds. In practice, therefore, angular observations of debris objects are first collected using an optical tracking sensor, and then used to guide the laser beam pointing to the objects. The manual guidance may cause interrupts to the laser tracking, and consequently loss of valuable laser tracking data. This paper presents a real-time orbit determination (OD) and prediction method to realize smooth and efficient debris laser tracking. The method uses TLE-computed positions and angles over a short-arc of less than 2 min as observations in an OD process where simplified force models are considered. After the OD convergence, the OP is performed from the last observation epoch to the end of the tracking pass. Simulation and real tracking data processing results show that the pointing prediction errors are usually less than 10″, and the distance errors less than 100 m, therefore, the prediction accuracy is sufficient for the blind laser tracking. PMID:27347958

Improving probabilistic prediction of daily streamflow by identifying Pareto optimal approaches for modeling heteroscedastic residual errors

NASA Astrophysics Data System (ADS)

McInerney, David; Thyer, Mark; Kavetski, Dmitri; Lerat, Julien; Kuczera, George

2017-03-01

Reliable and precise probabilistic prediction of daily catchment-scale streamflow requires statistical characterization of residual errors of hydrological models. This study focuses on approaches for representing error heteroscedasticity with respect to simulated streamflow, i.e., the pattern of larger errors in higher streamflow predictions. We evaluate eight common residual error schemes, including standard and weighted least squares, the Box-Cox transformation (with fixed and calibrated power parameter λ) and the log-sinh transformation. Case studies include 17 perennial and 6 ephemeral catchments in Australia and the United States, and two lumped hydrological models. Performance is quantified using predictive reliability, precision, and volumetric bias metrics. We find the choice of heteroscedastic error modeling approach significantly impacts on predictive performance, though no single scheme simultaneously optimizes all performance metrics. The set of Pareto optimal schemes, reflecting performance trade-offs, comprises Box-Cox schemes with λ of 0.2 and 0.5, and the log scheme (λ = 0, perennial catchments only). These schemes significantly outperform even the average-performing remaining schemes (e.g., across ephemeral catchments, median precision tightens from 105% to 40% of observed streamflow, and median biases decrease from 25% to 4%). Theoretical interpretations of empirical results highlight the importance of capturing the skew/kurtosis of raw residuals and reproducing zero flows. Paradoxically, calibration of λ is often counterproductive: in perennial catchments, it tends to overfit low flows at the expense of abysmal precision in high flows. The log-sinh transformation is dominated by the simpler Pareto optimal schemes listed above. Recommendations for researchers and practitioners seeking robust residual error schemes for practical work are provided.

Selective Weighted Least Squares Method for Fourier Transform Infrared Quantitative Analysis.

PubMed

Wang, Xin; Li, Yan; Wei, Haoyun; Chen, Xia

2017-06-01

Classical least squares (CLS) regression is a popular multivariate statistical method used frequently for quantitative analysis using Fourier transform infrared (FT-IR) spectrometry. Classical least squares provides the best unbiased estimator for uncorrelated residual errors with zero mean and equal variance. However, the noise in FT-IR spectra, which accounts for a large portion of the residual errors, is heteroscedastic. Thus, if this noise with zero mean dominates in the residual errors, the weighted least squares (WLS) regression method described in this paper is a better estimator than CLS. However, if bias errors, such as the residual baseline error, are significant, WLS may perform worse than CLS. In this paper, we compare the effect of noise and bias error in using CLS and WLS in quantitative analysis. Results indicated that for wavenumbers with low absorbance, the bias error significantly affected the error, such that the performance of CLS is better than that of WLS. However, for wavenumbers with high absorbance, the noise significantly affected the error, and WLS proves to be better than CLS. Thus, we propose a selective weighted least squares (SWLS) regression that processes data with different wavenumbers using either CLS or WLS based on a selection criterion, i.e., lower or higher than an absorbance threshold. The effects of various factors on the optimal threshold value (OTV) for SWLS have been studied through numerical simulations. These studies reported that: (1) the concentration and the analyte type had minimal effect on OTV; and (2) the major factor that influences OTV is the ratio between the bias error and the standard deviation of the noise. The last part of this paper is dedicated to quantitative analysis of methane gas spectra, and methane/toluene mixtures gas spectra as measured using FT-IR spectrometry and CLS, WLS, and SWLS. The standard error of prediction (SEP), bias of prediction (bias), and the residual sum of squares of the errors (RSS) from the three quantitative analyses were compared. In methane gas analysis, SWLS yielded the lowest SEP and RSS among the three methods. In methane/toluene mixture gas analysis, a modification of the SWLS has been presented to tackle the bias error from other components. The SWLS without modification presents the lowest SEP in all cases but not bias and RSS. The modification of SWLS reduced the bias, which showed a lower RSS than CLS, especially for small components.

The effect of clock, media, and station location errors on Doppler measurement accuracy

NASA Technical Reports Server (NTRS)

Miller, J. K.

1993-01-01

Doppler tracking by the Deep Space Network (DSN) is the primary radio metric data type used by navigation to determine the orbit of a spacecraft. The accuracy normally attributed to orbits determined exclusively with Doppler data is about 0.5 microradians in geocentric angle. Recently, the Doppler measurement system has evolved to a high degree of precision primarily because of tracking at X-band frequencies (7.2 to 8.5 GHz). However, the orbit determination system has not been able to fully utilize this improved measurement accuracy because of calibration errors associated with transmission media, the location of tracking stations on the Earth's surface, the orientation of the Earth as an observing platform, and timekeeping. With the introduction of Global Positioning System (GPS) data, it may be possible to remove a significant error associated with the troposphere. In this article, the effect of various calibration errors associated with transmission media, Earth platform parameters, and clocks are examined. With the introduction of GPS calibrations, it is predicted that a Doppler tracking accuracy of 0.05 microradians is achievable.

Mathematical analysis study for radar data processing and enhancement. Part 1: Radar data analysis

NASA Technical Reports Server (NTRS)

James, R.; Brownlow, J. D.

1985-01-01

A study is performed under NASA contract to evaluate data from an AN/FPS-16 radar installed for support of flight programs at Dryden Flight Research Facility of NASA Ames Research Center. The purpose of this study is to provide information necessary for improving post-flight data reduction and knowledge of accuracy of derived radar quantities. Tracking data from six flights are analyzed. Noise and bias errors in raw tracking data are determined for each of the flights. A discussion of an altiude bias error during all of the tracking missions is included. This bias error is defined by utilizing pressure altitude measurements made during survey flights. Four separate filtering methods, representative of the most widely used optimal estimation techniques for enhancement of radar tracking data, are analyzed for suitability in processing both real-time and post-mission data. Additional information regarding the radar and its measurements, including typical noise and bias errors in the range and angle measurements, is also presented. This is in two parts. This is part 1, an analysis of radar data.

Evaluation of Dose Uncertainty to the Target Associated With Real-Time Tracking Intensity-Modulated Radiation Therapy Using the CyberKnife Synchrony System.

PubMed

Iwata, Hiromitsu; Inoue, Mitsuhiro; Shiomi, Hiroya; Murai, Taro; Tatewaki, Koshi; Ohta, Seiji; Okawa, Kohei; Yokota, Naoki; Shibamoto, Yuta

2016-02-01

We investigated the dose uncertainty caused by errors in real-time tracking intensity-modulated radiation therapy (IMRT) using the CyberKnife Synchrony Respiratory Tracking System (SRTS). Twenty lung tumors that had been treated with non-IMRT real-time tracking using CyberKnife SRTS were used for this study. After validating the tracking error in each case, we did 40 IMRT planning using 8 different collimator sizes for the 20 patients. The collimator size was determined for each planning target volume (PTV); smaller ones were one-half, and larger ones three-quarters, of the PTV diameter. The planned dose was 45 Gy in 4 fractions prescribed at 95% volume border of the PTV. Thereafter, the tracking error in each case was substituted into calculation software developed in house and randomly added in the setting of each beam. The IMRT planning incorporating tracking errors was simulated 1000 times, and various dose data on the clinical target volume (CTV) were compared with the original data. The same simulation was carried out by changing the fraction number from 1 to 6 in each IMRT plan. Finally, a total of 240 000 plans were analyzed. With 4 fractions, the change in the CTV maximum and minimum doses was within 3.0% (median) for each collimator. The change in D99 and D95 was within 2.0%. With decreases in the fraction number, the CTV coverage rate and the minimum dose decreased and varied greatly. The accuracy of real-time tracking IMRT delivered in 4 fractions using CyberKnife SRTS was considered to be clinically acceptable. © The Author(s) 2014.

Evaluation of tracking accuracy of the CyberKnife system using a webcam and printed calibrated grid

PubMed Central

Shiomi, Hiroya; Higashinaka, Naokazu; Murashima, Yoshikazu; Miyamoto, Youichi; Yamazaki, Hideya; Mabuchi, Nobuhisa; Tsuda, Eimei; Ogawa, Kazuhiko

2016-01-01

Tracking accuracy for the CyberKnife's Synchrony system is commonly evaluated using a film‐based verification method. We have evaluated a verification system that uses a webcam and a printed calibrated grid to verify tracking accuracy over three different motion patterns. A box with an attached printed calibrated grid and four fiducial markers was attached to the motion phantom. A target marker was positioned at the grid's center. The box was set up using the other three markers. Target tracking accuracy was evaluated under three conditions: 1) stationary; 2) sinusoidal motion with different amplitudes of 5, 10, 15, and 20 mm for the same cycle of 4 s and different cycles of 2, 4, 6, and 8 s with the same amplitude of 15 mm; and 3) irregular breathing patterns in six human volunteers breathing normally. Infrared markers were placed on the volunteers’ abdomens, and their trajectories were used to simulate the target motion. All tests were performed with one‐dimensional motion in craniocaudal direction. The webcam captured the grid's motion and a laser beam was used to simulate the CyberKnife's beam. Tracking error was defined as the difference between the grid's center and the laser beam. With a stationary target, mean tracking error was measured at 0.4 mm. For sinusoidal motion, tracking error was less than 2 mm for any amplitude and breathing cycle. For the volunteers’ breathing patterns, the mean tracking error range was 0.78‐1.67 mm. Therefore, accurate lesion targeting requires individual quality assurance for each patient. PACS number(s): 87.55.D‐, 87.55.km, 87.55.Qr, 87.56.Fc PMID:27074474

Bias estimation for moving optical sensor measurements with targets of opportunity

NASA Astrophysics Data System (ADS)

Belfadel, Djedjiga; Osborne, Richard W.; Bar-Shalom, Yaakov

2014-06-01

Integration of space based sensors into a Ballistic Missile Defense System (BMDS) allows for detection and tracking of threats over a larger area than ground based sensors [1]. This paper examines the effect of sensor bias error on the tracking quality of a Space Tracking and Surveillance System (STSS) for the highly non-linear problem of tracking a ballistic missile. The STSS constellation consists of two or more satellites (on known trajectories) for tracking ballistic targets. Each satellite is equipped with an IR sensor that provides azimuth and elevation to the target. The tracking problem is made more difficult due to a constant or slowly varying bias error present in each sensor's line of sight measurements. It is important to correct for these bias errors so that the multiple sensor measurements and/or tracks can be referenced as accurately as possible to a common tracking coordinate system. The measurements provided by these sensors are assumed time-coincident (synchronous) and perfectly associated. The line of sight (LOS) measurements from the sensors can be fused into measurements which are the Cartesian target position, i.e., linear in the target state. We evaluate the Cramér-Rao Lower Bound (CRLB) on the covariance of the bias estimates, which serves as a quantification of the available information about the biases. Statistical tests on the results of simulations show that this method is statistically efficient, even for small sample sizes (as few as two sensors and six points on the (unknown) trajectory of a single target of opportunity). We also show that the RMS position error is significantly improved with bias estimation compared with the target position estimation using the original biased measurements.

Practical guidance on representing the heteroscedasticity of residual errors of hydrological predictions

NASA Astrophysics Data System (ADS)

McInerney, David; Thyer, Mark; Kavetski, Dmitri; Kuczera, George

2016-04-01

Appropriate representation of residual errors in hydrological modelling is essential for accurate and reliable probabilistic streamflow predictions. In particular, residual errors of hydrological predictions are often heteroscedastic, with large errors associated with high runoff events. Although multiple approaches exist for representing this heteroscedasticity, few if any studies have undertaken a comprehensive evaluation and comparison of these approaches. This study fills this research gap by evaluating a range of approaches for representing heteroscedasticity in residual errors. These approaches include the 'direct' weighted least squares approach and 'transformational' approaches, such as logarithmic, Box-Cox (with and without fitting the transformation parameter), logsinh and the inverse transformation. The study reports (1) theoretical comparison of heteroscedasticity approaches, (2) empirical evaluation of heteroscedasticity approaches using a range of multiple catchments / hydrological models / performance metrics and (3) interpretation of empirical results using theory to provide practical guidance on the selection of heteroscedasticity approaches. Importantly, for hydrological practitioners, the results will simplify the choice of approaches to represent heteroscedasticity. This will enhance their ability to provide hydrological probabilistic predictions with the best reliability and precision for different catchment types (e.g. high/low degree of ephemerality).

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

PubMed

Song, Zhankui; Li, Hongxing; Sun, Kaibiao

2014-01-01

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

Fuzzy Neural Network-Based Interacting Multiple Model for Multi-Node Target Tracking Algorithm

PubMed Central

Sun, Baoliang; Jiang, Chunlan; Li, Ming

2016-01-01

An interacting multiple model for multi-node target tracking algorithm was proposed based on a fuzzy neural network (FNN) to solve the multi-node target tracking problem of wireless sensor networks (WSNs). Measured error variance was adaptively adjusted during the multiple model interacting output stage using the difference between the theoretical and estimated values of the measured error covariance matrix. The FNN fusion system was established during multi-node fusion to integrate with the target state estimated data from different nodes and consequently obtain network target state estimation. The feasibility of the algorithm was verified based on a network of nine detection nodes. Experimental results indicated that the proposed algorithm could trace the maneuvering target effectively under sensor failure and unknown system measurement errors. The proposed algorithm exhibited great practicability in the multi-node target tracking of WSNs. PMID:27809271

Ghost hunting—an assessment of ghost particle detection and removal methods for tomographic-PIV

NASA Astrophysics Data System (ADS)

Elsinga, G. E.; Tokgoz, S.

2014-08-01

This paper discusses and compares several methods, which aim to remove spurious peaks, i.e. ghost particles, from the volume intensity reconstruction in tomographic-PIV. The assessment is based on numerical simulations of time-resolved tomographic-PIV experiments in linear shear flows. Within the reconstructed volumes, intensity peaks are detected and tracked over time. These peaks are associated with particles (either ghosts or actual particles) and are characterized by their peak intensity, size and track length. Peak intensity and track length are found to be effective in discriminating between most ghosts and the actual particles, although not all ghosts can be detected using only a single threshold. The size of the reconstructed particles does not reveal an important difference between ghosts and actual particles. The joint distribution of peak intensity and track length however does, under certain conditions, allow a complete separation of ghosts and actual particles. The ghosts can have either a high intensity or a long track length, but not both combined, like all the actual particles. Removing the detected ghosts from the reconstructed volume and performing additional MART iterations can decrease the particle position error at low to moderate seeding densities, but increases the position error, velocity error and tracking errors at higher densities. The observed trends in the joint distribution of peak intensity and track length are confirmed by results from a real experiment in laminar Taylor-Couette flow. This diagnostic plot allows an estimate of the number of ghosts that are indistinguishable from the actual particles.

Precise orbit determination using the batch filter based on particle filtering with genetic resampling approach

NASA Astrophysics Data System (ADS)

Kim, Young-Rok; Park, Eunseo; Choi, Eun-Jung; Park, Sang-Young; Park, Chandeok; Lim, Hyung-Chul

2014-09-01

In this study, genetic resampling (GRS) approach is utilized for precise orbit determination (POD) using the batch filter based on particle filtering (PF). Two genetic operations, which are arithmetic crossover and residual mutation, are used for GRS of the batch filter based on PF (PF batch filter). For POD, Laser-ranging Precise Orbit Determination System (LPODS) and satellite laser ranging (SLR) observations of the CHAMP satellite are used. Monte Carlo trials for POD are performed by one hundred times. The characteristics of the POD results by PF batch filter with GRS are compared with those of a PF batch filter with minimum residual resampling (MRRS). The post-fit residual, 3D error by external orbit comparison, and POD repeatability are analyzed for orbit quality assessments. The POD results are externally checked by NASA JPL’s orbits using totally different software, measurements, and techniques. For post-fit residuals and 3D errors, both MRRS and GRS give accurate estimation results whose mean root mean square (RMS) values are at a level of 5 cm and 10-13 cm, respectively. The mean radial orbit errors of both methods are at a level of 5 cm. For POD repeatability represented as the standard deviations of post-fit residuals and 3D errors by repetitive PODs, however, GRS yields 25% and 13% more robust estimation results than MRRS for post-fit residual and 3D error, respectively. This study shows that PF batch filter with GRS approach using genetic operations is superior to PF batch filter with MRRS in terms of robustness in POD with SLR observations.

Efficacy of Visual-Acoustic Biofeedback Intervention for Residual Rhotic Errors: A Single-Subject Randomization Study

ERIC Educational Resources Information Center

Byun, Tara McAllister

2017-01-01

Purpose: This study documented the efficacy of visual-acoustic biofeedback intervention for residual rhotic errors, relative to a comparison condition involving traditional articulatory treatment. All participants received both treatments in a single-subject experimental design featuring alternating treatments with blocked randomization of…

Centroid measurement error of CMOS detector in the presence of detector noise for inter-satellite optical communications

NASA Astrophysics Data System (ADS)

Li, Xin; Zhou, Shihong; Ma, Jing; Tan, Liying; Shen, Tao

2013-08-01

CMOS is a good candidate tracking detector for satellite optical communications systems with outstanding feature of sub-window for the development of APS (Active Pixel Sensor) technology. For inter-satellite optical communications it is critical to estimate the direction of incident laser beam precisely by measuring the centroid position of incident beam spot. The presence of detector noise results in measurement error, which degrades the tracking performance of systems. In this research, the measurement error of CMOS is derived taking consideration of detector noise. It is shown that the measurement error depends on pixel noise, size of the tracking sub-window (pixels number), intensity of incident laser beam, relative size of beam spot. The influences of these factors are analyzed by numerical simulation. We hope the results obtained in this research will be helpful in the design of CMOS detector satellite optical communications systems.

A GPS Phase-Locked Loop Performance Metric Based on the Phase Discriminator Output

PubMed Central

Stevanovic, Stefan; Pervan, Boris

2018-01-01

We propose a novel GPS phase-lock loop (PLL) performance metric based on the standard deviation of tracking error (defined as the discriminator’s estimate of the true phase error), and explain its advantages over the popular phase jitter metric using theory, numerical simulation, and experimental results. We derive an augmented GPS phase-lock loop (PLL) linear model, which includes the effect of coherent averaging, to be used in conjunction with this proposed metric. The augmented linear model allows more accurate calculation of tracking error standard deviation in the presence of additive white Gaussian noise (AWGN) as compared to traditional linear models. The standard deviation of tracking error, with a threshold corresponding to half of the arctangent discriminator pull-in region, is shown to be a more reliable/robust measure of PLL performance under interference conditions than the phase jitter metric. In addition, the augmented linear model is shown to be valid up until this threshold, which facilitates efficient performance prediction, so that time-consuming direct simulations and costly experimental testing can be reserved for PLL designs that are much more likely to be successful. The effect of varying receiver reference oscillator quality on the tracking error metric is also considered. PMID:29351250

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

PubMed Central

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

2017-01-01

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

Electromagnetic tracking (EMT) technology for improved treatment quality assurance in interstitial brachytherapy.

PubMed

Kellermeier, Markus; Herbolzheimer, Jens; Kreppner, Stephan; Lotter, Michael; Strnad, Vratislav; Bert, Christoph

2017-01-01

Electromagnetic Tracking (EMT) is a novel technique for error detection and quality assurance (QA) in interstitial high dose rate brachytherapy (HDR-iBT). The purpose of this study is to provide a concept for data acquisition developed as part of a clinical evaluation study on the use of EMT during interstitial treatment of breast cancer patients. The stability, accuracy, and precision of EMT-determined dwell positions were quantified. Dwell position reconstruction based on EMT was investigated on CT table, HDR table and PDR bed to examine the influence on precision and accuracy in a typical clinical workflow. All investigations were performed using a precise PMMA phantom. The track of catheters inserted in that phantom was measured by manually inserting a 5 degree of freedom (DoF) sensor while recording the position of three 6DoF fiducial sensors on the phantom surface to correct motion influences. From the corrected data, dwell positions were reconstructed along the catheter's track. The accuracy of the EMT-determined dwell positions was quantified by the residual distances to reference dwell positions after using a rigid registration. Precision and accuracy were investigated for different phantom-table and sensor-field generator (FG) distances. The measured precision of the EMT-determined dwell positions was ≤ 0.28 mm (95th percentile). Stability tests showed a drift of 0.03 mm in the first 20 min of use. Sudden shaking of the FG or (large) metallic objects close to the FG degrade the precision. The accuracy with respect to the reference dwell positions was on all clinical tables < 1 mm at 200 mm FG distance and 120 mm phantom-table distance. Phantom measurements showed that EMT-determined localization of dwell positions in HDR-iBT is stable, precise, and sufficiently accurate for clinical assessment. The presented method may be viable for clinical applications in HDR-iBT, like implant definition, error detection or quantification of uncertainties. Further clinical investigations are needed. © 2017 The Authors. Journal of Applied Clinical Medical Physics published by Wiley Periodicals, Inc. on behalf of American Association of Physicists in Medicine.

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

NASA Astrophysics Data System (ADS)

Ni, Ming; Tao, Fei; Yang, Jiandong

2018-01-01

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

47 CFR 87.145 - Acceptability of transmitters for licensing.

Code of Federal Regulations, 2014 CFR

2014-10-01

... square error which assumes zero error for the received ground earth station signal and includes the AES transmit/receive frequency reference error and the AES automatic frequency control residual errors.) The...

47 CFR 87.145 - Acceptability of transmitters for licensing.

Code of Federal Regulations, 2013 CFR

2013-10-01

... square error which assumes zero error for the received ground earth station signal and includes the AES transmit/receive frequency reference error and the AES automatic frequency control residual errors.) The...

47 CFR 87.145 - Acceptability of transmitters for licensing.

Code of Federal Regulations, 2012 CFR

2012-10-01

... square error which assumes zero error for the received ground earth station signal and includes the AES transmit/receive frequency reference error and the AES automatic frequency control residual errors.) The...

47 CFR 87.145 - Acceptability of transmitters for licensing.

Code of Federal Regulations, 2011 CFR

2011-10-01

... square error which assumes zero error for the received ground earth station signal and includes the AES transmit/receive frequency reference error and the AES automatic frequency control residual errors.) The...

Paradigm Shifts in Voluntary Force Control and Motor Unit Behaviors with the Manipulated Size of Visual Error Perception

PubMed Central

Chen, Yi-Ching; Lin, Yen-Ting; Chang, Gwo-Ching; Hwang, Ing-Shiou

2017-01-01

The detection of error information is an essential prerequisite of a feedback-based movement. This study investigated the differential behavior and neurophysiological mechanisms of a cyclic force-tracking task using error-reducing and error-enhancing feedback. The discharge patterns of a relatively large number of motor units (MUs) were assessed with custom-designed multi-channel surface electromyography following mathematical decomposition of the experimentally-measured signals. Force characteristics, force-discharge relation, and phase-locking cortical activities in the contralateral motor cortex to individual MUs were contrasted among the low (LSF), normal (NSF), and high scaling factor (HSF) conditions, in which the sizes of online execution errors were displayed with various amplification ratios. Along with a spectral shift of the force output toward a lower band, force output with a more phase-lead became less irregular, and tracking accuracy was worse in the LSF condition than in the HSF condition. The coherent discharge of high phasic (HP) MUs with the target signal was greater, and inter-spike intervals were larger, in the LSF condition than in the HSF condition. Force-tracking in the LSF condition manifested with stronger phase-locked EEG activity in the contralateral motor cortex to discharge of the (HP) MUs (LSF > NSF, HSF). The coherent discharge of the (HP) MUs during the cyclic force-tracking predominated the force-discharge relation, which increased inversely to the error scaling factor. In conclusion, the size of visualized error gates motor unit discharge, force-discharge relation, and the relative influences of the feedback and feedforward processes on force control. A smaller visualized error size favors voluntary force control using a feedforward process, in relation to a selective central modulation that enhance the coherent discharge of (HP) MUs. PMID:28348530

Paradigm Shifts in Voluntary Force Control and Motor Unit Behaviors with the Manipulated Size of Visual Error Perception.

PubMed

Chen, Yi-Ching; Lin, Yen-Ting; Chang, Gwo-Ching; Hwang, Ing-Shiou

2017-01-01

The detection of error information is an essential prerequisite of a feedback-based movement. This study investigated the differential behavior and neurophysiological mechanisms of a cyclic force-tracking task using error-reducing and error-enhancing feedback. The discharge patterns of a relatively large number of motor units (MUs) were assessed with custom-designed multi-channel surface electromyography following mathematical decomposition of the experimentally-measured signals. Force characteristics, force-discharge relation, and phase-locking cortical activities in the contralateral motor cortex to individual MUs were contrasted among the low (LSF), normal (NSF), and high scaling factor (HSF) conditions, in which the sizes of online execution errors were displayed with various amplification ratios. Along with a spectral shift of the force output toward a lower band, force output with a more phase-lead became less irregular, and tracking accuracy was worse in the LSF condition than in the HSF condition. The coherent discharge of high phasic (HP) MUs with the target signal was greater, and inter-spike intervals were larger, in the LSF condition than in the HSF condition. Force-tracking in the LSF condition manifested with stronger phase-locked EEG activity in the contralateral motor cortex to discharge of the (HP) MUs (LSF > NSF, HSF). The coherent discharge of the (HP) MUs during the cyclic force-tracking predominated the force-discharge relation, which increased inversely to the error scaling factor. In conclusion, the size of visualized error gates motor unit discharge, force-discharge relation, and the relative influences of the feedback and feedforward processes on force control. A smaller visualized error size favors voluntary force control using a feedforward process, in relation to a selective central modulation that enhance the coherent discharge of (HP) MUs.

Simulation approach for the evaluation of tracking accuracy in radiotherapy: a preliminary study.

PubMed

Tanaka, Rie; Ichikawa, Katsuhiro; Mori, Shinichiro; Sanada, Sigeru

2013-01-01

Real-time tumor tracking in external radiotherapy can be achieved by diagnostic (kV) X-ray imaging with a dynamic flat-panel detector (FPD). It is important to keep the patient dose as low as possible while maintaining tracking accuracy. A simulation approach would be helpful to optimize the imaging conditions. This study was performed to develop a computer simulation platform based on a noise property of the imaging system for the evaluation of tracking accuracy at any noise level. Flat-field images were obtained using a direct-type dynamic FPD, and noise power spectrum (NPS) analysis was performed. The relationship between incident quantum number and pixel value was addressed, and a conversion function was created. The pixel values were converted into a map of quantum number using the conversion function, and the map was then input into the random number generator to simulate image noise. Simulation images were provided at different noise levels by changing the incident quantum numbers. Subsequently, an implanted marker was tracked automatically and the maximum tracking errors were calculated at different noise levels. The results indicated that the maximum tracking error increased with decreasing incident quantum number in flat-field images with an implanted marker. In addition, the range of errors increased with decreasing incident quantum number. The present method could be used to determine the relationship between image noise and tracking accuracy. The results indicated that the simulation approach would aid in determining exposure dose conditions according to the necessary tracking accuracy.

A procedure for the significance testing of unmodeled errors in GNSS observations

NASA Astrophysics Data System (ADS)

Li, Bofeng; Zhang, Zhetao; Shen, Yunzhong; Yang, Ling

2018-01-01

It is a crucial task to establish a precise mathematical model for global navigation satellite system (GNSS) observations in precise positioning. Due to the spatiotemporal complexity of, and limited knowledge on, systematic errors in GNSS observations, some residual systematic errors would inevitably remain even after corrected with empirical model and parameterization. These residual systematic errors are referred to as unmodeled errors. However, most of the existing studies mainly focus on handling the systematic errors that can be properly modeled and then simply ignore the unmodeled errors that may actually exist. To further improve the accuracy and reliability of GNSS applications, such unmodeled errors must be handled especially when they are significant. Therefore, a very first question is how to statistically validate the significance of unmodeled errors. In this research, we will propose a procedure to examine the significance of these unmodeled errors by the combined use of the hypothesis tests. With this testing procedure, three components of unmodeled errors, i.e., the nonstationary signal, stationary signal and white noise, are identified. The procedure is tested by using simulated data and real BeiDou datasets with varying error sources. The results show that the unmodeled errors can be discriminated by our procedure with approximately 90% confidence. The efficiency of the proposed procedure is further reassured by applying the time-domain Allan variance analysis and frequency-domain fast Fourier transform. In summary, the spatiotemporally correlated unmodeled errors are commonly existent in GNSS observations and mainly governed by the residual atmospheric biases and multipath. Their patterns may also be impacted by the receiver.

A new nondestructive instrument for bulk residual stress measurement using tungsten kα1 X-ray.

PubMed

Ma, Ce; Dou, Zuo-Yong; Chen, Li; Li, Yun; Tan, Xiao; Dong, Ping; Zhang, Jin; Zheng, Lin; Zhang, Peng-Cheng

2016-11-01

We describe an experimental instrument used for measuring nondestructively the residual stress using short wavelength X-ray, tungsten k α1 . By introducing a photon energy screening technology, the monochromatic X-ray diffraction of tungsten k α1 was realized using a CdTe detector. A high precision Huber goniometer is utilized in order to reduce the error in residual stress measurement. This paper summarizes the main performance of this instrument, measurement depth, stress error, as opposed to the neutron diffraction measurements of residual stress. Here, we demonstrate an application on the determination of residual stress in an aluminum alloy welded by the friction stir welding.

System safety management lessons learned from the US Army acquisition process

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

Piatt, J.A.

1989-05-01

The Assistant Secretary of the Army for Research, Development and Acquisition directed the Army Safety Center to provide an audit of the causes of accidents and safety of use restrictions on recently fielded systems by tracking residual hazards back through the acquisition process. The objective was to develop lessons learned'' that could be applied to the acquisition process to minimize mishaps in fielded systems. System safety management lessons learned are defined as Army practices or policies, derived from past successes and failures, that are expected to be effective in eliminating or reducing specific systemic causes of residual hazards. They aremore » broadly applicable and supportive of the Army structure and acquisition objectives. Pacific Northwest Laboratory (PNL) was given the task of conducting an independent, objective appraisal of the Army's system safety program in the context of the Army materiel acquisition process by focusing on four fielded systems which are products of that process. These systems included the Apache helicopter, the Bradley Fighting Vehicle (BFV), the Tube Launched, Optically Tracked, Wire Guided (TOW) Missile and the High Mobility Multipurpose Wheeled Vehicle (HMMWV). The objective of this study was to develop system safety management lessons learned associated with the acquisition process. The first step was to identify residual hazards associated with the selected systems. Since it was impossible to track all residual hazards through the acquisition process, certain well-known, high visibility hazards were selected for detailed tracking. These residual hazards illustrate a variety of systemic problems. Systemic or process causes were identified for each residual hazard and analyzed to determine why they exist. System safety management lessons learned were developed to address related systemic causal factors. 29 refs., 5 figs.« less

Modeling human tracking error in several different anti-tank systems

NASA Technical Reports Server (NTRS)

Kleinman, D. L.

1981-01-01

An optimal control model for generating time histories of human tracking errors in antitank systems is outlined. Monte Carlo simulations of human operator responses for three Army antitank systems are compared. System/manipulator dependent data comparisons reflecting human operator limitations in perceiving displayed quantities and executing intended control motions are presented. Motor noise parameters are also discussed.

Effect of audio instruction on tracking errors using a four-dimensional image-guided radiotherapy system.

PubMed

Nakamura, Mitsuhiro; Sawada, Akira; Mukumoto, Nobutaka; Takahashi, Kunio; Mizowaki, Takashi; Kokubo, Masaki; Hiraoka, Masahiro

2013-09-06

The Vero4DRT (MHI-TM2000) is capable of performing X-ray image-based tracking (X-ray Tracking) that directly tracks the target or fiducial markers under continuous kV X-ray imaging. Previously, we have shown that irregular respiratory patterns increased X-ray Tracking errors. Thus, we assumed that audio instruction, which generally improves the periodicity of respiration, should reduce tracking errors. The purpose of this study was to assess the effect of audio instruction on X-ray Tracking errors. Anterior-posterior abdominal skin-surface displacements obtained from ten lung cancer patients under free breathing and simple audio instruction were used as an alternative to tumor motion in the superior-inferior direction. First, a sequential predictive model based on the Levinson-Durbin algorithm was created to estimate the future three-dimensional (3D) target position under continuous kV X-ray imaging while moving a steel ball target of 9.5 mm in diameter. After creating the predictive model, the future 3D target position was sequentially calculated from the current and past 3D target positions based on the predictive model every 70 ms under continuous kV X-ray imaging. Simultaneously, the system controller of the Vero4DRT calculated the corresponding pan and tilt rotational angles of the gimbaled X-ray head, which then adjusted its orientation to the target. The calculated and current rotational angles of the gimbaled X-ray head were recorded every 5 ms. The target position measured by the laser displacement gauge was synchronously recorded every 10 msec. Total tracking system errors (ET) were compared between free breathing and audio instruction. Audio instruction significantly improved breathing regularity (p < 0.01). The mean ± standard deviation of the 95th percentile of ET (E95T ) was 1.7 ± 0.5 mm (range: 1.1-2.6mm) under free breathing (E95T,FB) and 1.9 ± 0.5 mm (range: 1.2-2.7 mm) under audio instruction (E95T,AI). E95T,AI was larger than E95T,FB for five patients; no significant difference was found between E95T,FB and E95T,AI (p = 0.21). Correlation analysis revealed that the rapid respiratory velocity significantly increased E95T. Although audio instruction improved breathing regularity, it also increased the respiratory velocity, which did not necessarily reduce tracking errors.

Effect of audio instruction on tracking errors using a four‐dimensional image‐guided radiotherapy system

PubMed Central

Sawada, Akira; Mukumoto, Nobutaka; Takahashi, Kunio; Mizowaki, Takashi; Kokubo, Masaki; Hiraoka, Masahiro

2013-01-01

The Vero4DRT (MHI‐TM2000) is capable of performing X‐ray image‐based tracking (X‐ray Tracking) that directly tracks the target or fiducial markers under continuous kV X‐ray imaging. Previously, we have shown that irregular respiratory patterns increased X‐ray Tracking errors. Thus, we assumed that audio instruction, which generally improves the periodicity of respiration, should reduce tracking errors. The purpose of this study was to assess the effect of audio instruction on X‐ray Tracking errors. Anterior‐posterior abdominal skin‐surface displacements obtained from ten lung cancer patients under free breathing and simple audio instruction were used as an alternative to tumor motion in the superior‐inferior direction. First, a sequential predictive model based on the Levinson‐Durbin algorithm was created to estimate the future three‐dimensional (3D) target position under continuous kV X‐ray imaging while moving a steel ball target of 9.5 mm in diameter. After creating the predictive model, the future 3D target position was sequentially calculated from the current and past 3D target positions based on the predictive model every 70 ms under continuous kV X‐ray imaging. Simultaneously, the system controller of the Vero4DRT calculated the corresponding pan and tilt rotational angles of the gimbaled X‐ray head, which then adjusted its orientation to the target. The calculated and current rotational angles of the gimbaled X‐ray head were recorded every 5 ms. The target position measured by the laser displacement gauge was synchronously recorded every 10 msec. Total tracking system errors (ET) were compared between free breathing and audio instruction. Audio instruction significantly improved breathing regularity (p < 0.01). The mean ± standard deviation of the 95th percentile of ET (E95T) was 1.7 ± 0.5 mm (range: 1.1–2.6 mm) under free breathing (E95T,FB) and 1.9 ± 0.5 mm (range: 1.2–2.7 mm) under audio instruction (E95T,AI). E95T,AI was larger than E95T,FB for five patients; no significant difference was found between E95T,FB and ET,AI95(p = 0.21). Correlation analysis revealed that the rapid respiratory velocity significantly increased E95T. Although audio instruction improved breathing regularity, it also increased the respiratory velocity, which did not necessarily reduce tracking errors. PACS number: 87.55.ne, 87.57.N‐, 87.59.C‐, PMID:24036880

An Adaptive 6-DOF Tracking Method by Hybrid Sensing for Ultrasonic Endoscopes

PubMed Central

Du, Chengyang; Chen, Xiaodong; Wang, Yi; Li, Junwei; Yu, Daoyin

2014-01-01

In this paper, a novel hybrid sensing method for tracking an ultrasonic endoscope within the gastrointestinal (GI) track is presented, and the prototype of the tracking system is also developed. We implement 6-DOF localization by sensing integration and information fusion. On the hardware level, a tri-axis gyroscope and accelerometer, and a magnetic angular rate and gravity (MARG) sensor array are attached at the end of endoscopes, and three symmetric cylindrical coils are placed around patients' abdomens. On the algorithm level, an adaptive fast quaternion convergence (AFQC) algorithm is introduced to determine the orientation by fusing inertial/magnetic measurements, in which the effects of magnetic disturbance and acceleration are estimated to gain an adaptive convergence output. A simplified electro-magnetic tracking (SEMT) algorithm for dimensional position is also implemented, which can easily integrate the AFQC's results and magnetic measurements. Subsequently, the average position error is under 0.3 cm by reasonable setting, and the average orientation error is 1° without noise. If magnetic disturbance or acceleration exists, the average orientation error can be controlled to less than 3.5°. PMID:24915179

Sub-nanosecond clock synchronization and precision deep space tracking

NASA Technical Reports Server (NTRS)

Dunn, Charles; Lichten, Stephen; Jefferson, David; Border, James S.

1992-01-01

Interferometric spacecraft tracking is accomplished at the NASA Deep Space Network (DSN) by comparing the arrival time of electromagnetic spacecraft signals to ground antennas separated by baselines on the order of 8000 km. Clock synchronization errors within and between DSN stations directly impact the attainable tracking accuracy, with a 0.3 ns error in clock synchronization resulting in an 11 nrad angular position error. This level of synchronization is currently achieved by observing a quasar which is angularly close to the spacecraft just after the spacecraft observations. By determining the differential arrival times of the random quasar signal at the stations, clock synchronization and propagation delays within the atmosphere and within the DSN stations are calibrated. Recent developments in time transfer techniques may allow medium accuracy (50-100 nrad) spacecraft observations without near-simultaneous quasar-based calibrations. Solutions are presented for a global network of GPS receivers in which the formal errors in clock offset parameters are less than 0.5 ns. Comparisons of clock rate offsets derived from GPS measurements and from very long baseline interferometry and the examination of clock closure suggest that these formal errors are a realistic measure of GPS-based clock offset precision and accuracy. Incorporating GPS-based clock synchronization measurements into a spacecraft differential ranging system would allow tracking without near-simultaneous quasar observations. The impact on individual spacecraft navigation error sources due to elimination of quasar-based calibrations is presented. System implementation, including calibration of station electronic delays, is discussed.

The impact of cine EPID image acquisition frame rate on markerless soft-tissue tracking

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

Yip, Stephen, E-mail: syip@lroc.harvard.edu; Rottmann, Joerg; Berbeco, Ross

2014-06-15

Purpose: Although reduction of the cine electronic portal imaging device (EPID) acquisition frame rate through multiple frame averaging may reduce hardware memory burden and decrease image noise, it can hinder the continuity of soft-tissue motion leading to poor autotracking results. The impact of motion blurring and image noise on the tracking performance was investigated. Methods: Phantom and patient images were acquired at a frame rate of 12.87 Hz with an amorphous silicon portal imager (AS1000, Varian Medical Systems, Palo Alto, CA). The maximum frame rate of 12.87 Hz is imposed by the EPID. Low frame rate images were obtained bymore » continuous frame averaging. A previously validated tracking algorithm was employed for autotracking. The difference between the programmed and autotracked positions of a Las Vegas phantom moving in the superior-inferior direction defined the tracking error (δ). Motion blurring was assessed by measuring the area change of the circle with the greatest depth. Additionally, lung tumors on 1747 frames acquired at 11 field angles from four radiotherapy patients are manually and automatically tracked with varying frame averaging. δ was defined by the position difference of the two tracking methods. Image noise was defined as the standard deviation of the background intensity. Motion blurring and image noise are correlated with δ using Pearson correlation coefficient (R). Results: For both phantom and patient studies, the autotracking errors increased at frame rates lower than 4.29 Hz. Above 4.29 Hz, changes in errors were negligible withδ < 1.60 mm. Motion blurring and image noise were observed to increase and decrease with frame averaging, respectively. Motion blurring and tracking errors were significantly correlated for the phantom (R = 0.94) and patient studies (R = 0.72). Moderate to poor correlation was found between image noise and tracking error with R −0.58 and −0.19 for both studies, respectively. Conclusions: Cine EPID image acquisition at the frame rate of at least 4.29 Hz is recommended. Motion blurring in the images with frame rates below 4.29 Hz can significantly reduce the accuracy of autotracking.« less

Permanent-File-Validation Utility Computer Program

NASA Technical Reports Server (NTRS)

Derry, Stephen D.

1988-01-01

Errors in files detected and corrected during operation. Permanent File Validation (PFVAL) utility computer program provides CDC CYBER NOS sites with mechanism to verify integrity of permanent file base. Locates and identifies permanent file errors in Mass Storage Table (MST) and Track Reservation Table (TRT), in permanent file catalog entries (PFC's) in permit sectors, and in disk sector linkage. All detected errors written to listing file and system and job day files. Program operates by reading system tables , catalog track, permit sectors, and disk linkage bytes to vaidate expected and actual file linkages. Used extensively to identify and locate errors in permanent files and enable online correction, reducing computer-system downtime.

Pyrometer with tracking balancing

NASA Astrophysics Data System (ADS)

Ponomarev, D. B.; Zakharenko, V. A.; Shkaev, A. G.

2018-04-01

Currently, one of the main metrological noncontact temperature measurement challenges is the emissivity uncertainty. This paper describes a pyrometer with emissivity effect diminishing through the use of a measuring scheme with tracking balancing in which the radiation receiver is a null-indicator. In this paper the results of the prototype pyrometer absolute error study in surfaces temperature measurement of aluminum and nickel samples are presented. There is absolute error calculated values comparison considering the emissivity table values with errors on the results of experimental measurements by the proposed method. The practical implementation of the proposed technical solution has allowed two times to reduce the error due to the emissivity uncertainty.

Catch-up saccades in head-unrestrained conditions reveal that saccade amplitude is corrected using an internal model of target movement

PubMed Central

Daye, Pierre M.; Blohm, Gunnar; Lefèvre, Phillippe

2014-01-01

This study analyzes how human participants combine saccadic and pursuit gaze movements when they track an oscillating target moving along a randomly oriented straight line with the head free to move. We found that to track the moving target appropriately, participants triggered more saccades with increasing target oscillation frequency to compensate for imperfect tracking gains. Our sinusoidal paradigm allowed us to show that saccade amplitude was better correlated with internal estimates of position and velocity error at saccade onset than with those parameters 100 ms before saccade onset as head-restrained studies have shown. An analysis of saccadic onset time revealed that most of the saccades were triggered when the target was accelerating. Finally, we found that most saccades were triggered when small position errors were combined with large velocity errors at saccade onset. This could explain why saccade amplitude was better correlated with velocity error than with position error. Therefore, our results indicate that the triggering mechanism of head-unrestrained catch-up saccades combines position and velocity error at saccade onset to program and correct saccade amplitude rather than using sensory information 100 ms before saccade onset. PMID:24424378

Deformable Dose Reconstruction to Optimize the Planning and Delivery of Liver Cancer Radiotherapy

NASA Astrophysics Data System (ADS)

Velec, Michael

The precise delivery of radiation to liver cancer patients results in improved control with higher tumor doses and minimized normal tissues doses. A margin of normal tissue around the tumor requires irradiation however to account for treatment delivery uncertainties. Daily image-guidance allows targeting of the liver, a surrogate for the tumor, to reduce geometric errors. However poor direct tumor visualization, anatomical deformation and breathing motion introduce uncertainties between the planned dose, calculated on a single pre-treatment computed tomography image, and the dose that is delivered. A novel deformable image registration algorithm based on tissue biomechanics was applied to previous liver cancer patients to track targets and surrounding organs during radiotherapy. Modeling these daily anatomic variations permitted dose accumulation, thereby improving calculations of the delivered doses. The accuracy of the algorithm to track dose was validated using imaging from a deformable, 3-dimensional dosimeter able to optically track absorbed dose. Reconstructing the delivered dose revealed that 70% of patients had substantial deviations from the initial planned dose. An alternative image-guidance technique using respiratory-correlated imaging was simulated, which reduced both the residual tumor targeting errors and the magnitude of the delivered dose deviations. A planning and delivery strategy for liver radiotherapy was then developed that minimizes the impact of breathing motion, and applied a margin to account for the impact of liver deformation during treatment. This margin is 38% smaller on average than the margin used clinically, and permitted an average dose-escalation to liver tumors of 9% for the same risk of toxicity. Simulating the delivered dose with deformable dose reconstruction demonstrated the plans with smaller margins were robust as 90% of patients' tumors received the intended dose. This strategy can be readily implemented with widely available technologies and thus can potentially improve local control for liver cancer patients receiving radiotherapy.

ACS/WFC Sky Flats from Frontier Fields Imaging

NASA Astrophysics Data System (ADS)

Mack, J.; Lucas, R. A.; Grogin, N. A.; Bohlin, R. C.; Koekemoer, A. M.

2018-04-01

Parallel imaging data from the HST Frontier Fields campaign (Lotz et al. 2017) have been used to compute sky flats for the ACS/WFC detector in order to verify the accuracy of the current set of flat field reference files. By masking sources and then co-adding many deep frames, the F606W and F814W filters have enough combined background signal that from Poisson statistics are <1% per pixel. In these two filters, the sky flats show spatial residuals 1% or less. These residuals are similar in shape to the WFC flat field 'donut' pattern, in which the detector quantum efficiency tracks the thickness of the two WFC chips. Observations of blue and red calibration standards measured at various positions on the detector (Bohlin et al. 2017) confirm the fidelity of the F814W flat, with aperture photometry consistent to 1% across the FOV, regardless of spectral type. At bluer wavelengths, the total sky background is substantially lower, and the F435W sky flat shows a combination of both flat errors and detector artifacts. Aperture photometry of the red standard star shows a maximum deviation of 1.4% across the array in this filter. Larger residuals up to 2.5% are found for the blue standard, suggesting that the spatial sensitivity in F435W depends on spectral type.

Residualization Rates of Near Infrared Dyes for the Rational Design of Molecular Imaging Agents

PubMed Central

Cilliers, Cornelius; Liao, Jianshan; Atangcho, Lydia; Thurber, Greg M.

2016-01-01

Purpose Near infrared (NIR) fluorescence imaging is widely used for tracking antibodies and biomolecules in vivo. Clinical and preclinical applications include intraoperative imaging, tracking therapeutics, and fluorescent labeling as a surrogate for subsequent radiolabeling. Despite their extensive use, one of the fundamental properties of NIR dyes, the residualization rate within cells following internalization, has not been systematically studied. This rate is required for the rational design of probes and proper interpretation of in vivo results. Procedures In this brief report, we measure the cellular residualization rate of eight commonly used dyes encompassing three core structures (cyanine, BODIPY, and oxazine/thiazine/carbopyronin). Results We identify residualizing (half-life > 24 hrs) and non-residualizing dyes (half-life < 24 hrs) in both the far red (~650-680 nm) and near infrared (~740-800 nm) regions. Conclusions This data will allow researchers to independently and rationally select the wavelength and residualizing nature of dyes for molecular imaging agent design. PMID:25869081

Residualization Rates of Near-Infrared Dyes for the Rational Design of Molecular Imaging Agents.

PubMed

Cilliers, Cornelius; Liao, Jianshan; Atangcho, Lydia; Thurber, Greg M

2015-12-01

Near-infrared (NIR) fluorescence imaging is widely used for tracking antibodies and biomolecules in vivo. Clinical and preclinical applications include intraoperative imaging, tracking therapeutics, and fluorescent labeling as a surrogate for subsequent radiolabeling. Despite their extensive use, one of the fundamental properties of NIR dyes, the residualization rate within cells following internalization, has not been systematically studied. This rate is required for the rational design of probes and proper interpretation of in vivo results. In this brief report, we measure the cellular residualization rate of eight commonly used dyes encompassing three core structures (cyanine, boron-dipyrromethene (BODIPY), and oxazine/thiazine/carbopyronin). We identify residualizing (half-life >24 h) and non-residualizing (half-life <24 h) dyes in both the far-red (~650-680 nm) and near-infrared (~740-800 nm) regions. This data will allow researchers to independently and rationally select the wavelength and residualizing nature of dyes for molecular imaging agent design.

MRI-guided tumor tracking in lung cancer radiotherapy

NASA Astrophysics Data System (ADS)

Cerviño, Laura I.; Du, Jiang; Jiang, Steve B.

2011-07-01

Precise tracking of lung tumor motion during treatment delivery still represents a challenge in radiation therapy. Prototypes of MRI-linac hybrid systems are being created which have the potential of ionization-free real-time imaging of the tumor. This study evaluates the performance of lung tumor tracking algorithms in cine-MRI sagittal images from five healthy volunteers. Visible vascular structures were used as targets. Volunteers performed several series of regular and irregular breathing. Two tracking algorithms were implemented and evaluated: a template matching (TM) algorithm in combination with surrogate tracking using the diaphragm (surrogate was used when the maximum correlation between the template and the image in the search window was less than specified), and an artificial neural network (ANN) model based on the principal components of a region of interest that encompasses the target motion. The mean tracking error ē and the error at 95% confidence level e95 were evaluated for each model. The ANN model led to ē = 1.5 mm and e95 = 4.2 mm, while TM led to ē = 0.6 mm and e95 = 1.0 mm. An extra series was considered separately to evaluate the benefit of using surrogate tracking in combination with TM when target out-of-plane motion occurs. For this series, the mean error was 7.2 mm using only TM and 1.7 mm when the surrogate was used in combination with TM. Results show that, as opposed to tracking with other imaging modalities, ANN does not perform well in MR-guided tracking. TM, however, leads to highly accurate tracking. Out-of-plane motion could be addressed by surrogate tracking using the diaphragm, which can be easily identified in the images.

Applications of inertial-sensor high-inheritance instruments to DSN precision antenna pointing

NASA Technical Reports Server (NTRS)

Goddard, R. E.

1992-01-01

Laboratory test results of the initialization and tracking performance of an existing inertial-sensor-based instrument are given. The instrument, although not primarily designed for precision antenna pointing applications, demonstrated an on-average 10-hour tracking error of several millidegrees. The system-level instrument performance is shown by analysis to be sensor limited. Simulated instrument improvements show a tracking error of less than 1 mdeg, which would provide acceptable performance, i.e., low pointing loss, for the DSN 70-m antenna sub network, operating at Ka-band (1-cm wavelength).

Applications of inertial-sensor high-inheritance instruments to DSN precision antenna pointing

NASA Technical Reports Server (NTRS)

Goddard, R. E.

1992-01-01

Laboratory test results of the initialization and tracking performance of an existing inertial-sensor-based instrument are given. The instrument, although not primarily designed for precision antenna pointing applications, demonstrated an on-average 10-hour tracking error of several millidegrees. The system-level instrument performance is shown by analysis to be sensor limited. Simulated instrument improvements show a tracking error of less than 1 mdeg, which would provide acceptable performance, i.e., low pointing loss, for the Deep Space Network 70-m antenna subnetwork, operating at Ka-band (1-cm wavelength).

In-situ Calibration Methods for Phased Array High Frequency Radars

NASA Astrophysics Data System (ADS)

Flament, P. J.; Flament, M.; Chavanne, C.; Flores-vidal, X.; Rodriguez, I.; Marié, L.; Hilmer, T.

2016-12-01

HF radars measure currents through the Doppler-shift of electromagnetic waves Bragg-scattered by surface gravity waves. While modern clocks and digital synthesizers yield range errors negligible compared to the bandwidth-limited range resolution, azimuth calibration issues arise for beam-forming phased arrays. Sources of errors in the phases of the received waves can be internal to the radar system (phase errors of filters, cable lengths, antenna tuning) and geophysical (standing waves, propagation and refraction anomalies). They result in azimuthal biases (which can be range-dependent) and beam-forming side-lobes (which induce Doppler ambiguities). We analyze the experimental calibrations of 17 deployments of WERA HF radars, performed between 2003 and 2012 in Hawaii, the Adriatic, France, Mexico and the Philippines. Several strategies were attempted: (i) passive reception of continuous multi-frequency transmitters on GPS-tracked boats, cars, and drones; (ii) bi-static calibrations of radars in mutual view; (iii) active echoes from vessels of opportunity of unknown positions or tracked through AIS; (iv) interference of unknown remote transmitters with the chirped local oscillator. We found that: (a) for antennas deployed on the sea shore, a single-azimuth calibration is sufficient to correct phases within a typical beam-forming azimuth range; (b) after applying this azimuth-independent correction, residual pointing errors are 1-2 deg. rms; (c) for antennas deployed on irregular cliffs or hills, back from shore, systematic biases appear for some azimuths at large incidence angles, suggesting that some of the ground-wave electromagnetic energy propagates in a terrain-following mode between the sea shore and the antennas; (d) for some sites, fluctuations of 10-25 deg. in radio phase at 20-40 deg. azimuthal period, not significantly correlated among antennas, are omnipresent in calibrations along a constant-range circle, suggesting standing waves or multiple paths in the presence of reflecting structures (buildings, fences), or possibly fractal nature of the wavefronts; (e) amplitudes lack stability in time and azimuth to be usable as a-priori calibrations, confirming the accepted method of re-normalizing amplitudes by the signal of nearby cells prior to beam-forming.

NOTE: Optimization of megavoltage CT scan registration settings for thoracic cases on helical tomotherapy

NASA Astrophysics Data System (ADS)

Woodford, Curtis; Yartsev, Slav; Van Dyk, Jake

2007-08-01

This study aims to investigate the settings that provide optimum registration accuracy when registering megavoltage CT (MVCT) studies acquired on tomotherapy with planning kilovoltage CT (kVCT) studies of patients with lung cancer. For each experiment, the systematic difference between the actual and planned positions of the thorax phantom was determined by setting the phantom up at the planning isocenter, generating and registering an MVCT study. The phantom was translated by 5 or 10 mm, MVCT scanned, and registration was performed again. A root-mean-square equation that calculated the residual error of the registration based on the known shift and systematic difference was used to assess the accuracy of the registration process. The phantom study results for 18 combinations of different MVCT/kVCT registration options are presented and compared to clinical registration data from 17 lung cancer patients. MVCT studies acquired with coarse (6 mm), normal (4 mm) and fine (2 mm) slice spacings could all be registered with similar residual errors. No specific combination of resolution and fusion selection technique resulted in a lower residual error. A scan length of 6 cm with any slice spacing registered with the full image fusion selection technique and fine resolution will result in a low residual error most of the time. On average, large corrections made manually by clinicians to the automatic registration values are infrequent. Small manual corrections within the residual error averages of the registration process occur, but their impact on the average patient position is small. Registrations using the full image fusion selection technique and fine resolution of 6 cm MVCT scans with coarse slices have a low residual error, and this strategy can be clinically used for lung cancer patients treated on tomotherapy. Automatic registration values are accurate on average, and a quick verification on a sagittal MVCT slice should be enough to detect registration outliers.

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

NASA Astrophysics Data System (ADS)

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

2017-12-01

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

SU-F-J-42: Comparison of Varian TrueBeam Cone-Beam CT and BrainLab ExacTrac X-Ray for Cranial Radiotherapy

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

Li, J; Shi, W; Andrews, D

2016-06-15

Purpose: To compare online image registrations of TrueBeam cone-beam CT (CBCT) and BrainLab ExacTrac x-ray imaging systems for cranial radiotherapy. Method: Phantom and patient studies were performed on a Varian TrueBeam STx linear accelerator (Version 2.5), which is integrated with a BrainLab ExacTrac imaging system (Version 6.1.1). The phantom study was based on a Rando head phantom, which was designed to evaluate isocenter-location dependence of the image registrations. Ten isocenters were selected at various locations in the phantom, which represented clinical treatment sites. CBCT and ExacTrac x-ray images were taken when the phantom was located at each isocenter. The patientmore » study included thirteen patients. CBCT and ExacTrac x-ray images were taken at each patient’s treatment position. Six-dimensional image registrations were performed on CBCT and ExacTrac, and residual errors calculated from CBCT and ExacTrac were compared. Results: In the phantom study, the average residual-error differences between CBCT and ExacTrac image registrations were: 0.16±0.10 mm, 0.35±0.20 mm, and 0.21±0.15 mm, in the vertical, longitudinal, and lateral directions, respectively. The average residual-error differences in the rotation, roll, and pitch were: 0.36±0.11 degree, 0.14±0.10 degree, and 0.12±0.10 degree, respectively. In the patient study, the average residual-error differences in the vertical, longitudinal, and lateral directions were: 0.13±0.13 mm, 0.37±0.21 mm, 0.22±0.17 mm, respectively. The average residual-error differences in the rotation, roll, and pitch were: 0.30±0.10 degree, 0.18±0.11 degree, and 0.22±0.13 degree, respectively. Larger residual-error differences (up to 0.79 mm) were observed in the longitudinal direction in the phantom and patient studies where isocenters were located in or close to frontal lobes, i.e., located superficially. Conclusion: Overall, the average residual-error differences were within 0.4 mm in the translational directions and were within 0.4 degree in the rotational directions.« less

Self-organizing radial basis function networks for adaptive flight control and aircraft engine state estimation

NASA Astrophysics Data System (ADS)

Shankar, Praveen

The performance of nonlinear control algorithms such as feedback linearization and dynamic inversion is heavily dependent on the fidelity of the dynamic model being inverted. Incomplete or incorrect knowledge of the dynamics results in reduced performance and may lead to instability. Augmenting the baseline controller with approximators which utilize a parametrization structure that is adapted online reduces the effect of this error between the design model and actual dynamics. However, currently existing parameterizations employ a fixed set of basis functions that do not guarantee arbitrary tracking error performance. To address this problem, we develop a self-organizing parametrization structure that is proven to be stable and can guarantee arbitrary tracking error performance. The training algorithm to grow the network and adapt the parameters is derived from Lyapunov theory. In addition to growing the network of basis functions, a pruning strategy is incorporated to keep the size of the network as small as possible. This algorithm is implemented on a high performance flight vehicle such as F-15 military aircraft. The baseline dynamic inversion controller is augmented with a Self-Organizing Radial Basis Function Network (SORBFN) to minimize the effect of the inversion error which may occur due to imperfect modeling, approximate inversion or sudden changes in aircraft dynamics. The dynamic inversion controller is simulated for different situations including control surface failures, modeling errors and external disturbances with and without the adaptive network. A performance measure of maximum tracking error is specified for both the controllers a priori. Excellent tracking error minimization to a pre-specified level using the adaptive approximation based controller was achieved while the baseline dynamic inversion controller failed to meet this performance specification. The performance of the SORBFN based controller is also compared to a fixed RBF network based adaptive controller. While the fixed RBF network based controller which is tuned to compensate for control surface failures fails to achieve the same performance under modeling uncertainty and disturbances, the SORBFN is able to achieve good tracking convergence under all error conditions.

Image guidance in prostate cancer - can offline corrections be an effective substitute for daily online imaging?

PubMed

Prasad, Devleena; Das, Pinaki; Saha, Niladri S; Chatterjee, Sanjoy; Achari, Rimpa; Mallick, Indranil

2014-01-01

This aim of this study was to determine if a less resource-intensive and established offline correction protocol - the No Action Level (NAL) protocol was as effective as daily online corrections of setup deviations in curative high-dose radiotherapy of prostate cancer. A total of 683 daily megavoltage CT (MVCT) or kilovoltage CT (kvCBCT) images of 30 patients with localized prostate cancer treated with intensity modulated radiotherapy were evaluated. Daily image-guidance was performed and setup errors in three translational axes recorded. The NAL protocol was simulated by using the mean shift calculated from the first five fractions and implemented on all subsequent treatments. Using the imaging data from the remaining fractions, the daily residual error (RE) was determined. The proportion of fractions where the RE was greater than 3,5 and 7 mm was calculated, and also the actual PTV margin that would be required if the offline protocol was followed. Using the NAL protocol reduced the systematic but not the random errors. Corrections made using the NAL protocol resulted in small and acceptable RE in the mediolateral (ML) and superoinferior (SI) directions with 46/533 (8.1%) and 48/533 (5%) residual shifts above 5 mm. However; residual errors greater than 5mm in the anteroposterior (AP) direction remained in 181/533 (34%) of fractions. The PTV margins calculated based on residual errors were 5mm, 5mm and 13 mm in the ML, SI and AP directions respectively. Offline correction using the NAL protocol resulted in unacceptably high residual errors in the AP direction, due to random uncertainties of rectal and bladder filling. Daily online imaging and corrections remain the standard image guidance policy for highly conformal radiotherapy of prostate cancer.

Quantification of residual dose estimation error on log file-based patient dose calculation.

PubMed

Katsuta, Yoshiyuki; Kadoya, Noriyuki; Fujita, Yukio; Shimizu, Eiji; Matsunaga, Kenichi; Matsushita, Haruo; Majima, Kazuhiro; Jingu, Keiichi

2016-05-01

The log file-based patient dose estimation includes a residual dose estimation error caused by leaf miscalibration, which cannot be reflected on the estimated dose. The purpose of this study is to determine this residual dose estimation error. Modified log files for seven head-and-neck and prostate volumetric modulated arc therapy (VMAT) plans simulating leaf miscalibration were generated by shifting both leaf banks (systematic leaf gap errors: ±2.0, ±1.0, and ±0.5mm in opposite directions and systematic leaf shifts: ±1.0mm in the same direction) using MATLAB-based (MathWorks, Natick, MA) in-house software. The generated modified and non-modified log files were imported back into the treatment planning system and recalculated. Subsequently, the generalized equivalent uniform dose (gEUD) was quantified for the definition of the planning target volume (PTV) and organs at risks. For MLC leaves calibrated within ±0.5mm, the quantified residual dose estimation errors that obtained from the slope of the linear regression of gEUD changes between non- and modified log file doses per leaf gap are in head-and-neck plans 1.32±0.27% and 0.82±0.17Gy for PTV and spinal cord, respectively, and in prostate plans 1.22±0.36%, 0.95±0.14Gy, and 0.45±0.08Gy for PTV, rectum, and bladder, respectively. In this work, we determine the residual dose estimation errors for VMAT delivery using the log file-based patient dose calculation according to the MLC calibration accuracy. Copyright © 2016 Associazione Italiana di Fisica Medica. Published by Elsevier Ltd. All rights reserved.

Exploration and extension of an improved Riemann track fitting algorithm

NASA Astrophysics Data System (ADS)

Strandlie, A.; Frühwirth, R.

2017-09-01

Recently, a new Riemann track fit which operates on translated and scaled measurements has been proposed. This study shows that the new Riemann fit is virtually as precise as popular approaches such as the Kalman filter or an iterative non-linear track fitting procedure, and significantly more precise than other, non-iterative circular track fitting approaches over a large range of measurement uncertainties. The fit is then extended in two directions: first, the measurements are allowed to lie on plane sensors of arbitrary orientation; second, the full error propagation from the measurements to the estimated circle parameters is computed. The covariance matrix of the estimated track parameters can therefore be computed without recourse to asymptotic properties, and is consequently valid for any number of observation. It does, however, assume normally distributed measurement errors. The calculations are validated on a simulated track sample and show excellent agreement with the theoretical expectations.

A fast hybrid algorithm combining regularized motion tracking and predictive search for reducing the occurrence of large displacement errors.

PubMed

Jiang, Jingfeng; Hall, Timothy J

2011-04-01

A hybrid approach that inherits both the robustness of the regularized motion tracking approach and the efficiency of the predictive search approach is reported. The basic idea is to use regularized speckle tracking to obtain high-quality seeds in an explorative search that can be used in the subsequent intelligent predictive search. The performance of the hybrid speckle-tracking algorithm was compared with three published speckle-tracking methods using in vivo breast lesion data. We found that the hybrid algorithm provided higher displacement quality metric values, lower root mean squared errors compared with a locally smoothed displacement field, and higher improvement ratios compared with the classic block-matching algorithm. On the basis of these comparisons, we concluded that the hybrid method can further enhance the accuracy of speckle tracking compared with its real-time counterparts, at the expense of slightly higher computational demands. © 2011 IEEE

Self-adaptive calibration for staring infrared sensors

NASA Astrophysics Data System (ADS)

Kendall, William B.; Stocker, Alan D.

1993-10-01

This paper presents a new, self-adaptive technique for the correlation of non-uniformities (fixed-pattern noise) in high-density infrared focal-plane detector arrays. We have developed a new approach to non-uniformity correction in which we use multiple image frames of the scene itself, and take advantage of the aim-point wander caused by jitter, residual tracking errors, or deliberately induced motion. Such wander causes each detector in the array to view multiple scene elements, and each scene element to be viewed by multiple detectors. It is therefore possible to formulate (and solve) a set of simultaneous equations from which correction parameters can be computed for the detectors. We have tested our approach with actual images collected by the ARPA-sponsored MUSIC infrared sensor. For these tests we employed a 60-frame (0.75-second) sequence of terrain images for which an out-of-date calibration was deliberately used. The sensor was aimed at a point on the ground via an operator-assisted tracking system having a maximum aim point wander on the order of ten pixels. With these data, we were able to improve the calibration accuracy by a factor of approximately 100.

Unrealized potential and residual consequences of electronic prescribing on pharmacy workflow in the outpatient pharmacy.

PubMed

Nanji, Karen C; Rothschild, Jeffrey M; Boehne, Jennifer J; Keohane, Carol A; Ash, Joan S; Poon, Eric G

2014-01-01

Electronic prescribing systems have often been promoted as a tool for reducing medication errors and adverse drug events. Recent evidence has revealed that adoption of electronic prescribing systems can lead to unintended consequences such as the introduction of new errors. The purpose of this study is to identify and characterize the unrealized potential and residual consequences of electronic prescribing on pharmacy workflow in an outpatient pharmacy. A multidisciplinary team conducted direct observations of workflow in an independent pharmacy and semi-structured interviews with pharmacy staff members about their perceptions of the unrealized potential and residual consequences of electronic prescribing systems. We used qualitative methods to iteratively analyze text data using a grounded theory approach, and derive a list of major themes and subthemes related to the unrealized potential and residual consequences of electronic prescribing. We identified the following five themes: Communication, workflow disruption, cost, technology, and opportunity for new errors. These contained 26 unique subthemes representing different facets of our observations and the pharmacy staff's perceptions of the unrealized potential and residual consequences of electronic prescribing. We offer targeted solutions to improve electronic prescribing systems by addressing the unrealized potential and residual consequences that we identified. These recommendations may be applied not only to improve staff perceptions of electronic prescribing systems but also to improve the design and/or selection of these systems in order to optimize communication and workflow within pharmacies while minimizing both cost and the potential for the introduction of new errors.

Orbit Determination of the Thermosphere, Ionosphere, Mesosphere, Energetics and Dynamics (TIMED) Mission Using Differenced One-way Doppler (DOWD)Tracking Data from the Tracking and Data Relay Satellite System (TDRSS)

NASA Technical Reports Server (NTRS)

Marr, Greg C.; Maher, Michael; Blizzard, Michael; Showell, Avanaugh; Asher, Mark; Devereux, Will

2004-01-01

Over an approximately 48-hour period from September 26 to 28,2002, the Thermosphere, Ionosphere, Mesosphere, Energetics and Dynamics (TIMED) mission was intensively supported by the Tracking and Data Relay Satellite System (TDRSS). The TIMED satellite is in a nearly circular low-Earth orbit with a semimajor axis of approximately 7000 km and an inclination of approximately 74 degrees. The objective was to provide TDRSS tracking support for orbit determination (OD) to generate a definitive ephemeris of 24-hour duration or more with a 3-sigma position error no greater than 100 meters, and this tracking campaign was successful. An ephemeris was generated by Goddard Space Flight Center (GSFC) personnel using the TDRSS tracking data and was compared with an ephemeris generated by the Johns Hopkins University's Applied Physics Lab (APL) using TIMED Global Positioning System (GPS) data. Prior to the tracking campaign OD error analysis was performed to justify scheduling the TDRSS support.

Combining automated peak tracking in SAR by NMR with structure-based backbone assignment from 15N-NOESY

PubMed Central

2012-01-01

Background Chemical shift mapping is an important technique in NMR-based drug screening for identifying the atoms of a target protein that potentially bind to a drug molecule upon the molecule's introduction in increasing concentrations. The goal is to obtain a mapping of peaks with known residue assignment from the reference spectrum of the unbound protein to peaks with unknown assignment in the target spectrum of the bound protein. Although a series of perturbed spectra help to trace a path from reference peaks to target peaks, a one-to-one mapping generally is not possible, especially for large proteins, due to errors, such as noise peaks, missing peaks, missing but then reappearing, overlapped, and new peaks not associated with any peaks in the reference. Due to these difficulties, the mapping is typically done manually or semi-automatically, which is not efficient for high-throughput drug screening. Results We present PeakWalker, a novel peak walking algorithm for fast-exchange systems that models the errors explicitly and performs many-to-one mapping. On the proteins: hBclXL, UbcH5B, and histone H1, it achieves an average accuracy of over 95% with less than 1.5 residues predicted per target peak. Given these mappings as input, we present PeakAssigner, a novel combined structure-based backbone resonance and NOE assignment algorithm that uses just 15N-NOESY, while avoiding TOCSY experiments and 13C-labeling, to resolve the ambiguities for a one-to-one mapping. On the three proteins, it achieves an average accuracy of 94% or better. Conclusions Our mathematical programming approach for modeling chemical shift mapping as a graph problem, while modeling the errors directly, is potentially a time- and cost-effective first step for high-throughput drug screening based on limited NMR data and homologous 3D structures. PMID:22536902

Adaptive spatial combining for passive time-reversed communications.

PubMed

Gomes, João; Silva, António; Jesus, Sérgio

2008-08-01

Passive time reversal has aroused considerable interest in underwater communications as a computationally inexpensive means of mitigating the intersymbol interference introduced by the channel using a receiver array. In this paper the basic technique is extended by adaptively weighting sensor contributions to partially compensate for degraded focusing due to mismatch between the assumed and actual medium impulse responses. Two algorithms are proposed, one of which restores constructive interference between sensors, and the other one minimizes the output residual as in widely used equalization schemes. These are compared with plain time reversal and variants that employ postequalization and channel tracking. They are shown to improve the residual error and temporal stability of basic time reversal with very little added complexity. Results are presented for data collected in a passive time-reversal experiment that was conducted during the MREA'04 sea trial. In that experiment a single acoustic projector generated a 24-PSK (phase-shift keyed) stream at 200400 baud, modulated at 3.6 kHz, and received at a range of about 2 km on a sparse vertical array with eight hydrophones. The data were found to exhibit significant Doppler scaling, and a resampling-based preprocessing method is also proposed here to compensate for that scaling.

A matlab framework for estimation of NLME models using stochastic differential equations: applications for estimation of insulin secretion rates.

PubMed

Mortensen, Stig B; Klim, Søren; Dammann, Bernd; Kristensen, Niels R; Madsen, Henrik; Overgaard, Rune V

2007-10-01

The non-linear mixed-effects model based on stochastic differential equations (SDEs) provides an attractive residual error model, that is able to handle serially correlated residuals typically arising from structural mis-specification of the true underlying model. The use of SDEs also opens up for new tools for model development and easily allows for tracking of unknown inputs and parameters over time. An algorithm for maximum likelihood estimation of the model has earlier been proposed, and the present paper presents the first general implementation of this algorithm. The implementation is done in Matlab and also demonstrates the use of parallel computing for improved estimation times. The use of the implementation is illustrated by two examples of application which focus on the ability of the model to estimate unknown inputs facilitated by the extension to SDEs. The first application is a deconvolution-type estimation of the insulin secretion rate based on a linear two-compartment model for C-peptide measurements. In the second application the model is extended to also give an estimate of the time varying liver extraction based on both C-peptide and insulin measurements.

Addressing Systematic Errors in Correlation Tracking on HMI Magnetograms

NASA Astrophysics Data System (ADS)

Mahajan, Sushant S.; Hathaway, David H.; Munoz-Jaramillo, Andres; Martens, Petrus C.

2017-08-01

Correlation tracking in solar magnetograms is an effective method to measure the differential rotation and meridional flow on the solar surface. However, since the tracking accuracy required to successfully measure meridional flow is very high, small systematic errors have a noticeable impact on measured meridional flow profiles. Additionally, the uncertainties of this kind of measurements have been historically underestimated, leading to controversy regarding flow profiles at high latitudes extracted from measurements which are unreliable near the solar limb.Here we present a set of systematic errors we have identified (and potential solutions), including bias caused by physical pixel sizes, center-to-limb systematics, and discrepancies between measurements performed using different time intervals. We have developed numerical techniques to get rid of these systematic errors and in the process improve the accuracy of the measurements by an order of magnitude.We also present a detailed analysis of uncertainties in these measurements using synthetic magnetograms and the quantification of an upper limit below which meridional flow measurements cannot be trusted as a function of latitude.

A geopotential model from satellite tracking, altimeter, and surface gravity data: GEM-T3

NASA Technical Reports Server (NTRS)

Lerch, F. J.; Nerem, R. S.; Putney, B. H.; Felsentreger, T. L.; Sanchez, B. V.; Marshall, J. A.; Klosko, S. M.; Patel, G. B.; Williamson, R. G.; Chinn, D. S.

1994-01-01

An improved model of Earth's gravitational field, Goddard Earth Model T-3 (GEM-T3), has been developed from a combination of satellite tracking, satellite altimeter, and surface gravimetric data. GEM-T3 provides a significant improvement in the modeling of the gravity field at half wavelengths of 400 km and longer. This model, complete to degree and order 50, yields more accurate satellite orbits and an improved geoid representation than previous Goddard Earth Models. GEM-T3 uses altimeter data from GEOS 3 (1975-1976), Seasat (1978) and Geosat (1986-1987). Tracking information used in the solution includes more than 1300 arcs of data encompassing 31 different satellites. The recovery of the long-wavelength components of the solution relies mostly on highly precise satellite laser ranging (SLR) data, but also includes Tracking Network (TRANET) Doppler, optical, and satellite-to-satellite tracking acquired between the ATS 6 and GEOS 3 satellites. The main advances over GEM-T2 (beyond the inclusion of altimeter and surface gravity information which is essential for the resolution of the shorter wavelength geoid) are some improved tracking data analysis approaches and additional SLR data. Although the use of altimeter data has greatly enhanced the modeling of the ocean geoid between 65 deg N and 60 deg S latitudes in GEM-T3, the lack of accurate detailed surface gravimetry leaves poor geoid resolution over many continental regions of great tectonic interest (e.g., Himalayas, Andes). Estimates of polar motion, tracking station coordinates, and long-wavelength ocean tidal terms were also made (accounting for 6330 parameters). GEM-T3 has undergone error calibration using a technique based on subset solutions to produce reliable error estimates. The calibration is based on the condition that the expected mean square deviation of a subset gravity solution from the full set values is predicted by the solutions' error covariances. Data weights are iteratively adjusted until this condition for the error calibration is satisfied. In addition, gravity field tests were performed on strong satellite data sets withheld from the solution (thereby ensuring their independence). In these tests, the performance of the subset models on the withheld observations is compared to error projections based on their calibrated error covariances. These results demonstrate that orbit accuracy projections are reliable for new satellites which were not included in GEM-T3.

Modulating Retro-Reflectors for Space, Tracking, Acquisition and Ranging using Multiple Quantum Well Technology (Preprint)

DTIC Science & Technology

2002-01-01

feedback signals were derived from the motion of the platform rather than directly measured, though an actual spacecraft would likely utilize... large position error spikes due to target motion reversal. Of course, these tracking errors are highly dependent on the feedback gains chosen for the...Key Words: MQW Retromodulators, Modulating Retroreflector(s),Inter- spacecraft communications and navigation, space control

Master-slave control with trajectory planning and Bouc-Wen model for tracking control of piezo-driven stage

NASA Astrophysics Data System (ADS)

Lu, Xiaojun; Liu, Changli; Chen, Lei

2018-04-01

In this paper, a redundant Piezo-driven stage having 3RRR compliant mechanism is introduced, we propose the master-slave control with trajectory planning (MSCTP) strategy and Bouc-Wen model to improve its micro-motion tracking performance. The advantage of the proposed controller lies in that its implementation only requires a simple control strategy without the complexity of modeling to avoid the master PEA's tracking error. The dynamic model of slave PEA system with Bouc-Wen hysteresis is established and identified via particle swarm optimization (PSO) approach. The Piezo-driven stage with operating period T=1s and 2s is implemented to track a prescribed circle. The simulation results show that MSCTP with Bouc-Wen model reduces the trajectory tracking errors to the range of the accuracy of our available measurement.

Robust adaptive tracking control for nonholonomic mobile manipulator with uncertainties.

PubMed

Peng, Jinzhu; Yu, Jie; Wang, Jie

2014-07-01

In this paper, mobile manipulator is divided into two subsystems, that is, nonholonomic mobile platform subsystem and holonomic manipulator subsystem. First, the kinematic controller of the mobile platform is derived to obtain a desired velocity. Second, regarding the coupling between the two subsystems as disturbances, Lyapunov functions of the two subsystems are designed respectively. Third, a robust adaptive tracking controller is proposed to deal with the unknown upper bounds of parameter uncertainties and disturbances. According to the Lyapunov stability theory, the derived robust adaptive controller guarantees global stability of the closed-loop system, and the tracking errors and adaptive coefficient errors are all bounded. Finally, simulation results show that the proposed robust adaptive tracking controller for nonholonomic mobile manipulator is effective and has good tracking capacity. Copyright © 2014 ISA. Published by Elsevier Ltd. All rights reserved.

Extrapolating target tracks

NASA Astrophysics Data System (ADS)

Van Zandt, James R.

2012-05-01

Steady-state performance of a tracking filter is traditionally evaluated immediately after a track update. However, there is commonly a further delay (e.g., processing and communications latency) before the tracks can actually be used. We analyze the accuracy of extrapolated target tracks for four tracking filters: Kalman filter with the Singer maneuver model and worst-case correlation time, with piecewise constant white acceleration, and with continuous white acceleration, and the reduced state filter proposed by Mookerjee and Reifler.1, 2 Performance evaluation of a tracking filter is significantly simplified by appropriate normalization. For the Kalman filter with the Singer maneuver model, the steady-state RMS error immediately after an update depends on only two dimensionless parameters.3 By assuming a worst case value of target acceleration correlation time, we reduce this to a single parameter without significantly changing the filter performance (within a few percent for air tracking).4 With this simplification, we find for all four filters that the RMS errors for the extrapolated state are functions of only two dimensionless parameters. We provide simple analytic approximations in each case.

Can Family Planning Service Statistics Be Used to Track Population-Level Outcomes?

PubMed

Magnani, Robert J; Ross, John; Williamson, Jessica; Weinberger, Michelle

2018-03-21

The need for annual family planning program tracking data under the Family Planning 2020 (FP2020) initiative has contributed to renewed interest in family planning service statistics as a potential data source for annual estimates of the modern contraceptive prevalence rate (mCPR). We sought to assess (1) how well a set of commonly recorded data elements in routine service statistics systems could, with some fairly simple adjustments, track key population-level outcome indicators, and (2) whether some data elements performed better than others. We used data from 22 countries in Africa and Asia to analyze 3 data elements collected from service statistics: (1) number of contraceptive commodities distributed to clients, (2) number of family planning service visits, and (3) number of current contraceptive users. Data quality was assessed via analysis of mean square errors, using the United Nations Population Division World Contraceptive Use annual mCPR estimates as the "gold standard." We also examined the magnitude of several components of measurement error: (1) variance, (2) level bias, and (3) slope (or trend) bias. Our results indicate modest levels of tracking error for data on commodities to clients (7%) and service visits (10%), and somewhat higher error rates for data on current users (19%). Variance and slope bias were relatively small for all data elements. Level bias was by far the largest contributor to tracking error. Paired comparisons of data elements in countries that collected at least 2 of the 3 data elements indicated a modest advantage of data on commodities to clients. None of the data elements considered was sufficiently accurate to be used to produce reliable stand-alone annual estimates of mCPR. However, the relatively low levels of variance and slope bias indicate that trends calculated from these 3 data elements can be productively used in conjunction with the Family Planning Estimation Tool (FPET) currently used to produce annual mCPR tracking estimates for FP2020. © Magnani et al.

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

Sattarivand, Mike; Summers, Clare; Robar, James

Purpose: To evaluate the validity of using spine as a surrogate for tumor positioning with ExacTrac stereoscopic imaging in lung stereotactic body radiation therapy (SBRT). Methods: Using the Novalis ExacTrac x-ray system, 39 lung SBRT patients (182 treatments) were aligned before treatment with 6 degrees (6D) of freedom couch (3 translations, 3 rotations) based on spine matching on stereoscopic images. The couch was shifted to treatment isocenter and pre-treatment CBCT was performed based on a soft tissue match around tumor volume. The CBCT data were used to measure residual errors following ExacTrac alignment. The thresholds for re-aligning the patients basedmore » on CBCT were 3mm shift or 3° rotation (in any 6D). In order to evaluate the effect of tumor location on residual errors, correlations between tumor distance from spine and individual residual errors were calculated. Results: Residual errors were up to 0.5±2.4mm. Using 3mm/3° thresholds, 80/182 (44%) of the treatments required re-alignment based on CBCT soft tissue matching following ExacTrac spine alignment. Most mismatches were in sup-inf, ant-post, and roll directions which had larger standard deviations. No correlation was found between tumor distance from spine and individual residual errors. Conclusion: ExacTrac stereoscopic imaging offers a quick pre-treatment patient alignment. However, bone matching based on spine is not reliable for aligning lung SBRT patients who require soft tissue image registration from CBCT. Spine can be a poor surrogate for lung SBRT patient alignment even for proximal tumor volumes.« less

A comparison of error bounds for a nonlinear tracking system with detection probability Pd < 1.

PubMed

Tong, Huisi; Zhang, Hao; Meng, Huadong; Wang, Xiqin

2012-12-14

Error bounds for nonlinear filtering are very important for performance evaluation and sensor management. This paper presents a comparative study of three error bounds for tracking filtering, when the detection probability is less than unity. One of these bounds is the random finite set (RFS) bound, which is deduced within the framework of finite set statistics. The others, which are the information reduction factor (IRF) posterior Cramer-Rao lower bound (PCRLB) and enumeration method (ENUM) PCRLB are introduced within the framework of finite vector statistics. In this paper, we deduce two propositions and prove that the RFS bound is equal to the ENUM PCRLB, while it is tighter than the IRF PCRLB, when the target exists from the beginning to the end. Considering the disappearance of existing targets and the appearance of new targets, the RFS bound is tighter than both IRF PCRLB and ENUM PCRLB with time, by introducing the uncertainty of target existence. The theory is illustrated by two nonlinear tracking applications: ballistic object tracking and bearings-only tracking. The simulation studies confirm the theory and reveal the relationship among the three bounds.

A Comparison of Error Bounds for a Nonlinear Tracking System with Detection Probability Pd < 1

PubMed Central

Tong, Huisi; Zhang, Hao; Meng, Huadong; Wang, Xiqin

2012-01-01

Error bounds for nonlinear filtering are very important for performance evaluation and sensor management. This paper presents a comparative study of three error bounds for tracking filtering, when the detection probability is less than unity. One of these bounds is the random finite set (RFS) bound, which is deduced within the framework of finite set statistics. The others, which are the information reduction factor (IRF) posterior Cramer-Rao lower bound (PCRLB) and enumeration method (ENUM) PCRLB are introduced within the framework of finite vector statistics. In this paper, we deduce two propositions and prove that the RFS bound is equal to the ENUM PCRLB, while it is tighter than the IRF PCRLB, when the target exists from the beginning to the end. Considering the disappearance of existing targets and the appearance of new targets, the RFS bound is tighter than both IRF PCRLB and ENUM PCRLB with time, by introducing the uncertainty of target existence. The theory is illustrated by two nonlinear tracking applications: ballistic object tracking and bearings-only tracking. The simulation studies confirm the theory and reveal the relationship among the three bounds. PMID:23242274

Design and validation of an open-source library of dynamic reference frames for research and education in optical tracking.

PubMed

Brown, Alisa; Uneri, Ali; Silva, Tharindu De; Manbachi, Amir; Siewerdsen, Jeffrey H

2018-04-01

Dynamic reference frames (DRFs) are a common component of modern surgical tracking systems; however, the limited number of commercially available DRFs poses a constraint in developing systems, especially for research and education. This work presents the design and validation of a large, open-source library of DRFs compatible with passive, single-face tracking systems, such as Polaris stereoscopic infrared trackers (NDI, Waterloo, Ontario). An algorithm was developed to create new DRF designs consistent with intra- and intertool design constraints and convert to computer-aided design (CAD) files suitable for three-dimensional printing. A library of 10 such groups, each with 6 to 10 DRFs, was produced and tracking performance was validated in comparison to a standard commercially available reference, including pivot calibration, fiducial registration error (FRE), and target registration error (TRE). Pivot tests showed calibration error [Formula: see text], indistinguishable from the reference. FRE was [Formula: see text], and TRE in a CT head phantom was [Formula: see text], both equivalent to the reference. The library of DRFs offers a useful resource for surgical navigation research and could be extended to other tracking systems and alternative design constraints.

Rotational wind indicator enhances control of rotated displays

NASA Technical Reports Server (NTRS)

Cunningham, H. A.; Pavel, Misha

1991-01-01

Rotation by 108 deg of the spatial mapping between a visual display and a manual input device produces large spatial errors in a discrete aiming task. These errors are not easily corrected by voluntary mental effort, but the central nervous system does adapt gradually to the new mapping. Bernotat (1970) showed that adding true hand position to a 90 deg rotated display improved performance of a compensatory tracking task, but tracking error rose again upon removal of the explicit cue. This suggests that the explicit error signal did not induce changes in the neural mapping, but rather allowed the operator to reduce tracking error using a higher mental strategy. In this report, we describe an explicit visual display enhancement applied to a 108 deg rotated discrete aiming task. A 'wind indicator' corresponding to the effect of the mapping rotation is displayed on the operator-controlled cursor. The human operator is instructed to oppose the virtual force represented by the indicator, as one would do if flying an airplane in a crosswind. This enhancement reduces spatial aiming error in the first 10 minutes of practice by an average of 70 percent when compared to a no enhancement control condition. Moreover, it produces adaptation aftereffect, which is evidence of learning by neural adaptation rather than by mental strategy. Finally, aiming error does not rise upon removal of the explicit cue.

Backward-gazing method for measuring solar concentrators shape errors.

PubMed

Coquand, Mathieu; Henault, François; Caliot, Cyril

2017-03-01

This paper describes a backward-gazing method for measuring the optomechanical errors of solar concentrating surfaces. It makes use of four cameras placed near the solar receiver and simultaneously recording images of the sun reflected by the optical surfaces. Simple data processing then allows reconstructing the slope and shape errors of the surfaces. The originality of the method is enforced by the use of generalized quad-cell formulas and approximate mathematical relations between the slope errors of the mirrors and their reflected wavefront in the case of sun-tracking heliostats at high-incidence angles. Numerical simulations demonstrate that the measurement accuracy is compliant with standard requirements of solar concentrating optics in the presence of noise or calibration errors. The method is suited to fine characterization of the optical and mechanical errors of heliostats and their facets, or to provide better control for real-time sun tracking.

Model reference tracking control of an aircraft: a robust adaptive approach

NASA Astrophysics Data System (ADS)

Tanyer, Ilker; Tatlicioglu, Enver; Zergeroglu, Erkan

2017-05-01

This work presents the design and the corresponding analysis of a nonlinear robust adaptive controller for model reference tracking of an aircraft that has parametric uncertainties in its system matrices and additive state- and/or time-dependent nonlinear disturbance-like terms in its dynamics. Specifically, robust integral of the sign of the error feedback term and an adaptive term is fused with a proportional integral controller. Lyapunov-based stability analysis techniques are utilised to prove global asymptotic convergence of the output tracking error. Extensive numerical simulations are presented to illustrate the performance of the proposed robust adaptive controller.

Effects of dynamic aeroelasticity on handling qualities and pilot rating

NASA Technical Reports Server (NTRS)

Swaim, R. L.; Yen, W.-Y.

1978-01-01

Pilot performance parameters, such as pilot ratings, tracking errors, and pilot comments, were recorded and analyzed for a longitudinal pitch tracking task on a large, flexible aircraft. The tracking task was programmed on a fixed-base simulator with a CRT attitude director display of pitch angle command, pitch angle, and pitch angle error. Parametric variations in the undamped natural frequencies of the two lowest frequency symmetric elastic modes were made to induce varying degrees of rigid body and elastic mode interaction. The results indicate that such mode interaction can drastically affect the handling qualities and pilot ratings of the task.

Navigation with Electromagnetic Tracking for Interventional Radiology Procedures

PubMed Central

Wood, Bradford J.; Zhang, Hui; Durrani, Amir; Glossop, Neil; Ranjan, Sohan; Lindisch, David; Levy, Eliott; Banovac, Filip; Borgert, Joern; Krueger, Sascha; Kruecker, Jochen; Viswanathan, Anand; Cleary, Kevin

2008-01-01

PURPOSE To assess the feasibility of the use of preprocedural imaging for guide wire, catheter, and needle navigation with electromagnetic tracking in phantom and animal models. MATERIALS AND METHODS An image-guided intervention software system was developed based on open-source software components. Catheters, needles, and guide wires were constructed with small position and orientation sensors in the tips. A tetrahedral-shaped weak electromagnetic field generator was placed in proximity to an abdominal vascular phantom or three pigs on the angiography table. Preprocedural computed tomographic (CT) images of the phantom or pig were loaded into custom-developed tracking, registration, navigation, and rendering software. Devices were manipulated within the phantom or pig with guidance from the previously acquired CT scan and simultaneous real-time angiography. Navigation within positron emission tomography (PET) and magnetic resonance (MR) volumetric datasets was also performed. External and endovascular fiducials were used for registration in the phantom, and registration error and tracking error were estimated. RESULTS The CT scan position of the devices within phantoms and pigs was accurately determined during angiography and biopsy procedures, with manageable error for some applications. Preprocedural CT depicted the anatomy in the region of the devices with real-time position updating and minimal registration error and tracking error (<5 mm). PET can also be used with this system to guide percutaneous biopsies to the most metabolically active region of a tumor. CONCLUSIONS Previously acquired CT, MR, or PET data can be accurately codisplayed during procedures with reconstructed imaging based on the position and orientation of catheters, guide wires, or needles. Multimodality interventions are feasible by allowing the real-time updated display of previously acquired functional or morphologic imaging during angiography, biopsy, and ablation. PMID:15802449

Concurrent error detecting codes for arithmetic processors

NASA Technical Reports Server (NTRS)

Lim, R. S.

1979-01-01

A method of concurrent error detection for arithmetic processors is described. Low-cost residue codes with check-length l and checkbase m = 2 to the l power - 1 are described for checking arithmetic operations of addition, subtraction, multiplication, division complement, shift, and rotate. Of the three number representations, the signed-magnitude representation is preferred for residue checking. Two methods of residue generation are described: the standard method of using modulo m adders and the method of using a self-testing residue tree. A simple single-bit parity-check code is described for checking the logical operations of XOR, OR, and AND, and also the arithmetic operations of complement, shift, and rotate. For checking complement, shift, and rotate, the single-bit parity-check code is simpler to implement than the residue codes.

Generation of Simulated Tracking Data for LADEE Operational Readiness Testing

NASA Technical Reports Server (NTRS)

Woodburn, James; Policastri, Lisa; Owens, Brandon

2015-01-01

Operational Readiness Tests were an important part of the pre-launch preparation for the LADEE mission. The generation of simulated tracking data to stress the Flight Dynamics System and the Flight Dynamics Team was important for satisfying the testing goal of demonstrating that the software and the team were ready to fly the operational mission. The simulated tracking was generated in a manner to incorporate the effects of errors in the baseline dynamical model, errors in maneuver execution and phenomenology associated with various tracking system based components. The ability of the mission team to overcome these challenges in a realistic flight dynamics scenario indicated that the team and flight dynamics system were ready to fly the LADEE mission. Lunar Atmosphere and Dust Environment.

Evaluation of tactual displays for flight control

NASA Technical Reports Server (NTRS)

Levison, W. H.; Tanner, R. B.; Triggs, T. J.

1973-01-01

Manual tracking experiments were conducted to determine the suitability of tactual displays for presenting flight-control information in multitask situations. Although tracking error scores are considerably greater than scores obtained with a continuous visual display, preliminary results indicate that inter-task interference effects are substantially less with the tactual display in situations that impose high visual scanning workloads. The single-task performance degradation found with the tactual display appears to be a result of the coding scheme rather than the use of the tactual sensory mode per se. Analysis with the state-variable pilot/vehicle model shows that reliable predictions of tracking errors can be obtained for wide-band tracking systems once the pilot-related model parameters have been adjusted to reflect the pilot-display interaction.

Dense-HOG-based drift-reduced 3D face tracking for infant pain monitoring

NASA Astrophysics Data System (ADS)

Saeijs, Ronald W. J. J.; Tjon A Ten, Walther E.; de With, Peter H. N.

2017-03-01

This paper presents a new algorithm for 3D face tracking intended for clinical infant pain monitoring. The algorithm uses a cylinder head model and 3D head pose recovery by alignment of dynamically extracted templates based on dense-HOG features. The algorithm includes extensions for drift reduction, using re-registration in combination with multi-pose state estimation by means of a square-root unscented Kalman filter. The paper reports experimental results on videos of moving infants in hospital who are relaxed or in pain. Results show good tracking behavior for poses up to 50 degrees from upright-frontal. In terms of eye location error relative to inter-ocular distance, the mean tracking error is below 9%.

Formation Flying Satellite Control Around the L2 Sun-Earth Libration Point

NASA Technical Reports Server (NTRS)

Hamilton, Nicholas H.; Folta, David; Carpenter, Russell; Bauer, Frank (Technical Monitor)

2002-01-01

This paper discusses the development of a linear control algorithm for formations in the vicinity of the L2 sun-Earth libration point. The development of a simplified extended Kalman filter is included as well. Simulations are created for the analysis of the stationkeeping and various formation maneuvers of the Stellar Imager mission. The simulations provide tracking error, estimation error, and control effort results. For formation maneuvering, the formation spacecraft track to within 4 meters of their desired position and within 1.5 millimeters per second of their desired zero velocity. The filter, with few exceptions, keeps the estimation errors within their three-sigma values. Without noise, the controller performs extremely well, with the formation spacecraft tracking to within several micrometers. Each spacecraft uses around 1 to 2 grams of propellant per maneuver, depending on the circumstances.

Iterative Overlap FDE for Multicode DS-CDMA

NASA Astrophysics Data System (ADS)

Takeda, Kazuaki; Tomeba, Hiromichi; Adachi, Fumiyuki

Recently, a new frequency-domain equalization (FDE) technique, called overlap FDE, that requires no GI insertion was proposed. However, the residual inter/intra-block interference (IBI) cannot completely be removed. In addition to this, for multicode direct sequence code division multiple access (DS-CDMA), the presence of residual interchip interference (ICI) after FDE distorts orthogonality among the spreading codes. In this paper, we propose an iterative overlap FDE for multicode DS-CDMA to suppress both the residual IBI and the residual ICI. In the iterative overlap FDE, joint minimum mean square error (MMSE)-FDE and ICI cancellation is repeated a sufficient number of times. The bit error rate (BER) performance with the iterative overlap FDE is evaluated by computer simulation.

Estimation of daily interfractional larynx residual setup error after isocentric alignment for head and neck radiotherapy: Quality-assurance implications for target volume and organ-at-risk margination using daily CT-on-rails imaging

PubMed Central

Baron, Charles A.; Awan, Musaddiq J.; Mohamed, Abdallah S. R.; Akel, Imad; Rosenthal, David I.; Gunn, G. Brandon; Garden, Adam S.; Dyer, Brandon A.; Court, Laurence; Sevak, Parag R; Kocak-Uzel, Esengul; Fuller, Clifton D.

2016-01-01

Larynx may alternatively serve as a target or organ-at-risk (OAR) in head and neck cancer (HNC) image-guided radiotherapy (IGRT). The objective of this study was to estimate IGRT parameters required for larynx positional error independent of isocentric alignment and suggest population–based compensatory margins. Ten HNC patients receiving radiotherapy (RT) with daily CT-on-rails imaging were assessed. Seven landmark points were placed on each daily scan. Taking the most superior anterior point of the C5 vertebra as a reference isocenter for each scan, residual displacement vectors to the other 6 points were calculated post-isocentric alignment. Subsequently, using the first scan as a reference, the magnitude of vector differences for all 6 points for all scans over the course of treatment were calculated. Residual systematic and random error, and the necessary compensatory CTV-to-PTV and OAR-to-PRV margins were calculated, using both observational cohort data and a bootstrap-resampled population estimator. The grand mean displacements for all anatomical points was 5.07mm, with mean systematic error of 1.1mm and mean random setup error of 2.63mm, while bootstrapped POIs grand mean displacement was 5.09mm, with mean systematic error of 1.23mm and mean random setup error of 2.61mm. Required margin for CTV-PTV expansion was 4.6mm for all cohort points, while the bootstrap estimator of the equivalent margin was 4.9mm. The calculated OAR-to-PRV expansion for the observed residual set-up error was 2.7mm, and bootstrap estimated expansion of 2.9mm. We conclude that the interfractional larynx setup error is a significant source of RT set-up/delivery error in HNC both when the larynx is considered as a CTV or OAR. We estimate the need for a uniform expansion of 5mm to compensate for set up error if the larynx is a target or 3mm if the larynx is an OAR when using a non-laryngeal bony isocenter. PMID:25679151

Estimation of daily interfractional larynx residual setup error after isocentric alignment for head and neck radiotherapy: quality assurance implications for target volume and organs‐at‐risk margination using daily CT on‐rails imaging

PubMed Central

Baron, Charles A.; Awan, Musaddiq J.; Mohamed, Abdallah S.R.; Akel, Imad; Rosenthal, David I.; Gunn, G. Brandon; Garden, Adam S.; Dyer, Brandon A.; Court, Laurence; Sevak, Parag R.; Kocak‐Uzel, Esengul

2014-01-01

Larynx may alternatively serve as a target or organs at risk (OAR) in head and neck cancer (HNC) image‐guided radiotherapy (IGRT). The objective of this study was to estimate IGRT parameters required for larynx positional error independent of isocentric alignment and suggest population‐based compensatory margins. Ten HNC patients receiving radiotherapy (RT) with daily CT on‐rails imaging were assessed. Seven landmark points were placed on each daily scan. Taking the most superior‐anterior point of the C5 vertebra as a reference isocenter for each scan, residual displacement vectors to the other six points were calculated postisocentric alignment. Subsequently, using the first scan as a reference, the magnitude of vector differences for all six points for all scans over the course of treatment was calculated. Residual systematic and random error and the necessary compensatory CTV‐to‐PTV and OAR‐to‐PRV margins were calculated, using both observational cohort data and a bootstrap‐resampled population estimator. The grand mean displacements for all anatomical points was 5.07 mm, with mean systematic error of 1.1 mm and mean random setup error of 2.63 mm, while bootstrapped POIs grand mean displacement was 5.09 mm, with mean systematic error of 1.23 mm and mean random setup error of 2.61 mm. Required margin for CTV‐PTV expansion was 4.6 mm for all cohort points, while the bootstrap estimator of the equivalent margin was 4.9 mm. The calculated OAR‐to‐PRV expansion for the observed residual setup error was 2.7 mm and bootstrap estimated expansion of 2.9 mm. We conclude that the interfractional larynx setup error is a significant source of RT setup/delivery error in HNC, both when the larynx is considered as a CTV or OAR. We estimate the need for a uniform expansion of 5 mm to compensate for setup error if the larynx is a target, or 3 mm if the larynx is an OAR, when using a nonlaryngeal bony isocenter. PACS numbers: 87.55.D‐, 87.55.Qr

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

Unseren, M.A.

The report discusses the orientation tracking control problem for a kinematically redundant, autonomous manipulator moving in a three dimensional workspace. The orientation error is derived using the normalized quaternion error method of Ickes, the Luh, Walker, and Paul error method, and a method suggested here utilizing the Rodrigues parameters, all of which are expressed in terms of normalized quaternions. The analytical time derivatives of the orientation errors are determined. The latter, along with the translational velocity error, form a dosed loop kinematic velocity model of the manipulator using normalized quaternion and translational position feedback. An analysis of the singularities associatedmore » with expressing the models in a form suitable for solving the inverse kinematics problem is given. Two redundancy resolution algorithms originally developed using an open loop kinematic velocity model of the manipulator are extended to properly take into account the orientation tracking control problem. This report furnishes the necessary mathematical framework required prior to experimental implementation of the orientation tracking control schemes on the seven axis CESARm research manipulator or on the seven-axis Robotics Research K1207i dexterous manipulator, the latter of which is to be delivered to the Oak Ridge National Laboratory in 1993.« less

GNSS triple-frequency geometry-free and ionosphere-free track-to-track ambiguities

NASA Astrophysics Data System (ADS)

Wang, Kan; Rothacher, Markus

2015-06-01

During the last few years, more and more GNSS satellites have become available sending signals on three or even more frequencies. Examples are the GPS Block IIF and the Galileo In-Orbit-Validation (IOV) satellites. Various investigations have been performed to make use of the increasing number of frequencies to find a compromise between eliminating different error sources and minimizing the noise level, including the investigations in the triple-frequency geometry-free (GF) and ionosphere-free (IF) linear combinations, which eliminate all the geometry-related errors and the first-order term of the ionospheric delays. In contrast to the double-difference GF and IF ambiguity resolution, the resolution of the so-called track-to-track GF and IF ambiguities between two tracks of a satellite observed by the same station only requires one receiver and one satellite. Most of the remaining errors like receiver and satellite delays (electronics, cables, etc.) are eliminated, if they are not changing rapidly in time, and the noise level is reduced theoretically by a factor of square root of two compared to double-differences. This paper presents first results concerning track-to-track ambiguity resolution using triple-frequency GF and IF linear combinations based on data from the Multi-GNSS Experiment (MGEX) from April 29 to May 9, 2012 and from December 23 to December 29, 2012. This includes triple-frequency phase and code observations with different combinations of receiver tracking modes. The results show that it is possible to resolve the combined track-to-track ambiguities of the best two triple-frequency GF and IF linear combinations for the Galileo frequency triplet E1, E5b and E5a with more than 99.6% of the fractional ambiguities for the best linear combination being located within ± 0.03 cycles and more than 98.8% of the fractional ambiguities for the second best linear combination within ± 0.2 cycles, while the fractional parts of the ambiguities for the GPS frequency triplet L1, L2 and L5 are more disturbed by errors as e.g. the uncalibrated Phase Center Offsets (PCOs) and Phase Center Variations (PCVs), that have not been considered. The best two GF and IF linear combinations between tracks are helpful to detect problems in data and receivers. Furthermore, resolving the track-to-track ambiguities is helpful to connect the single-receiver ambiguities on the normal equation level and to improve ambiguity resolution.

What triggers catch-up saccades during visual tracking?

PubMed

de Brouwer, Sophie; Yuksel, Demet; Blohm, Gunnar; Missal, Marcus; Lefèvre, Philippe

2002-03-01

When tracking moving visual stimuli, primates orient their visual axis by combining two kinds of eye movements, smooth pursuit and saccades, that have very different dynamics. Yet, the mechanisms that govern the decision to switch from one type of eye movement to the other are still poorly understood, even though they could bring a significant contribution to the understanding of how the CNS combines different kinds of control strategies to achieve a common motor and sensory goal. In this study, we investigated the oculomotor responses to a large range of different combinations of position error and velocity error during visual tracking of moving stimuli in humans. We found that the oculomotor system uses a prediction of the time at which the eye trajectory will cross the target, defined as the "eye crossing time" (T(XE)). The eye crossing time, which depends on both position error and velocity error, is the criterion used to switch between smooth and saccadic pursuit, i.e., to trigger catch-up saccades. On average, for T(XE) between 40 and 180 ms, no saccade is triggered and target tracking remains purely smooth. Conversely, when T(XE) becomes smaller than 40 ms or larger than 180 ms, a saccade is triggered after a short latency (around 125 ms).

Ionospheric refraction effects on orbit determination using the orbit determination error analysis system

NASA Technical Reports Server (NTRS)

Yee, C. P.; Kelbel, D. A.; Lee, T.; Dunham, J. B.; Mistretta, G. D.

1990-01-01

The influence of ionospheric refraction on orbit determination was studied through the use of the Orbit Determination Error Analysis System (ODEAS). The results of a study of the orbital state estimate errors due to the ionospheric refraction corrections, particularly for measurements involving spacecraft-to-spacecraft tracking links, are presented. In current operational practice at the Goddard Space Flight Center (GSFC) Flight Dynamics Facility (FDF), the ionospheric refraction effects on the tracking measurements are modeled in the Goddard Trajectory Determination System (GTDS) using the Bent ionospheric model. While GTDS has the capability of incorporating the ionospheric refraction effects for measurements involving ground-to-spacecraft tracking links, such as those generated by the Ground Spaceflight Tracking and Data Network (GSTDN), it does not have the capability to incorporate the refraction effects for spacecraft-to-spacecraft tracking links for measurements generated by the Tracking and Data Relay Satellite System (TDRSS). The lack of this particular capability in GTDS raised some concern about the achievable accuracy of the estimated orbit for certain classes of spacecraft missions that require high-precision orbits. Using an enhanced research version of GTDS, some efforts have already been made to assess the importance of the spacecraft-to-spacecraft ionospheric refraction corrections in an orbit determination process. While these studies were performed using simulated data or real tracking data in definitive orbit determination modes, the study results presented here were obtained by means of covariance analysis simulating the weighted least-squares method used in orbit determination.

A software solution to dynamically reduce metallic distortions of electromagnetic tracking systems for image-guided surgery.

PubMed

Li, Mengfei; Hansen, Christian; Rose, Georg

2017-09-01

Electromagnetic tracking systems (EMTS) have achieved a high level of acceptance in clinical settings, e.g., to support tracking of medical instruments in image-guided interventions. However, tracking errors caused by movable metallic medical instruments and electronic devices are a critical problem which prevents the wider application of EMTS for clinical applications. We plan to introduce a method to dynamically reduce tracking errors caused by metallic objects in proximity to the magnetic sensor coil of the EMTS. We propose a method using ramp waveform excitation based on modeling the conductive distorter as a resistance-inductance circuit. Additionally, a fast data acquisition method is presented to speed up the refresh rate. With the current approach, the sensor's positioning mean error is estimated to be 3.4, 1.3 and 0.7 mm, corresponding to a distance between the sensor and center of the transmitter coils' array of up to 200, 150 and 100 mm, respectively. The sensor pose error caused by different medical instruments placed in proximity was reduced by the proposed method to a level lower than 0.5 mm in position and [Formula: see text] in orientation. By applying the newly developed fast data acquisition method, we achieved a system refresh rate up to approximately 12.7 frames per second. Our software-based approach can be integrated into existing medical EMTS seamlessly with no change in hardware. It improves the tracking accuracy of clinical EMTS when there is a metallic object placed near the sensor coil and has the potential to improve the safety and outcome of image-guided interventions.

A video multitracking system for quantification of individual behavior in a large fish shoal: advantages and limits.

PubMed

Delcourt, Johann; Becco, Christophe; Vandewalle, Nicolas; Poncin, Pascal

2009-02-01

The capability of a new multitracking system to track a large number of unmarked fish (up to 100) is evaluated. This system extrapolates a trajectory from each individual and analyzes recorded sequences that are several minutes long. This system is very efficient in statistical individual tracking, where the individual's identity is important for a short period of time in comparison with the duration of the track. Individual identification is typically greater than 99%. Identification is largely efficient (more than 99%) when the fish images do not cross the image of a neighbor fish. When the images of two fish merge (occlusion), we consider that the spot on the screen has a double identity. Consequently, there are no identification errors during occlusions, even though the measurement of the positions of each individual is imprecise. When the images of these two merged fish separate (separation), individual identification errors are more frequent, but their effect is very low in statistical individual tracking. On the other hand, in complete individual tracking, where individual fish identity is important for the entire trajectory, each identification error invalidates the results. In such cases, the experimenter must observe whether the program assigns the correct identification, and, when an error is made, must edit the results. This work is not too costly in time because it is limited to the separation events, accounting for fewer than 0.1% of individual identifications. Consequently, in both statistical and rigorous individual tracking, this system allows the experimenter to gain time by measuring the individual position automatically. It can also analyze the structural and dynamic properties of an animal group with a very large sample, with precision and sampling that are impossible to obtain with manual measures.

Real Time 3D Facial Movement Tracking Using a Monocular Camera

PubMed Central

Dong, Yanchao; Wang, Yanming; Yue, Jiguang; Hu, Zhencheng

2016-01-01

The paper proposes a robust framework for 3D facial movement tracking in real time using a monocular camera. It is designed to estimate the 3D face pose and local facial animation such as eyelid movement and mouth movement. The framework firstly utilizes the Discriminative Shape Regression method to locate the facial feature points on the 2D image and fuses the 2D data with a 3D face model using Extended Kalman Filter to yield 3D facial movement information. An alternating optimizing strategy is adopted to fit to different persons automatically. Experiments show that the proposed framework could track the 3D facial movement across various poses and illumination conditions. Given the real face scale the framework could track the eyelid with an error of 1 mm and mouth with an error of 2 mm. The tracking result is reliable for expression analysis or mental state inference. PMID:27463714

Real Time 3D Facial Movement Tracking Using a Monocular Camera.

PubMed

Dong, Yanchao; Wang, Yanming; Yue, Jiguang; Hu, Zhencheng

2016-07-25

The paper proposes a robust framework for 3D facial movement tracking in real time using a monocular camera. It is designed to estimate the 3D face pose and local facial animation such as eyelid movement and mouth movement. The framework firstly utilizes the Discriminative Shape Regression method to locate the facial feature points on the 2D image and fuses the 2D data with a 3D face model using Extended Kalman Filter to yield 3D facial movement information. An alternating optimizing strategy is adopted to fit to different persons automatically. Experiments show that the proposed framework could track the 3D facial movement across various poses and illumination conditions. Given the real face scale the framework could track the eyelid with an error of 1 mm and mouth with an error of 2 mm. The tracking result is reliable for expression analysis or mental state inference.

Active controllers and the time duration to learn a task

NASA Technical Reports Server (NTRS)

Repperger, D. W.; Goodyear, C.

1986-01-01

An active controller was used to help train naive subjects involved in a compensatory tracking task. The controller is called active in this context because it moves the subject's hand in a direction to improve tracking. It is of interest here to question whether the active controller helps the subject to learn a task more rapidly than the passive controller. Six subjects, inexperienced to compensatory tracking, were run to asymptote root mean square error tracking levels with an active controller or a passive controller. The time required to learn the task was defined several different ways. The results of the different measures of learning were examined across pools of subjects and across controllers using statistical tests. The comparison between the active controller and the passive controller as to their ability to accelerate the learning process as well as reduce levels of asymptotic tracking error is reported here.

Accommodating Sensor Bias in MRAC for State Tracking

NASA Technical Reports Server (NTRS)

Patre, Parag; Joshi, Suresh M.

2011-01-01

The problem of accommodating unknown sensor bias is considered in a direct model reference adaptive control (MRAC) setting for state tracking using state feedback. Sensor faults can occur during operation, and if the biased state measurements are directly used with a standard MRAC control law, neither closed-loop signal boundedness, nor asymptotic tracking can be guaranteed and the resulting tracking errors may be unbounded or unacceptably large. A modified MRAC law is proposed, which combines a bias estimator with control gain adaptation, and it is shown that signal boundedness can be accomplished, although the tracking error may not go to zero. Further, for the case wherein an asymptotically stable sensor bias estimator is available, an MRAC control law is proposed to accomplish asymptotic tracking and signal boundedness. Such a sensor bias estimator can be designed if additional sensor measurements are available, as illustrated for the case wherein bias is present in the rate gyro and airspeed measurements. Numerical example results are presented to illustrate each of the schemes.

Attention Modulates Spatial Precision in Multiple-Object Tracking.

PubMed

Srivastava, Nisheeth; Vul, Ed

2016-01-01

We present a computational model of multiple-object tracking that makes trial-level predictions about the allocation of visual attention and the effect of this allocation on observers' ability to track multiple objects simultaneously. This model follows the intuition that increased attention to a location increases the spatial resolution of its internal representation. Using a combination of empirical and computational experiments, we demonstrate the existence of a tight coupling between cognitive and perceptual resources in this task: Low-level tracking of objects generates bottom-up predictions of error likelihood, and high-level attention allocation selectively reduces error probabilities in attended locations while increasing it at non-attended locations. Whereas earlier models of multiple-object tracking have predicted the big picture relationship between stimulus complexity and response accuracy, our approach makes accurate predictions of both the macro-scale effect of target number and velocity on tracking difficulty and micro-scale variations in difficulty across individual trials and targets arising from the idiosyncratic within-trial interactions of targets and distractors. Copyright © 2016 Cognitive Science Society, Inc.

Correcting the Standard Errors of 2-Stage Residual Inclusion Estimators for Mendelian Randomization Studies

PubMed Central

Palmer, Tom M; Holmes, Michael V; Keating, Brendan J; Sheehan, Nuala A

2017-01-01

Abstract Mendelian randomization studies use genotypes as instrumental variables to test for and estimate the causal effects of modifiable risk factors on outcomes. Two-stage residual inclusion (TSRI) estimators have been used when researchers are willing to make parametric assumptions. However, researchers are currently reporting uncorrected or heteroscedasticity-robust standard errors for these estimates. We compared several different forms of the standard error for linear and logistic TSRI estimates in simulations and in real-data examples. Among others, we consider standard errors modified from the approach of Newey (1987), Terza (2016), and bootstrapping. In our simulations Newey, Terza, bootstrap, and corrected 2-stage least squares (in the linear case) standard errors gave the best results in terms of coverage and type I error. In the real-data examples, the Newey standard errors were 0.5% and 2% larger than the unadjusted standard errors for the linear and logistic TSRI estimators, respectively. We show that TSRI estimators with modified standard errors have correct type I error under the null. Researchers should report TSRI estimates with modified standard errors instead of reporting unadjusted or heteroscedasticity-robust standard errors. PMID:29106476

Improved prediction of hardwood tree biomass derived from wood density estimates and form factors for whole trees

Treesearch

David W. MacFarlane; Neil R. Ver Planck

2012-01-01

Data from hardwood trees in Michigan were analyzed to investigate how differences in whole-tree form and wood density between trees of different stem diameter relate to residual error in standard-type biomass equations. The results suggested that whole-tree wood density, measured at breast height, explained a significant proportion of residual error in standard-type...

Sampling Analysis of Aerosol Retrievals by Single-track Spaceborne Instrument for Climate Research

NASA Astrophysics Data System (ADS)

Geogdzhayev, I. V.; Cairns, B.; Alexandrov, M. D.; Mishchenko, M. I.

2012-12-01

We examine to what extent the reduced sampling of along-track instruments such as Cloud-Aerosol LIdar with Orthogonal Polarisation (CALIOP) and Aerosol Polarimetry Sensor (APS) affects the statistical accuracy of a satellite climatology of retrieved aerosol optical thickness (AOT) by sub-sampling the retrievals from a wide-swath imaging instrument (MODerate resolution Imaging Spectroradiometer (MODIS)). Owing to its global coverage, longevity, and extensive characterization versus ground based data, the MODIS level-2 aerosol product is an instructive testbed for assessing sampling effects on climatic means derived from along-track instrument data. The advantage of using daily pixel-level aerosol retrievals from MODIS is that limitations caused by the presence of clouds are implicit in the sample, so that their seasonal and regional variations are captured coherently. However, imager data can exhibit cross-track variability of monthly global mean AOTs caused by a scattering-angle dependence. We found that single along-track values can deviate from the imager mean by 15% over land and by more than 20% over ocean. This makes it difficult to separate natural variability from viewing-geometry artifacts complicating direct comparisons of an along-track sub-sample with the full imager data. To work around this problem, we introduce "flipped-track" sampling which, by design, is statistically equivalent to along-track sampling and while closely approximating the imager in terms of angular artifacts. We show that the flipped-track variability of global monthly mean AOT is much smaller than the cross-track one for the 7-year period considered. Over the ocean flipped-track standard error is 85% less than the cross-track one (absolute values 0.0012 versus 0.0079), and over land it is about one third of the cross-track value (0.0054 versus 0.0188) on average. This allows us to attribute the difference between the two errors to the viewing-geometry artifacts and obtain an upper limit on AOT errors caused by along-track sampling. Our results show that using along-track subsets of MODIS aerosol data directly to analyze the sampling adequacy of single-track instruments can lead to false conclusions owing to the apparent enhancement of natural aerosol variability by the track-to-track artifacts. The analysis based on the statistics of the flipped-track means yields better estimates because it allows for better separation of the viewing-geometry artifacts and true natural variability. Published assessments estimate that a global AOT change of 0.01 would yield a climatically important flux change of 0.25 W/m2. Since the standard error estimates that we have obtained are comfortably below 0.01, we conclude that along-track instruments flown on a sun-synchronous orbiting platform have sufficient spatial sampling for estimating aerosol effects on climate. Since AOT is believed to be the most variable characteristic of tropospheric aerosols, our results imply that pixel-wide along-track coverage also provides adequate statistical representation of the global distribution of aerosol microphysical parameters.

Enhancing the use of Argos satellite data for home range and long distance migration studies of marine animals.

PubMed

Hoenner, Xavier; Whiting, Scott D; Hindell, Mark A; McMahon, Clive R

2012-01-01

Accurately quantifying animals' spatial utilisation is critical for conservation, but has long remained an elusive goal due to technological impediments. The Argos telemetry system has been extensively used to remotely track marine animals, however location estimates are characterised by substantial spatial error. State-space models (SSM) constitute a robust statistical approach to refine Argos tracking data by accounting for observation errors and stochasticity in animal movement. Despite their wide use in ecology, few studies have thoroughly quantified the error associated with SSM predicted locations and no research has assessed their validity for describing animal movement behaviour. We compared home ranges and migratory pathways of seven hawksbill sea turtles (Eretmochelys imbricata) estimated from (a) highly accurate Fastloc GPS data and (b) locations computed using common Argos data analytical approaches. Argos 68(th) percentile error was <1 km for LC 1, 2, and 3 while markedly less accurate (>4 km) for LC ≤ 0. Argos error structure was highly longitudinally skewed and was, for all LC, adequately modelled by a Student's t distribution. Both habitat use and migration routes were best recreated using SSM locations post-processed by re-adding good Argos positions (LC 1, 2 and 3) and filtering terrestrial points (mean distance to migratory tracks ± SD = 2.2 ± 2.4 km; mean home range overlap and error ratio = 92.2% and 285.6 respectively). This parsimonious and objective statistical procedure however still markedly overestimated true home range sizes, especially for animals exhibiting restricted movements. Post-processing SSM locations nonetheless constitutes the best analytical technique for remotely sensed Argos tracking data and we therefore recommend using this approach to rework historical Argos datasets for better estimation of animal spatial utilisation for research and evidence-based conservation purposes.

C-band radar pulse Doppler error: Its discovery, modeling, and elimination

NASA Technical Reports Server (NTRS)

Krabill, W. B.; Dempsey, D. J.

1978-01-01

The discovery of a C Band radar pulse Doppler error is discussed and use of the GEOS 3 satellite's coherent transponder to isolate the error source is described. An analysis of the pulse Doppler tracking loop is presented and a mathematical model for the error was developed. Error correction techniques were developed and are described including implementation details.

A Continental Rifting Event in Tanzania Revealed by Envisat and ALOS InSAR Observations

NASA Astrophysics Data System (ADS)

Oyen, A. M.; Marinkovic, P. S.; Wauthier, C.; d'Oreye, N.; Hanssen, R. F.

2008-11-01

From July to September 2007 a series of moderate earthquakes struck the area South of the Gelai volcano, located on the Eastern branch of the East African Rift (North Tanzania). Most deformation patterns detected by InSAR in these period are very complex, impeding proper interpretation. To decrease the complexity of the models of the deformation, this study proposes two strategies of combining data from different tracks and sensors. In a first stage a method is proposed to correct unwrapping errors in C-band using the much more coherent L-band data. Furthermore, a modeling optimization method is explored, which aims at the decomposition of the deformation in smaller temporal baselines, by means of creating new, artificial interferograms and the use of models. Due to the higher coherence level and fewer phase cycles in L-band, the deformation interpretation is facilitated but model residual interpretation has become more difficult compared to C-band.

Adaptive fuzzy prescribed performance control for MIMO nonlinear systems with unknown control direction and unknown dead-zone inputs.

PubMed

Shi, Wuxi; Luo, Rui; Li, Baoquan

2017-01-01

In this study, an adaptive fuzzy prescribed performance control approach is developed for a class of uncertain multi-input and multi-output (MIMO) nonlinear systems with unknown control direction and unknown dead-zone inputs. The properties of symmetric matrix are exploited to design adaptive fuzzy prescribed performance controller, and a Nussbaum-type function is incorporated in the controller to estimate the unknown control direction. This method has two prominent advantages: it does not require the priori knowledge of control direction and only three parameters need to be updated on-line for this MIMO systems. It is proved that all the signals in the resulting closed-loop system are bounded and that the tracking errors converge to a small residual set with the prescribed performance bounds. The effectiveness of the proposed approach is validated by simulation results. Copyright © 2016 ISA. Published by Elsevier Ltd. All rights reserved.

Time-domain prefilter design for enhanced tracking and vibration suppression in machine motion control

NASA Astrophysics Data System (ADS)

Cole, Matthew O. T.; Shinonawanik, Praween; Wongratanaphisan, Theeraphong

2018-05-01

Structural flexibility can impact negatively on machine motion control systems by causing unmeasured positioning errors and vibration at locations where accurate motion is important for task execution. To compensate for these effects, command signal prefiltering may be applied. In this paper, a new FIR prefilter design method is described that combines finite-time vibration cancellation with dynamic compensation properties. The time-domain formulation exploits the relation between tracking error and the moment values of the prefilter impulse response function. Optimal design solutions for filters having minimum H2 norm are derived and evaluated. The control approach does not require additional actuation or sensing and can be effective even without complete and accurate models of the machine dynamics. Results from implementation and testing on an experimental high-speed manipulator having a Delta robot architecture with directionally compliant end-effector are presented. The results show the importance of prefilter moment values for tracking performance and confirm that the proposed method can achieve significant reductions in both peak and RMS tracking error, as well as settling time, for complex motion patterns.

Phantom study and accuracy evaluation of an image-to-world registration approach used with electro-magnetic tracking system for neurosurgery

NASA Astrophysics Data System (ADS)

Li, Senhu; Sarment, David

2015-12-01

Minimally invasive neurosurgery needs intraoperative imaging updates and high efficient image guide system to facilitate the procedure. An automatic image guided system utilized with a compact and mobile intraoperative CT imager was introduced in this work. A tracking frame that can be easily attached onto the commercially available skull clamp was designed. With known geometry of fiducial and tracking sensor arranged on this rigid frame that was fabricated through high precision 3D printing, not only was an accurate, fully automatic registration method developed in a simple and less-costly approach, but also it helped in estimating the errors from fiducial localization in image space through image processing, and in patient space through the calibration of tracking frame. Our phantom study shows the fiducial registration error as 0.348+/-0.028mm, comparing the manual registration error as 1.976+/-0.778mm. The system in this study provided a robust and accurate image-to-patient registration without interruption of routine surgical workflow and any user interactions involved through the neurosurgery.

A navigation system for flexible endoscopes using abdominal 3D ultrasound

NASA Astrophysics Data System (ADS)

Hoffmann, R.; Kaar, M.; Bathia, Amon; Bathia, Amar; Lampret, A.; Birkfellner, W.; Hummel, J.; Figl, M.

2014-09-01

A navigation system for flexible endoscopes equipped with ultrasound (US) scan heads is presented. In contrast to similar systems, abdominal 3D-US is used for image fusion of the pre-interventional computed tomography (CT) to the endoscopic US. A 3D-US scan, tracked with an optical tracking system (OTS), is taken pre-operatively together with the CT scan. The CT is calibrated using the OTS, providing the transformation from CT to 3D-US. Immediately before intervention a 3D-US tracked with an electromagnetic tracking system (EMTS) is acquired and registered intra-modal to the preoperative 3D-US. The endoscopic US is calibrated using the EMTS and registered to the pre-operative CT by an intra-modal 3D-US/3D-US registration. Phantom studies showed a registration error for the US to CT registration of 5.1 mm ± 2.8 mm. 3D-US/3D-US registration of patient data gave an error of 4.1 mm compared to 2.8 mm with the phantom. From this we estimate an error on patient experiments of 5.6 mm.

A simulation of the San Andreas fault experiment

NASA Technical Reports Server (NTRS)

Agreen, R. W.; Smith, D. E.

1973-01-01

The San Andreas Fault Experiment, which employs two laser tracking systems for measuring the relative motion of two points on opposite sides of the fault, was simulated for an eight year observation period. The two tracking stations are located near San Diego on the western side of the fault and near Quincy on the eastern side; they are roughly 900 kilometers apart. Both will simultaneously track laser reflector equipped satellites as they pass near the stations. Tracking of the Beacon Explorer C Spacecraft was simulated for these two stations during August and September for eight consecutive years. An error analysis of the recovery of the relative location of Quincy from the data was made, allowing for model errors in the mass of the earth, the gravity field, solar radiation pressure, atmospheric drag, errors in the position of the San Diego site, and laser systems range biases and noise. The results of this simulation indicate that the distance of Quincy from San Diego will be determined each year with a precision of about 10 centimeters. This figure is based on the accuracy of earth models and other parameters available in 1972.

Modeling of human operator dynamics in simple manual control utilizing time series analysis. [tracking (position)

NASA Technical Reports Server (NTRS)

Agarwal, G. C.; Osafo-Charles, F.; Oneill, W. D.; Gottlieb, G. L.

1982-01-01

Time series analysis is applied to model human operator dynamics in pursuit and compensatory tracking modes. The normalized residual criterion is used as a one-step analytical tool to encompass the processes of identification, estimation, and diagnostic checking. A parameter constraining technique is introduced to develop more reliable models of human operator dynamics. The human operator is adequately modeled by a second order dynamic system both in pursuit and compensatory tracking modes. In comparing the data sampling rates, 100 msec between samples is adequate and is shown to provide better results than 200 msec sampling. The residual power spectrum and eigenvalue analysis show that the human operator is not a generator of periodic characteristics.

MO-FG-BRA-06: Electromagnetic Beacon Insertion in Lung Cancer Patients and Resultant Surrogacy Errors for Dynamic MLC Tumour Tracking

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

Hardcastle, N; Booth, J; Caillet, V

Purpose: To assess endo-bronchial electromagnetic beacon insertion and to quantify the geometric accuracy of using beacons as a surrogate for tumour motion in real-time multileaf collimator (MLC) tracking of lung tumours. Methods: The LIGHT SABR trial is a world-first clinical trial in which the MLC leaves move with lung tumours in real time on a standard linear accelerator. Tracking is performed based on implanted electromagnetic beacons (CalypsoTM, Varian Medical Systems, USA) as a surrogate for tumour motion. Five patients have been treated and have each had three beacons implanted endo-bronchially under fluoroscopic guidance. The centre of mass (C.O.M) has beenmore » used to adapt the MLC in real-time. The geometric error in using the beacon C.O.M as a surrogate for tumour motion was measured by measuring the tumour and beacon C.O.M in all phases of the respiratory cycle of a 4DCT. The surrogacy error was defined as the difference in beacon and tumour C.O.M relative to the reference phase (maximum exhale). Results: All five patients have had three beacons successfully implanted with no migration between simulation and end of treatment. Beacon placement relative to tumour C.O.M varied from 14 to 74 mm and in one patient spanned two lobes. Surrogacy error was measured in each patient on the simulation 4DCT and ranged from 0 to 3 mm. Surrogacy error as measured on 4DCT was subject to artefacts in mid-ventilation phases. Surrogacy error was a function of breathing phase and was typically larger at maximum inhale. Conclusion: Beacon placement and thus surrogacy error is a major component of geometric uncertainty in MLC tracking of lung tumours. Surrogacy error must be measured on each patient and incorporated into margin calculation. Reduction of surrogacy error is limited by airway anatomy, however should be taken into consideration when performing beacon insertion and planning. This research is funded by Varian Medical Systems via a collaborative research agreement.« less

Synchronization using pulsed edge tracking in optical PPM communication system

NASA Technical Reports Server (NTRS)

Gagliardi, R.

1972-01-01

A pulse position modulated (PPM) optical communication system using narrow pulses of light for data transmission requires accurate time synchronization between transmitter and receiver. The presence of signal energy in the form of optical pulses suggests the use of a pulse edge tracking method of maintaining the necessary timing. The edge tracking operation in a binary PPM system is examined, taking into account the quantum nature of the optical transmissions. Consideration is given first to pure synchronization using a periodic pulsed intensity, then extended to the case where position modulation is present and auxiliary bit decisioning is needed to aid the tracking operation. Performance analysis is made in terms of timing error and its associated statistics. Timing error variances are shown as a function of system signal to noise ratio.

Advanced Receiver tracking of Voyager 2 near solar conjunction

NASA Technical Reports Server (NTRS)

Brown, D. H.; Hurd, W. J.; Vilnrotter, V. A.; Wiggins, J. D.

1988-01-01

The Advanced Receiver (ARX) was used to track the Voyager 2 spacecraft at low Sun-Earth-Probe (SEP) angles near solar conjunction in December of 1987. The received carrier signal exhibited strong fluctuations in both phase and amplitude. The ARX used spectral estimation and mathematical modeling of the phase and receiver noise processes to set an optimum carrier tracking bandwidth. This minimized the mean square phase error in tracking carrier phase and thus minimized the loss in the telemetry signal-to-noise ratio due to the carrier loop. Recovered symbol SNRs and errors in decoded engineering data for the ARX are compared with those for the current Block 3 telemetry stream. Optimum bandwidths are plotted against SEP angle. Measurements of the power spectral density of the solar phase and amplitude fluctuations are also given.

Online Sensor Fault Detection Based on an Improved Strong Tracking Filter

PubMed Central

Wang, Lijuan; Wu, Lifeng; Guan, Yong; Wang, Guohui

2015-01-01

We propose a method for online sensor fault detection that is based on the evolving Strong Tracking Filter (STCKF). The cubature rule is used to estimate states to improve the accuracy of making estimates in a nonlinear case. A residual is the difference in value between an estimated value and the true value. A residual will be regarded as a signal that includes fault information. The threshold is set at a reasonable level, and will be compared with residuals to determine whether or not the sensor is faulty. The proposed method requires only a nominal plant model and uses STCKF to estimate the original state vector. The effectiveness of the algorithm is verified by simulation on a drum-boiler model. PMID:25690553

BEYOND THE MAIN SEQUENCE: TESTING THE ACCURACY OF STELLAR MASSES PREDICTED BY THE PARSEC EVOLUTIONARY TRACKS

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

Ghezzi, Luan; Johnson, John Asher, E-mail: lghezzi@cfa.harvard.edu

2015-10-20

Characterizing the physical properties of exoplanets and understanding their formation and orbital evolution requires precise and accurate knowledge of their host stars. Accurately measuring stellar masses is particularly important because they likely influence planet occurrence and the architectures of planetary systems. Single main-sequence stars typically have masses estimated from evolutionary tracks, which generally provide accurate results due to their extensive empirical calibration. However, the validity of this method for subgiants and giants has been called into question by recent studies, with suggestions that the masses of these evolved stars could have been overestimated. We investigate these concerns using a samplemore » of 59 benchmark evolved stars with model-independent masses (from binary systems or asteroseismology) obtained from the literature. We find very good agreement between these benchmark masses and the ones estimated using evolutionary tracks. The average fractional difference in the mass interval ∼0.7–4.5 M{sub ⊙} is consistent with zero (−1.30 ± 2.42%), with no significant trends in the residuals relative to the input parameters. A good agreement between model-dependent and -independent radii (−4.81 ± 1.32%) and surface gravities (0.71 ± 0.51%) is also found. The consistency between independently determined ages for members of binary systems adds further support for the accuracy of the method employed to derive the stellar masses. Taken together, our results indicate that determination of masses of evolved stars using grids of evolutionary tracks is not significantly affected by systematic errors, and is thus valid for estimating the masses of isolated stars beyond the main sequence.« less

Weighted Optimization-Based Distributed Kalman Filter for Nonlinear Target Tracking in Collaborative Sensor Networks.

PubMed

Chen, Jie; Li, Jiahong; Yang, Shuanghua; Deng, Fang

2017-11-01

The identification of the nonlinearity and coupling is crucial in nonlinear target tracking problem in collaborative sensor networks. According to the adaptive Kalman filtering (KF) method, the nonlinearity and coupling can be regarded as the model noise covariance, and estimated by minimizing the innovation or residual errors of the states. However, the method requires large time window of data to achieve reliable covariance measurement, making it impractical for nonlinear systems which are rapidly changing. To deal with the problem, a weighted optimization-based distributed KF algorithm (WODKF) is proposed in this paper. The algorithm enlarges the data size of each sensor by the received measurements and state estimates from its connected sensors instead of the time window. A new cost function is set as the weighted sum of the bias and oscillation of the state to estimate the "best" estimate of the model noise covariance. The bias and oscillation of the state of each sensor are estimated by polynomial fitting a time window of state estimates and measurements of the sensor and its neighbors weighted by the measurement noise covariance. The best estimate of the model noise covariance is computed by minimizing the weighted cost function using the exhaustive method. The sensor selection method is in addition to the algorithm to decrease the computation load of the filter and increase the scalability of the sensor network. The existence, suboptimality and stability analysis of the algorithm are given. The local probability data association method is used in the proposed algorithm for the multitarget tracking case. The algorithm is demonstrated in simulations on tracking examples for a random signal, one nonlinear target, and four nonlinear targets. Results show the feasibility and superiority of WODKF against other filtering algorithms for a large class of systems.

Annual Tropical Cyclone Report 2011

DTIC Science & Technology

2012-05-24

nuclear plant, still reeling after the tsunami disaster just a few months earlier.6 Operations at Kadena Air Base were put on hold 48 with major...conditions. Several of these early to mid-season forming TCs exhibited ―S‖ shaped, looping, or generally erratic tracks, with numerous passages near or over...track errors after -the fact to extend the data base (3) Mean forecast errors for all w arned systems in Northwest Pacific. 120-Hour Along Cross

Allicat magnetoresistive head design and performance

NASA Astrophysics Data System (ADS)

Hannon, David; Krounbi, Mohamed; Christner, Jodie

1994-03-01

The general design features of the magnetoresistive (MR) merged head are described and compared to the earlier MR piggy-back head called Corsair. Examples of static, magnetic, and error rate testing are given. Dual track profiles show the read-narrow feature of the MR head. Stability of the signal with write disturbance shows the effectiveness of the hard-bias longitudinal biasing. Error rate versus off-track position indicates the robustness of the file design.

Residual-based Methods for Controlling Discretization Error in CFD

DTIC Science & Technology

2015-08-24

discrete equations uh into Equation (3), then subtracting the original (continuous) governing equation 0)~( uL gives 0)()~()(  hhh uuLuL  . If...error from Equation (1) results in )()( hhh uL   (4) which for Burgers’ equation becomes  4 2 4 42 3 3 2 2 126 xO x dx udx dx ud u dx d dx d u...GTEE given in Equation (3) gives the continuous residual )()( hhh uuL  (8) which is analogous to the finite element residual (Ainsworth and

Reducing Formation-Keeping Maneuver Costs for Formation Flying Satellites in Low-Earth Orbit

NASA Technical Reports Server (NTRS)

Hamilton, Nicholas

2001-01-01

Several techniques are used to synthesize the formation-keeping control law for a three-satellite formation in low-earth orbit. The objective is to minimize maneuver cost and position tracking error. Initial reductions are found for a one-satellite case by tuning the state-weighting matrix within the linear-quadratic-Gaussian framework. Further savings come from adjusting the maneuver interval. Scenarios examined include cases with and without process noise. These results are then applied to a three-satellite formation. For both the one-satellite and three-satellite cases, increasing the maneuver interval yields a decrease in maneuver cost and an increase in position tracking error. A maneuver interval of 8-10 minutes provides a good trade-off between maneuver cost and position tracking error. An analysis of the closed-loop poles with respect to varying maneuver intervals explains the effectiveness of the chosen maneuver interval.

Recovery of refractivity profiles and pressure and temperature distributions in the lower atmosphere from satellite-to-satellite radio occultation data

NASA Technical Reports Server (NTRS)

Murray, C. W., Jr.

1977-01-01

The feasibility of recovering parameters from one-way range rate between two earth orbiting spacecraft during occultation of the tracking signal by the earth's lower atmosphere. The tracking data is inverted by an integral transformation (Abel transform) to obtain a vertical refractivity profile above the point of closest approach of the ray connecting the satellites. Pressure and temperature distributions can be obtained from values of dry refractivity using the hydrostatic equation and perfect gas law. Two methods are investigated for recovering pressure and temperature parameters. Results show that recovery is much more sensitive to satellite velocity errors than to satellite position errors. An error analysis is performed. An example is given demonstrating recovery of parameters from radio occultation data obtained during satellite-to-satellite tracking of Nimbus 6 by the ATS 6 satellite.

Comparison of Procedures for Dual and Triple Closely Spaced Parallel Runways

NASA Technical Reports Server (NTRS)

Verma, Savita; Ballinger, Deborah; Subramanian Shobana; Kozon, Thomas

2012-01-01

A human-in-the-loop high fidelity flight simulation experiment was conducted, which investigated and compared breakout procedures for Very Closely Spaced Parallel Approaches (VCSPA) with two and three runways. To understand the feasibility, usability and human factors of two and three runway VCSPA, data were collected and analyzed on the dependent variables of breakout cross track error and pilot workload. Independent variables included number of runways, cause of breakout and location of breakout. Results indicated larger cross track error and higher workload using three runways as compared to 2-runway operations. Significant interaction effects involving breakout cause and breakout location were also observed. Across all conditions, cross track error values showed high levels of breakout trajectory accuracy and pilot workload remained manageable. Results suggest possible avenues of future adaptation for adopting these procedures (e.g., pilot training), while also showing potential promise of the concept.

A modified adjoint-based grid adaptation and error correction method for unstructured grid

NASA Astrophysics Data System (ADS)

Cui, Pengcheng; Li, Bin; Tang, Jing; Chen, Jiangtao; Deng, Youqi

2018-05-01

Grid adaptation is an important strategy to improve the accuracy of output functions (e.g. drag, lift, etc.) in computational fluid dynamics (CFD) analysis and design applications. This paper presents a modified robust grid adaptation and error correction method for reducing simulation errors in integral outputs. The procedure is based on discrete adjoint optimization theory in which the estimated global error of output functions can be directly related to the local residual error. According to this relationship, local residual error contribution can be used as an indicator in a grid adaptation strategy designed to generate refined grids for accurately estimating the output functions. This grid adaptation and error correction method is applied to subsonic and supersonic simulations around three-dimensional configurations. Numerical results demonstrate that the sensitive grids to output functions are detected and refined after grid adaptation, and the accuracy of output functions is obviously improved after error correction. The proposed grid adaptation and error correction method is shown to compare very favorably in terms of output accuracy and computational efficiency relative to the traditional featured-based grid adaptation.

An Innovative Strategy for Accurate Thermal Compensation of Gyro Bias in Inertial Units by Exploiting a Novel Augmented Kalman Filter

PubMed Central

Angrisani, Leopoldo; Simone, Domenico De

2018-01-01

This paper presents an innovative model for integrating thermal compensation of gyro bias error into an augmented state Kalman filter. The developed model is applied in the Zero Velocity Update filter for inertial units manufactured by exploiting Micro Electro-Mechanical System (MEMS) gyros. It is used to remove residual bias at startup. It is a more effective alternative to traditional approach that is realized by cascading bias thermal correction by calibration and traditional Kalman filtering for bias tracking. This function is very useful when adopted gyros are manufactured using MEMS technology. These systems have significant limitations in terms of sensitivity to environmental conditions. They are characterized by a strong correlation of the systematic error with temperature variations. The traditional process is divided into two separated algorithms, i.e., calibration and filtering, and this aspect reduces system accuracy, reliability, and maintainability. This paper proposes an innovative Zero Velocity Update filter that just requires raw uncalibrated gyro data as input. It unifies in a single algorithm the two steps from the traditional approach. Therefore, it saves time and economic resources, simplifying the management of thermal correction process. In the paper, traditional and innovative Zero Velocity Update filters are described in detail, as well as the experimental data set used to test both methods. The performance of the two filters is compared both in nominal conditions and in the typical case of a residual initial alignment bias. In this last condition, the innovative solution shows significant improvements with respect to the traditional approach. This is the typical case of an aircraft or a car in parking conditions under solar input. PMID:29735956

An Innovative Strategy for Accurate Thermal Compensation of Gyro Bias in Inertial Units by Exploiting a Novel Augmented Kalman Filter.

PubMed

Fontanella, Rita; Accardo, Domenico; Moriello, Rosario Schiano Lo; Angrisani, Leopoldo; Simone, Domenico De

2018-05-07

This paper presents an innovative model for integrating thermal compensation of gyro bias error into an augmented state Kalman filter. The developed model is applied in the Zero Velocity Update filter for inertial units manufactured by exploiting Micro Electro-Mechanical System (MEMS) gyros. It is used to remove residual bias at startup. It is a more effective alternative to traditional approach that is realized by cascading bias thermal correction by calibration and traditional Kalman filtering for bias tracking. This function is very useful when adopted gyros are manufactured using MEMS technology. These systems have significant limitations in terms of sensitivity to environmental conditions. They are characterized by a strong correlation of the systematic error with temperature variations. The traditional process is divided into two separated algorithms, i.e., calibration and filtering, and this aspect reduces system accuracy, reliability, and maintainability. This paper proposes an innovative Zero Velocity Update filter that just requires raw uncalibrated gyro data as input. It unifies in a single algorithm the two steps from the traditional approach. Therefore, it saves time and economic resources, simplifying the management of thermal correction process. In the paper, traditional and innovative Zero Velocity Update filters are described in detail, as well as the experimental data set used to test both methods. The performance of the two filters is compared both in nominal conditions and in the typical case of a residual initial alignment bias. In this last condition, the innovative solution shows significant improvements with respect to the traditional approach. This is the typical case of an aircraft or a car in parking conditions under solar input.

Update on VLBA Astrometry of Cassini

NASA Astrophysics Data System (ADS)

Jones, Dayton L.; Folkner, William M.; Jacobson, Robert A.; Jacobs, Christopher S.; Romney, Jon; Dhawan, Vivek; Fomalont, Edward B.

2015-01-01

The NRAO Very Long Baseline Array (VLBA) has been used to measure positions of the Cassini spacecraft 2-3 times per year during the decade since it arrived at Saturn. Combining these measurements with fits for Cassini's orbit about Saturn from Doppler tracking by the NASA Deep Space Network provides accurate positions for the Saturn system barycenter in the inertial International Celestial Reference Frame (ICRF) at each observing epoch. These positions in turn help to improve our knowledge of Saturn's orbit and thus the planetary ephemeris on which future interplanetary spacecraft navigation, pulsar timing, and studies of solar system dynamics depend. This observational program will continue to the end of Cassini's mission in 2017, thereby covering as large a fraction of Saturn's orbital period as possible. A multi-year period of accurate astrometry also increases the range of times over which ephemeris improvements can be extrapolated. Our current residuals with respect to JPL's DE430 ephemeris are approximately 0.2 mas in right ascension and 0.3 mas in declination. The primary error sources are residual troposphere delay calibration errors and uncertainties in the ICRF positions of some of our phase reference sources. The reference source position uncertainties are being reduced by continuing VLBI observations. Similar VLBI techniques will be applied to the Juno spacecraft when it begins orbiting Jupiter in 2016, thereby improving the orbit for this planet as well. This work has been carried out at the Jet Propulsion Laboratory, California Institute of Technology, under contract with the National Aeronautics and Space Administration. Support from the NASA Planetary Astronomy Program is gratefully acknowledged. The VLBA is a facility of the National Radio Astronomy Observatory, which is operated by Associated Universities, Inc, under a cooperative agreement with the National Science Foundation.

On position/force tracking control problem of cooperative robot manipulators using adaptive fuzzy backstepping approach.

PubMed

Baigzadehnoe, Barmak; Rahmani, Zahra; Khosravi, Alireza; Rezaie, Behrooz

2017-09-01

In this paper, the position and force tracking control problem of cooperative robot manipulator system handling a common rigid object with unknown dynamical models and unknown external disturbances is investigated. The universal approximation properties of fuzzy logic systems are employed to estimate the unknown system dynamics. On the other hand, by defining new state variables based on the integral and differential of position and orientation errors of the grasped object, the error system of coordinated robot manipulators is constructed. Subsequently by defining the appropriate change of coordinates and using the backstepping design strategy, an adaptive fuzzy backstepping position tracking control scheme is proposed for multi-robot manipulator systems. By utilizing the properties of internal forces, extra terms are also added to the control signals to consider the force tracking problem. Moreover, it is shown that the proposed adaptive fuzzy backstepping position/force control approach ensures all the signals of the closed loop system uniformly ultimately bounded and tracking errors of both positions and forces can converge to small desired values by proper selection of the design parameters. Finally, the theoretic achievements are tested on the two three-link planar robot manipulators cooperatively handling a common object to illustrate the effectiveness of the proposed approach. Copyright © 2017 ISA. Published by Elsevier Ltd. All rights reserved.

Speed-constrained three-axes attitude control using kinematic steering

NASA Astrophysics Data System (ADS)

Schaub, Hanspeter; Piggott, Scott

2018-06-01

Spacecraft attitude control solutions typically are torque-level algorithms that simultaneously control both the attitude and angular velocity tracking errors. In contrast, robotic control solutions are kinematic steering commands where rates are treated as the control variable, and a servo-tracking control subsystem is present to achieve the desired control rates. In this paper kinematic attitude steering controls are developed where an outer control loop establishes a desired angular response history to a tracking error, and an inner control loop tracks the commanded body angular rates. The overall stability relies on the separation principle of the inner and outer control loops which must have sufficiently different response time scales. The benefit is that the outer steering law response can be readily shaped to a desired behavior, such as limiting the approach angular velocity when a large tracking error is corrected. A Modified Rodrigues Parameters implementation is presented that smoothly saturates the speed response. A robust nonlinear body rate servo loop is developed which includes integral feedback. This approach provides a convenient modular framework that makes it simple to interchange outer and inner control loops to readily setup new control implementations. Numerical simulations illustrate the expected performance for an aggressive reorientation maneuver subject to an unknown external torque.

Clinical Outcomes of an Optimized Prolate Ablation Procedure for Correcting Residual Refractive Errors Following Laser Surgery.

PubMed

Chung, Byunghoon; Lee, Hun; Choi, Bong Joon; Seo, Kyung Ryul; Kim, Eung Kwon; Kim, Dae Yune; Kim, Tae-Im

2017-02-01

The purpose of this study was to investigate the clinical efficacy of an optimized prolate ablation procedure for correcting residual refractive errors following laser surgery. We analyzed 24 eyes of 15 patients who underwent an optimized prolate ablation procedure for the correction of residual refractive errors following laser in situ keratomileusis, laser-assisted subepithelial keratectomy, or photorefractive keratectomy surgeries. Preoperative ophthalmic examinations were performed, and uncorrected distance visual acuity, corrected distance visual acuity, manifest refraction values (sphere, cylinder, and spherical equivalent), point spread function, modulation transfer function, corneal asphericity (Q value), ocular aberrations, and corneal haze measurements were obtained postoperatively at 1, 3, and 6 months. Uncorrected distance visual acuity improved and refractive errors decreased significantly at 1, 3, and 6 months postoperatively. Total coma aberration increased at 3 and 6 months postoperatively, while changes in all other aberrations were not statistically significant. Similarly, no significant changes in point spread function were detected, but modulation transfer function increased significantly at the postoperative time points measured. The optimized prolate ablation procedure was effective in terms of improving visual acuity and objective visual performance for the correction of persistent refractive errors following laser surgery.

Integrity modelling of tropospheric delay models

NASA Astrophysics Data System (ADS)

Rózsa, Szabolcs; Bastiaan Ober, Pieter; Mile, Máté; Ambrus, Bence; Juni, Ildikó

2017-04-01

The effect of the neutral atmosphere on signal propagation is routinely estimated by various tropospheric delay models in satellite navigation. Although numerous studies can be found in the literature investigating the accuracy of these models, for safety-of-life applications it is crucial to study and model the worst case performance of these models using very low recurrence frequencies. The main objective of the INTegrity of TROpospheric models (INTRO) project funded by the ESA PECS programme is to establish a model (or models) of the residual error of existing tropospheric delay models for safety-of-life applications. Such models are required to overbound rare tropospheric delays and should thus include the tails of the error distributions. Their use should lead to safe error bounds on the user position and should allow computation of protection levels for the horizontal and vertical position errors. The current tropospheric model from the RTCA SBAS Minimal Operational Standards has an associated residual error that equals 0.12 meters in the vertical direction. This value is derived by simply extrapolating the observed distribution of the residuals into the tail (where no data is present) and then taking the point where the cumulative distribution has an exceedance level would be 10-7.While the resulting standard deviation is much higher than the estimated standard variance that best fits the data (0.05 meters), it surely is conservative for most applications. In the context of the INTRO project some widely used and newly developed tropospheric delay models (e.g. RTCA MOPS, ESA GALTROPO and GPT2W) were tested using 16 years of daily ERA-INTERIM Reanalysis numerical weather model data and the raytracing technique. The results showed that the performance of some of the widely applied models have a clear seasonal dependency and it is also affected by a geographical position. In order to provide a more realistic, but still conservative estimation of the residual error of tropospheric delays, the mathematical formulation of the overbounding models are currently under development. This study introduces the main findings of the residual error analysis of the studied tropospheric delay models, and discusses the preliminary analysis of the integrity model development for safety-of-life applications.

Influence of erroneous patient records on population pharmacokinetic modeling and individual bayesian estimation.

PubMed

van der Meer, Aize Franciscus; Touw, Daniël J; Marcus, Marco A E; Neef, Cornelis; Proost, Johannes H

2012-10-01

Observational data sets can be used for population pharmacokinetic (PK) modeling. However, these data sets are generally less precisely recorded than experimental data sets. This article aims to investigate the influence of erroneous records on population PK modeling and individual maximum a posteriori Bayesian (MAPB) estimation. A total of 1123 patient records of neonates who were administered vancomycin were used for population PK modeling by iterative 2-stage Bayesian (ITSB) analysis. Cut-off values for weighted residuals were tested for exclusion of records from the analysis. A simulation study was performed to assess the influence of erroneous records on population modeling and individual MAPB estimation. Also the cut-off values for weighted residuals were tested in the simulation study. Errors in registration have limited the influence on outcomes of population PK modeling but can have detrimental effects on individual MAPB estimation. A population PK model created from a data set with many registration errors has little influence on subsequent MAPB estimates for precisely recorded data. A weighted residual value of 2 for concentration measurements has good discriminative power for identification of erroneous records. ITSB analysis and its individual estimates are hardly affected by most registration errors. Large registration errors can be detected by weighted residuals of concentration.

Efficiency degradation due to tracking errors for point focusing solar collectors

NASA Technical Reports Server (NTRS)

Hughes, R. O.

1978-01-01

An important parameter in the design of point focusing solar collectors is the intercept factor which is a measure of efficiency and of energy available for use in the receiver. Using statistical methods, an expression of the expected value of the intercept factor is derived for various configurations and control law implementations. The analysis assumes that a radially symmetric flux distribution (not necessarily Gaussian) is generated at the focal plane due to the sun's finite image and various reflector errors. The time-varying tracking errors are assumed to be uniformly distributed within the threshold limits and allows the expected value calculation.

Robust iterative learning contouring controller with disturbance observer for machine tool feed drives.

PubMed

Simba, Kenneth Renny; Bui, Ba Dinh; Msukwa, Mathew Renny; Uchiyama, Naoki

2018-04-01

In feed drive systems, particularly machine tools, a contour error is more significant than the individual axial tracking errors from the view point of enhancing precision in manufacturing and production systems. The contour error must be within the permissible tolerance of given products. In machining complex or sharp-corner products, large contour errors occur mainly owing to discontinuous trajectories and the existence of nonlinear uncertainties. Therefore, it is indispensable to design robust controllers that can enhance the tracking ability of feed drive systems. In this study, an iterative learning contouring controller consisting of a classical Proportional-Derivative (PD) controller and disturbance observer is proposed. The proposed controller was evaluated experimentally by using a typical sharp-corner trajectory, and its performance was compared with that of conventional controllers. The results revealed that the maximum contour error can be reduced by about 37% on average. Copyright © 2018 ISA. Published by Elsevier Ltd. All rights reserved.

Worst-error analysis of batch filter and sequential filter in navigation problems. [in spacecraft trajectory estimation

NASA Technical Reports Server (NTRS)

Nishimura, T.

1975-01-01

This paper proposes a worst-error analysis for dealing with problems of estimation of spacecraft trajectories in deep space missions. Navigation filters in use assume either constant or stochastic (Markov) models for their estimated parameters. When the actual behavior of these parameters does not follow the pattern of the assumed model, the filters sometimes result in very poor performance. To prepare for such pathological cases, the worst errors of both batch and sequential filters are investigated based on the incremental sensitivity studies of these filters. By finding critical switching instances of non-gravitational accelerations, intensive tracking can be carried out around those instances. Also the worst errors in the target plane provide a measure in assignment of the propellant budget for trajectory corrections. Thus the worst-error study presents useful information as well as practical criteria in establishing the maneuver and tracking strategy of spacecraft's missions.

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

PubMed

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

2012-11-01

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

Improved accuracy of markerless motion tracking on bone suppression images: preliminary study for image-guided radiation therapy (IGRT)

NASA Astrophysics Data System (ADS)

Tanaka, Rie; Sanada, Shigeru; Sakuta, Keita; Kawashima, Hiroki

2015-05-01

The bone suppression technique based on advanced image processing can suppress the conspicuity of bones on chest radiographs, creating soft tissue images obtained by the dual-energy subtraction technique. This study was performed to evaluate the usefulness of bone suppression image processing in image-guided radiation therapy. We demonstrated the improved accuracy of markerless motion tracking on bone suppression images. Chest fluoroscopic images of nine patients with lung nodules during respiration were obtained using a flat-panel detector system (120 kV, 0.1 mAs/pulse, 5 fps). Commercial bone suppression image processing software was applied to the fluoroscopic images to create corresponding bone suppression images. Regions of interest were manually located on lung nodules and automatic target tracking was conducted based on the template matching technique. To evaluate the accuracy of target tracking, the maximum tracking error in the resulting images was compared with that of conventional fluoroscopic images. The tracking errors were decreased by half in eight of nine cases. The average maximum tracking errors in bone suppression and conventional fluoroscopic images were 1.3   ±   1.0 and 3.3   ±   3.3 mm, respectively. The bone suppression technique was especially effective in the lower lung area where pulmonary vessels, bronchi, and ribs showed complex movements. The bone suppression technique improved tracking accuracy without special equipment and implantation of fiducial markers, and with only additional small dose to the patient. Bone suppression fluoroscopy is a potential measure for respiratory displacement of the target. This paper was presented at RSNA 2013 and was carried out at Kanazawa University, JAPAN.

Accuracy of lesion boundary tracking in navigated breast tumor excision

NASA Astrophysics Data System (ADS)

Heffernan, Emily; Ungi, Tamas; Vaughan, Thomas; Pezeshki, Padina; Lasso, Andras; Gauvin, Gabrielle; Rudan, John; Engel, C. Jay; Morin, Evelyn; Fichtinger, Gabor

2016-03-01

PURPOSE: An electromagnetic navigation system for tumor excision in breast conserving surgery has recently been developed. Preoperatively, a hooked needle is positioned in the tumor and the tumor boundaries are defined in the needle coordinate system. The needle is tracked electromagnetically throughout the procedure to localize the tumor. However, the needle may move and the tissue may deform, leading to errors in maintaining a correct excision boundary. It is imperative to quantify these errors so the surgeon can choose an appropriate resection margin. METHODS: A commercial breast biopsy phantom with several inclusions was used. Location and shape of a lesion before and after mechanical deformation were determined using 3D ultrasound volumes. Tumor location and shape were estimated from initial contours and tracking data. The difference in estimated and actual location and shape of the lesion after deformation was quantified using the Hausdorff distance. Data collection and analysis were done using our 3D Slicer software application and PLUS toolkit. RESULTS: The deformation of the breast resulted in 3.72 mm (STD 0.67 mm) average boundary displacement for an isoelastic lesion and 3.88 mm (STD 0.43 mm) for a hyperelastic lesion. The difference between the actual and estimated tracked tumor boundary was 0.88 mm (STD 0.20 mm) for the isoelastic and 1.78 mm (STD 0.18 mm) for the hyperelastic lesion. CONCLUSION: The average lesion boundary tracking error was below 2mm, which is clinically acceptable. We suspect that stiffness of the phantom tissue affected the error measurements. Results will be validated in patient studies.

Optical cell tracking analysis using a straight-forward approach to minimize processing time for high frame rate data

NASA Astrophysics Data System (ADS)

Seeto, Wen Jun; Lipke, Elizabeth Ann

2016-03-01

Tracking of rolling cells via in vitro experiment is now commonly performed using customized computer programs. In most cases, two critical challenges continue to limit analysis of cell rolling data: long computation times due to the complexity of tracking algorithms and difficulty in accurately correlating a given cell with itself from one frame to the next, which is typically due to errors caused by cells that either come close in proximity to each other or come in contact with each other. In this paper, we have developed a sophisticated, yet simple and highly effective, rolling cell tracking system to address these two critical problems. This optical cell tracking analysis (OCTA) system first employs ImageJ for cell identification in each frame of a cell rolling video. A custom MATLAB code was written to use the geometric and positional information of all cells as the primary parameters for matching each individual cell with itself between consecutive frames and to avoid errors when tracking cells that come within close proximity to one another. Once the cells are matched, rolling velocity can be obtained for further analysis. The use of ImageJ for cell identification eliminates the need for high level MATLAB image processing knowledge. As a result, only fundamental MATLAB syntax is necessary for cell matching. OCTA has been implemented in the tracking of endothelial colony forming cell (ECFC) rolling under shear. The processing time needed to obtain tracked cell data from a 2 min ECFC rolling video recorded at 70 frames per second with a total of over 8000 frames is less than 6 min using a computer with an Intel® Core™ i7 CPU 2.80 GHz (8 CPUs). This cell tracking system benefits cell rolling analysis by substantially reducing the time required for post-acquisition data processing of high frame rate video recordings and preventing tracking errors when individual cells come in close proximity to one another.

Finite Element A Posteriori Error Estimation for Heat Conduction. Degree awarded by George Washington Univ.

NASA Technical Reports Server (NTRS)

Lang, Christapher G.; Bey, Kim S. (Technical Monitor)

2002-01-01

This research investigates residual-based a posteriori error estimates for finite element approximations of heat conduction in single-layer and multi-layered materials. The finite element approximation, based upon hierarchical modelling combined with p-version finite elements, is described with specific application to a two-dimensional, steady state, heat-conduction problem. Element error indicators are determined by solving an element equation for the error with the element residual as a source, and a global error estimate in the energy norm is computed by collecting the element contributions. Numerical results of the performance of the error estimate are presented by comparisons to the actual error. Two methods are discussed and compared for approximating the element boundary flux. The equilibrated flux method provides more accurate results for estimating the error than the average flux method. The error estimation is applied to multi-layered materials with a modification to the equilibrated flux method to approximate the discontinuous flux along a boundary at the material interfaces. A directional error indicator is developed which distinguishes between the hierarchical modeling error and the finite element error. Numerical results are presented for single-layered materials which show that the directional indicators accurately determine which contribution to the total error dominates.

Geometric Integration of Hybrid Correspondences for RGB-D Unidirectional Tracking

PubMed Central

Tang, Shengjun; Chen, Wu; Wang, Weixi; Li, Xiaoming; Li, Wenbin; Huang, Zhengdong; Hu, Han; Guo, Renzhong

2018-01-01

Traditionally, visual-based RGB-D SLAM systems only use correspondences with valid depth values for camera tracking, thus ignoring the regions without 3D information. Due to the strict limitation on measurement distance and view angle, such systems adopt only short-range constraints which may introduce larger drift errors during long-distance unidirectional tracking. In this paper, we propose a novel geometric integration method that makes use of both 2D and 3D correspondences for RGB-D tracking. Our method handles the problem by exploring visual features both when depth information is available and when it is unknown. The system comprises two parts: coarse pose tracking with 3D correspondences, and geometric integration with hybrid correspondences. First, the coarse pose tracking generates the initial camera pose using 3D correspondences with frame-by-frame registration. The initial camera poses are then used as inputs for the geometric integration model, along with 3D correspondences, 2D-3D correspondences and 2D correspondences identified from frame pairs. The initial 3D location of the correspondence is determined in two ways, from depth image and by using the initial poses to triangulate. The model improves the camera poses and decreases drift error during long-distance RGB-D tracking iteratively. Experiments were conducted using data sequences collected by commercial Structure Sensors. The results verify that the geometric integration of hybrid correspondences effectively decreases the drift error and improves mapping accuracy. Furthermore, the model enables a comparative and synergistic use of datasets, including both 2D and 3D features. PMID:29723974

Geometric Integration of Hybrid Correspondences for RGB-D Unidirectional Tracking.

PubMed

Tang, Shengjun; Chen, Wu; Wang, Weixi; Li, Xiaoming; Darwish, Walid; Li, Wenbin; Huang, Zhengdong; Hu, Han; Guo, Renzhong

2018-05-01

Traditionally, visual-based RGB-D SLAM systems only use correspondences with valid depth values for camera tracking, thus ignoring the regions without 3D information. Due to the strict limitation on measurement distance and view angle, such systems adopt only short-range constraints which may introduce larger drift errors during long-distance unidirectional tracking. In this paper, we propose a novel geometric integration method that makes use of both 2D and 3D correspondences for RGB-D tracking. Our method handles the problem by exploring visual features both when depth information is available and when it is unknown. The system comprises two parts: coarse pose tracking with 3D correspondences, and geometric integration with hybrid correspondences. First, the coarse pose tracking generates the initial camera pose using 3D correspondences with frame-by-frame registration. The initial camera poses are then used as inputs for the geometric integration model, along with 3D correspondences, 2D-3D correspondences and 2D correspondences identified from frame pairs. The initial 3D location of the correspondence is determined in two ways, from depth image and by using the initial poses to triangulate. The model improves the camera poses and decreases drift error during long-distance RGB-D tracking iteratively. Experiments were conducted using data sequences collected by commercial Structure Sensors. The results verify that the geometric integration of hybrid correspondences effectively decreases the drift error and improves mapping accuracy. Furthermore, the model enables a comparative and synergistic use of datasets, including both 2D and 3D features.

Derivation of three closed loop kinematic velocity models using normalized quaternion feedback for an autonomous redundant manipulator with application to inverse kinematics

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

Unseren, M.A.

1993-04-01

The report discusses the orientation tracking control problem for a kinematically redundant, autonomous manipulator moving in a three dimensional workspace. The orientation error is derived using the normalized quaternion error method of Ickes, the Luh, Walker, and Paul error method, and a method suggested here utilizing the Rodrigues parameters, all of which are expressed in terms of normalized quaternions. The analytical time derivatives of the orientation errors are determined. The latter, along with the translational velocity error, form a dosed loop kinematic velocity model of the manipulator using normalized quaternion and translational position feedback. An analysis of the singularities associatedmore » with expressing the models in a form suitable for solving the inverse kinematics problem is given. Two redundancy resolution algorithms originally developed using an open loop kinematic velocity model of the manipulator are extended to properly take into account the orientation tracking control problem. This report furnishes the necessary mathematical framework required prior to experimental implementation of the orientation tracking control schemes on the seven axis CESARm research manipulator or on the seven-axis Robotics Research K1207i dexterous manipulator, the latter of which is to be delivered to the Oak Ridge National Laboratory in 1993.« less

An Empirical State Error Covariance Matrix Orbit Determination Example

NASA Technical Reports Server (NTRS)

Frisbee, Joseph H., Jr.

2015-01-01

State estimation techniques serve effectively to provide mean state estimates. However, the state error covariance matrices provided as part of these techniques suffer from some degree of lack of confidence in their ability to adequately describe the uncertainty in the estimated states. A specific problem with the traditional form of state error covariance matrices is that they represent only a mapping of the assumed observation error characteristics into the state space. Any errors that arise from other sources (environment modeling, precision, etc.) are not directly represented in a traditional, theoretical state error covariance matrix. First, consider that an actual observation contains only measurement error and that an estimated observation contains all other errors, known and unknown. Then it follows that a measurement residual (the difference between expected and observed measurements) contains all errors for that measurement. Therefore, a direct and appropriate inclusion of the actual measurement residuals in the state error covariance matrix of the estimate will result in an empirical state error covariance matrix. This empirical state error covariance matrix will fully include all of the errors in the state estimate. The empirical error covariance matrix is determined from a literal reinterpretation of the equations involved in the weighted least squares estimation algorithm. It is a formally correct, empirical state error covariance matrix obtained through use of the average form of the weighted measurement residual variance performance index rather than the usual total weighted residual form. Based on its formulation, this matrix will contain the total uncertainty in the state estimate, regardless as to the source of the uncertainty and whether the source is anticipated or not. It is expected that the empirical error covariance matrix will give a better, statistical representation of the state error in poorly modeled systems or when sensor performance is suspect. In its most straight forward form, the technique only requires supplemental calculations to be added to existing batch estimation algorithms. In the current problem being studied a truth model making use of gravity with spherical, J2 and J4 terms plus a standard exponential type atmosphere with simple diurnal and random walk components is used. The ability of the empirical state error covariance matrix to account for errors is investigated under four scenarios during orbit estimation. These scenarios are: exact modeling under known measurement errors, exact modeling under corrupted measurement errors, inexact modeling under known measurement errors, and inexact modeling under corrupted measurement errors. For this problem a simple analog of a distributed space surveillance network is used. The sensors in this network make only range measurements and with simple normally distributed measurement errors. The sensors are assumed to have full horizon to horizon viewing at any azimuth. For definiteness, an orbit at the approximate altitude and inclination of the International Space Station is used for the study. The comparison analyses of the data involve only total vectors. No investigation of specific orbital elements is undertaken. The total vector analyses will look at the chisquare values of the error in the difference between the estimated state and the true modeled state using both the empirical and theoretical error covariance matrices for each of scenario.

Minimizing treatment planning errors in proton therapy using failure mode and effects analysis

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

Zheng, Yuanshui, E-mail: yuanshui.zheng@okc.procure.com; Johnson, Randall; Larson, Gary

Purpose: Failure mode and effects analysis (FMEA) is a widely used tool to evaluate safety or reliability in conventional photon radiation therapy. However, reports about FMEA application in proton therapy are scarce. The purpose of this study is to apply FMEA in safety improvement of proton treatment planning at their center. Methods: The authors performed an FMEA analysis of their proton therapy treatment planning process using uniform scanning proton beams. The authors identified possible failure modes in various planning processes, including image fusion, contouring, beam arrangement, dose calculation, plan export, documents, billing, and so on. For each error, the authorsmore » estimated the frequency of occurrence, the likelihood of being undetected, and the severity of the error if it went undetected and calculated the risk priority number (RPN). The FMEA results were used to design their quality management program. In addition, the authors created a database to track the identified dosimetric errors. Periodically, the authors reevaluated the risk of errors by reviewing the internal error database and improved their quality assurance program as needed. Results: In total, the authors identified over 36 possible treatment planning related failure modes and estimated the associated occurrence, detectability, and severity to calculate the overall risk priority number. Based on the FMEA, the authors implemented various safety improvement procedures into their practice, such as education, peer review, and automatic check tools. The ongoing error tracking database provided realistic data on the frequency of occurrence with which to reevaluate the RPNs for various failure modes. Conclusions: The FMEA technique provides a systematic method for identifying and evaluating potential errors in proton treatment planning before they result in an error in patient dose delivery. The application of FMEA framework and the implementation of an ongoing error tracking system at their clinic have proven to be useful in error reduction in proton treatment planning, thus improving the effectiveness and safety of proton therapy.« less

Minimizing treatment planning errors in proton therapy using failure mode and effects analysis.

PubMed

Zheng, Yuanshui; Johnson, Randall; Larson, Gary

2016-06-01

Failure mode and effects analysis (FMEA) is a widely used tool to evaluate safety or reliability in conventional photon radiation therapy. However, reports about FMEA application in proton therapy are scarce. The purpose of this study is to apply FMEA in safety improvement of proton treatment planning at their center. The authors performed an FMEA analysis of their proton therapy treatment planning process using uniform scanning proton beams. The authors identified possible failure modes in various planning processes, including image fusion, contouring, beam arrangement, dose calculation, plan export, documents, billing, and so on. For each error, the authors estimated the frequency of occurrence, the likelihood of being undetected, and the severity of the error if it went undetected and calculated the risk priority number (RPN). The FMEA results were used to design their quality management program. In addition, the authors created a database to track the identified dosimetric errors. Periodically, the authors reevaluated the risk of errors by reviewing the internal error database and improved their quality assurance program as needed. In total, the authors identified over 36 possible treatment planning related failure modes and estimated the associated occurrence, detectability, and severity to calculate the overall risk priority number. Based on the FMEA, the authors implemented various safety improvement procedures into their practice, such as education, peer review, and automatic check tools. The ongoing error tracking database provided realistic data on the frequency of occurrence with which to reevaluate the RPNs for various failure modes. The FMEA technique provides a systematic method for identifying and evaluating potential errors in proton treatment planning before they result in an error in patient dose delivery. The application of FMEA framework and the implementation of an ongoing error tracking system at their clinic have proven to be useful in error reduction in proton treatment planning, thus improving the effectiveness and safety of proton therapy.

A gunner model for an AAA tracking task with interrupted observations

NASA Technical Reports Server (NTRS)

Yu, C. F.; Wei, K. C.; Vikmanis, M.

1982-01-01

The problem of modeling a trained human operator's tracking performance in an anti-aircraft system under various display blanking conditions is discussed. The input to the gunner is the observable tracking error subjected to repeated interruptions (blanking). A simple and effective gunner model was developed. The effect of blanking on the gunner's tracking performance is approached via modeling the observer and controller gains.

Registration using natural features for augmented reality systems.

PubMed

Yuan, M L; Ong, S K; Nee, A Y C

2006-01-01

Registration is one of the most difficult problems in augmented reality (AR) systems. In this paper, a simple registration method using natural features based on the projective reconstruction technique is proposed. This method consists of two steps: embedding and rendering. Embedding involves specifying four points to build the world coordinate system on which a virtual object will be superimposed. In rendering, the Kanade-Lucas-Tomasi (KLT) feature tracker is used to track the natural feature correspondences in the live video. The natural features that have been tracked are used to estimate the corresponding projective matrix in the image sequence. Next, the projective reconstruction technique is used to transfer the four specified points to compute the registration matrix for augmentation. This paper also proposes a robust method for estimating the projective matrix, where the natural features that have been tracked are normalized (translation and scaling) and used as the input data. The estimated projective matrix will be used as an initial estimate for a nonlinear optimization method that minimizes the actual residual errors based on the Levenberg-Marquardt (LM) minimization method, thus making the results more robust and stable. The proposed registration method has three major advantages: 1) It is simple, as no predefined fiducials or markers are used for registration for either indoor and outdoor AR applications. 2) It is robust, because it remains effective as long as at least six natural features are tracked during the entire augmentation, and the existence of the corresponding projective matrices in the live video is guaranteed. Meanwhile, the robust method to estimate the projective matrix can obtain stable results even when there are some outliers during the tracking process. 3) Virtual objects can still be superimposed on the specified areas, even if some parts of the areas are occluded during the entire process. Some indoor and outdoor experiments have been conducted to validate the performance of this proposed method.

Correcting the Standard Errors of 2-Stage Residual Inclusion Estimators for Mendelian Randomization Studies.

PubMed

Palmer, Tom M; Holmes, Michael V; Keating, Brendan J; Sheehan, Nuala A

2017-11-01

Mendelian randomization studies use genotypes as instrumental variables to test for and estimate the causal effects of modifiable risk factors on outcomes. Two-stage residual inclusion (TSRI) estimators have been used when researchers are willing to make parametric assumptions. However, researchers are currently reporting uncorrected or heteroscedasticity-robust standard errors for these estimates. We compared several different forms of the standard error for linear and logistic TSRI estimates in simulations and in real-data examples. Among others, we consider standard errors modified from the approach of Newey (1987), Terza (2016), and bootstrapping. In our simulations Newey, Terza, bootstrap, and corrected 2-stage least squares (in the linear case) standard errors gave the best results in terms of coverage and type I error. In the real-data examples, the Newey standard errors were 0.5% and 2% larger than the unadjusted standard errors for the linear and logistic TSRI estimators, respectively. We show that TSRI estimators with modified standard errors have correct type I error under the null. Researchers should report TSRI estimates with modified standard errors instead of reporting unadjusted or heteroscedasticity-robust standard errors. © The Author(s) 2017. Published by Oxford University Press on behalf of the Johns Hopkins Bloomberg School of Public Health.

C-band radar calibration using GEOS-3

NASA Technical Reports Server (NTRS)

Krabill, W. B.; Martin, C. F.

1978-01-01

The various methods of determining tracking radar measurement error parameters are described, along with the projected accuracy of results. Typical examples and results for calibration of radars tracking the GEOS-3 satellite are presented.

Notice of Violation of IEEE Publication PrinciplesJoint Redundant Residue Number Systems and Module Isolation for Mitigating Single Event Multiple Bit Upsets in Datapath

NASA Astrophysics Data System (ADS)

Li, Lei; Hu, Jianhao

2010-12-01

Notice of Violation of IEEE Publication Principles"Joint Redundant Residue Number Systems and Module Isolation for Mitigating Single Event Multiple Bit Upsets in Datapath"by Lei Li and Jianhao Hu,in the IEEE Transactions on Nuclear Science, vol.57, no.6, Dec. 2010, pp. 3779-3786After careful and considered review of the content and authorship of this paper by a duly constituted expert committee, this paper has been found to be in violation of IEEE's Publication Principles.This paper contains substantial duplication of original text from the paper cited below. The original text was copied without attribution (including appropriate references to the original author(s) and/or paper title) and without permission.Due to the nature of this violation, reasonable effort should be made to remove all past references to this paper, and future references should be made to the following articles:"Multiple Error Detection and Correction Based on Redundant Residue Number Systems"by Vik Tor Goh and M.U. Siddiqi,in the IEEE Transactions on Communications, vol.56, no.3, March 2008, pp.325-330"A Coding Theory Approach to Error Control in Redundant Residue Number Systems. I: Theory and Single Error Correction"by H. Krishna, K-Y. Lin, and J-D. Sun, in the IEEE Transactions on Circuits and Systems II: Analog and Digital Signal Processing, vol.39, no.1, Jan 1992, pp.8-17In this paper, we propose a joint scheme which combines redundant residue number systems (RRNS) with module isolation (MI) for mitigating single event multiple bit upsets (SEMBUs) in datapath. The proposed hardening scheme employs redundant residues to improve the fault tolerance for datapath and module spacings to guarantee that SEMBUs caused by charge sharing do not propagate among the operation channels of different moduli. The features of RRNS, such as independence, parallel and error correction, are exploited to establish the radiation hardening architecture for the datapath in radiation environments. In the proposed scheme, all of the residues can be processed independently, and most of the soft errors in datapath can be corrected with the redundant relationship of the residues at correction module, which is allocated at the end of the datapath. In the back-end implementation, module isolation technique is used to improve the soft error rate performance for RRNS by physically separating the operation channels of different moduli. The case studies show at least an order of magnitude decrease on the soft error rate (SER) as compared to the NonRHBD designs, and demonstrate that RRNS+MI can reduce the SER from 10-12 to 10-17 when the processing steps of datapath are 106. The proposed scheme can even achieve less area and latency overheads than that without radiation hardening, since RRNS can reduce the operational complexity in datapath.

Bayesian inversions of a dynamic vegetation model in four European grassland sites

NASA Astrophysics Data System (ADS)

Minet, J.; Laloy, E.; Tychon, B.; François, L.

2015-01-01

Eddy covariance data from four European grassland sites are used to probabilistically invert the CARAIB dynamic vegetation model (DVM) with ten unknown parameters, using the DREAM(ZS) Markov chain Monte Carlo (MCMC) sampler. We compare model inversions considering both homoscedastic and heteroscedastic eddy covariance residual errors, with variances either fixed a~priori or jointly inferred with the model parameters. Agreements between measured and simulated data during calibration are comparable with previous studies, with root-mean-square error (RMSE) of simulated daily gross primary productivity (GPP), ecosystem respiration (RECO) and evapotranspiration (ET) ranging from 1.73 to 2.19 g C m-2 day-1, 1.04 to 1.56 g C m-2 day-1, and 0.50 to 1.28 mm day-1, respectively. In validation, mismatches between measured and simulated data are larger, but still with Nash-Sutcliffe efficiency scores above 0.5 for three out of the four sites. Although measurement errors associated with eddy covariance data are known to be heteroscedastic, we showed that assuming a classical linear heteroscedastic model of the residual errors in the inversion do not fully remove heteroscedasticity. Since the employed heteroscedastic error model allows for larger deviations between simulated and measured data as the magnitude of the measured data increases, this error model expectedly lead to poorer data fitting compared to inversions considering a constant variance of the residual errors. Furthermore, sampling the residual error variances along with model parameters results in overall similar model parameter posterior distributions as those obtained by fixing these variances beforehand, while slightly improving model performance. Despite the fact that the calibrated model is generally capable of fitting the data within measurement errors, systematic bias in the model simulations are observed. These are likely due to model inadequacies such as shortcomings in the photosynthesis modelling. Besides model behaviour, difference between model parameter posterior distributions among the four grassland sites are also investigated. It is shown that the marginal distributions of the specific leaf area and characteristic mortality time parameters can be explained by site-specific ecophysiological characteristics. Lastly, the possibility of finding a common set of parameters among the four experimental sites is discussed.

Differential tracking data types for accurate and efficient Mars planetary navigation

NASA Technical Reports Server (NTRS)

Edwards, C. D., Jr.; Kahn, R. D.; Folkner, W. M.; Border, J. S.

1991-01-01

Ways in which high-accuracy differential observations of two or more deep space vehicles can dramatically extend the power of earth-based tracking over conventional range and Doppler tracking are discussed. Two techniques - spacecraft-spacecraft differential very long baseline interferometry (S/C-S/C Delta(VLBI)) and same-beam interferometry (SBI) - are discussed. The tracking and navigation capabilities of conventional range, Doppler, and quasar-relative Delta(VLBI) are reviewed, and the S/C-S/C Delta (VLBI) and SBI types are introduced. For each data type, the formation of the observable is discussed, an error budget describing how physical error sources manifest themselves in the observable is presented, and potential applications of the technique for Space Exploration Initiative scenarios are examined. Requirements for spacecraft and ground systems needed to enable and optimize these types of observations are discussed.

Solar concentration properties of flat fresnel lenses with large F-numbers

NASA Technical Reports Server (NTRS)

Cosby, R. M.

1978-01-01

The solar concentration performances of flat, line-focusing sun-tracking Fresnel lenses with selected f-numbers between 0.9 and 2.0 were analyzed. Lens transmittance was found to have a weak dependence on f-number, with a 2% increase occuring as the f-number is increased from 0.9 to 2.0. The geometric concentration ratio for perfectly tracking lenses peaked for an f-number near 1.35. Intensity profiles were more uniform over the image extent for large f-number lenses when compared to the f/0.9 lens results. Substantial decreases in geometri concentration ratios were observed for transverse tracking errors equal to or below 1 degree for all f-number lenses. With respect to tracking errors, the solar performance is optimum for f-numbers between 1.25 and 1.5.

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

PubMed

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

2015-09-01

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

Connectivity-Preserving Approach for Distributed Adaptive Synchronized Tracking of Networked Uncertain Nonholonomic Mobile Robots.

PubMed

Yoo, Sung Jin; Park, Bong Seok

2017-09-06

This paper addresses a distributed connectivity-preserving synchronized tracking problem of multiple uncertain nonholonomic mobile robots with limited communication ranges. The information of the time-varying leader robot is assumed to be accessible to only a small fraction of follower robots. The main contribution of this paper is to introduce a new distributed nonlinear error surface for dealing with both the synchronized tracking and the preservation of the initial connectivity patterns among nonholonomic robots. Based on this nonlinear error surface, the recursive design methodology is presented to construct the approximation-based local adaptive tracking scheme at the robot dynamic level. Furthermore, a technical lemma is established to analyze the stability and the connectivity preservation of the total closed-loop control system in the Lyapunov sense. An example is provided to illustrate the effectiveness of the proposed methodology.

Observer-Based Adaptive NN Control for a Class of Uncertain Nonlinear Systems With Nonsymmetric Input Saturation.

PubMed

Yong-Feng Gao; Xi-Ming Sun; Changyun Wen; Wei Wang

2017-07-01

This paper is concerned with the problem of adaptive tracking control for a class of uncertain nonlinear systems with nonsymmetric input saturation and immeasurable states. The radial basis function of neural network (NN) is employed to approximate unknown functions, and an NN state observer is designed to estimate the immeasurable states. To analyze the effect of input saturation, an auxiliary system is employed. By the aid of adaptive backstepping technique, an adaptive tracking control approach is developed. Under the proposed adaptive tracking controller, the boundedness of all the signals in the closed-loop system is achieved. Moreover, distinct from most of the existing references, the tracking error can be bounded by an explicit function of design parameters and saturation input error. Finally, an example is given to show the effectiveness of the proposed method.

TDRS orbit determination by radio interferometry

NASA Technical Reports Server (NTRS)

Pavloff, Michael S.

1994-01-01

In support of a NASA study on the application of radio interferometry to satellite orbit determination, MITRE developed a simulation tool for assessing interferometry tracking accuracy. The Orbit Determination Accuracy Estimator (ODAE) models the general batch maximum likelihood orbit determination algorithms of the Goddard Trajectory Determination System (GTDS) with the group and phase delay measurements from radio interferometry. ODAE models the statistical properties of tracking error sources, including inherent observable imprecision, atmospheric delays, clock offsets, station location uncertainty, and measurement biases, and through Monte Carlo simulation, ODAE calculates the statistical properties of errors in the predicted satellites state vector. This paper presents results from ODAE application to orbit determination of the Tracking and Data Relay Satellite (TDRS) by radio interferometry. Conclusions about optimal ground station locations for interferometric tracking of TDRS are presented, along with a discussion of operational advantages of radio interferometry.

WE-A-17A-03: Catheter Digitization in High-Dose-Rate Brachytherapy with the Assistance of An Electromagnetic (EM) Tracking System

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

Damato, AL; Bhagwat, MS; Buzurovic, I

Purpose: To investigate the use of a system using EM tracking, postprocessing and error-detection algorithms for measuring brachytherapy catheter locations and for detecting errors and resolving uncertainties in treatment-planning catheter digitization. Methods: An EM tracker was used to localize 13 catheters in a clinical surface applicator (A) and 15 catheters inserted into a phantom (B). Two pairs of catheters in (B) crossed paths at a distance <2 mm, producing an undistinguishable catheter artifact in that location. EM data was post-processed for noise reduction and reformatted to provide the dwell location configuration. CT-based digitization was automatically extracted from the brachytherapy planmore » DICOM files (CT). EM dwell digitization error was characterized in terms of the average and maximum distance between corresponding EM and CT dwells per catheter. The error detection rate (detected errors / all errors) was calculated for 3 types of errors: swap of two catheter numbers; incorrect catheter number identification superior to the closest position between two catheters (mix); and catheter-tip shift. Results: The averages ± 1 standard deviation of the average and maximum registration error per catheter were 1.9±0.7 mm and 3.0±1.1 mm for (A) and 1.6±0.6 mm and 2.7±0.8 mm for (B). The error detection rate was 100% (A and B) for swap errors, mix errors, and shift >4.5 mm (A) and >5.5 mm (B); errors were detected for shifts on average >2.0 mm (A) and >2.4 mm (B). Both mix errors associated with undistinguishable catheter artifacts were detected and at least one of the involved catheters was identified. Conclusion: We demonstrated the use of an EM tracking system for localization of brachytherapy catheters, detection of digitization errors and resolution of undistinguishable catheter artifacts. Automatic digitization may be possible with a registration between the imaging and the EM frame of reference. Research funded by the Kaye Family Award 2012.« less

Accuracy assessment of 3D bone reconstructions using CT: an intro comparison.

PubMed

Lalone, Emily A; Willing, Ryan T; Shannon, Hannah L; King, Graham J W; Johnson, James A

2015-08-01

Computed tomography provides high contrast imaging of the joint anatomy and is used routinely to reconstruct 3D models of the osseous and cartilage geometry (CT arthrography) for use in the design of orthopedic implants, for computer assisted surgeries and computational dynamic and structural analysis. The objective of this study was to assess the accuracy of bone and cartilage surface model reconstructions by comparing reconstructed geometries with bone digitizations obtained using an optical tracking system. Bone surface digitizations obtained in this study determined the ground truth measure for the underlying geometry. We evaluated the use of a commercially available reconstruction technique using clinical CT scanning protocols using the elbow joint as an example of a surface with complex geometry. To assess the accuracies of the reconstructed models (8 fresh frozen cadaveric specimens) against the ground truth bony digitization-as defined by this study-proximity mapping was used to calculate residual error. The overall mean error was less than 0.4 mm in the cortical region and 0.3 mm in the subchondral region of the bone. Similarly creating 3D cartilage surface models from CT scans using air contrast had a mean error of less than 0.3 mm. Results from this study indicate that clinical CT scanning protocols and commonly used and commercially available reconstruction algorithms can create models which accurately represent the true geometry. Copyright © 2015 IPEM. Published by Elsevier Ltd. All rights reserved.

Concepts and Preliminary Data Toward the Realization of Image-guided Liver Surgery

PubMed Central

Cash, David M.; Miga, Michael I.; Glasgow, Sean C.; Dawant, Benoit M.; Clements, Logan W.; Cao, Zhujiang; Galloway, Robert L.; Chapman, William C.

2013-01-01

Image-guided surgery provides navigational assistance to the surgeon by displaying the surgical probe position on a set of preoperative tomograms in real time. In this study, the feasibility of implementing image-guided surgery concepts into liver surgery was examined during eight hepatic resection procedures. Preoperative tomographic image data were acquired and processed. Accompanying intraoperative data on liver shape and position were obtained through optically tracked probes and laser range scanning technology. The preoperative and intraoperative representations of the liver surface were aligned using the iterative closest point surface matching algorithm. Surface registrations resulted in mean residual errors from 2 to 6 mm, with errors of target surface regions being below a stated goal of 1 cm. Issues affecting registration accuracy include liver motion due to respiration, the quality of the intraoperative surface data, and intraoperative organ deformation. Respiratory motion was quantified during the procedures as cyclical, primarily along the cranial–caudal direction. The resulting registrations were more robust and accurate when using laser range scanning to rapidly acquire thousands of points on the liver surface and when capturing unique geometric regions on the liver surface, such as the inferior edge. Finally, finite element models recovered much of the observed intraoperative deformation, further decreasing errors in the registration. Image-guided liver surgery has shown the potential to provide surgeons with important navigation aids that could increase the accuracy of targeting lesions and the number of patients eligible for surgical resection. PMID:17458587

Tool Wear Monitoring Using Time Series Analysis

NASA Astrophysics Data System (ADS)

Song, Dong Yeul; Ohara, Yasuhiro; Tamaki, Haruo; Suga, Masanobu

A tool wear monitoring approach considering the nonlinear behavior of cutting mechanism caused by tool wear and/or localized chipping is proposed, and its effectiveness is verified through the cutting experiment and actual turning machining. Moreover, the variation in the surface roughness of the machined workpiece is also discussed using this approach. In this approach, the residual error between the actually measured vibration signal and the estimated signal obtained from the time series model corresponding to dynamic model of cutting is introduced as the feature of diagnosis. Consequently, it is found that the early tool wear state (i.e. flank wear under 40µm) can be monitored, and also the optimal tool exchange time and the tool wear state for actual turning machining can be judged by this change in the residual error. Moreover, the variation of surface roughness Pz in the range of 3 to 8µm can be estimated by the monitoring of the residual error.

Managing residual refractive error after cataract surgery.

PubMed

Sáles, Christopher S; Manche, Edward E

2015-06-01

We present a review of keratorefractive and intraocular approaches to managing residual astigmatic and spherical refractive error after cataract surgery, including laser in situ keratomileusis (LASIK), photorefractive keratectomy (PRK), arcuate keratotomy, intraocular lens (IOL) exchange, piggyback IOLs, and light-adjustable IOLs. Currently available literature suggests that laser vision correction, whether LASIK or PRK, yields more effective and predictable outcomes than intraocular surgery. Piggyback IOLs with a rounded-edge profile implanted in the sulcus may be superior to IOL exchange, but both options present potential risks that likely outweigh the refractive benefits except in cases with large residual spherical errors. The light-adjustable IOL may provide an ideal treatment to pseudophakic ametropia by obviating the need for secondary invasive procedures after cataract surgery, but it is not widely available nor has it been sufficiently studied. Copyright © 2015 ASCRS and ESCRS. Published by Elsevier Inc. All rights reserved.

Model and algorithm based on accurate realization of dwell time in magnetorheological finishing.

PubMed

Song, Ci; Dai, Yifan; Peng, Xiaoqiang

2010-07-01

Classically, a dwell-time map is created with a method such as deconvolution or numerical optimization, with the input being a surface error map and influence function. This dwell-time map is the numerical optimum for minimizing residual form error, but it takes no account of machine dynamics limitations. The map is then reinterpreted as machine speeds and accelerations or decelerations in a separate operation. In this paper we consider combining the two methods in a single optimization by the use of a constrained nonlinear optimization model, which regards both the two-norm of the surface residual error and the dwell-time gradient as an objective function. This enables machine dynamic limitations to be properly considered within the scope of the optimization, reducing both residual surface error and polishing times. Further simulations are introduced to demonstrate the feasibility of the model, and the velocity map is reinterpreted from the dwell time, meeting the requirement of velocity and the limitations of accelerations or decelerations. Indeed, the model and algorithm can also apply to other computer-controlled subaperture methods.

Significantly improved precision of cell migration analysis in time-lapse video microscopy through use of a fully automated tracking system

PubMed Central

2010-01-01

Background Cell motility is a critical parameter in many physiological as well as pathophysiological processes. In time-lapse video microscopy, manual cell tracking remains the most common method of analyzing migratory behavior of cell populations. In addition to being labor-intensive, this method is susceptible to user-dependent errors regarding the selection of "representative" subsets of cells and manual determination of precise cell positions. Results We have quantitatively analyzed these error sources, demonstrating that manual cell tracking of pancreatic cancer cells lead to mis-calculation of migration rates of up to 410%. In order to provide for objective measurements of cell migration rates, we have employed multi-target tracking technologies commonly used in radar applications to develop fully automated cell identification and tracking system suitable for high throughput screening of video sequences of unstained living cells. Conclusion We demonstrate that our automatic multi target tracking system identifies cell objects, follows individual cells and computes migration rates with high precision, clearly outperforming manual procedures. PMID:20377897

On the role of covariance information for GRACE K-band observations in the Celestial Mechanics Approach

NASA Astrophysics Data System (ADS)

Bentel, Katrin; Meyer, Ulrich; Arnold, Daniel; Jean, Yoomin; Jäggi, Adrian

2017-04-01

The Astronomical Institute at the University of Bern (AIUB) derives static and time-variable gravity fields by means of the Celestial Mechanics Approach (CMA) from GRACE (level 1B) data. This approach makes use of the close link between orbit and gravity field determination. GPS-derived kinematic GRACE orbit positions, inter-satellite K-band observations, which are the core observations of GRACE, and accelerometer data are combined to rigorously estimate orbit and spherical harmonic gravity field coefficients in one adjustment step. Pseudo-stochastic orbit parameters are set up to absorb unmodeled noise. The K-band range measurements in along-track direction lead to a much higher correlation of the observations in this direction compared to the other directions and thus, to north-south stripes in the unconstrained gravity field solutions, so-called correlated errors. By using a full covariance matrix for the K-band observations the correlation can be taken into account. One possibility is to derive correlation information from post-processing K-band residuals. This is then used in a second iteration step to derive an improved gravity field solution. We study the effects of pre-defined covariance matrices and residual-derived covariance matrices on the final gravity field product with the CMA.

Indoor Trajectory Tracking Scheme Based on Delaunay Triangulation and Heuristic Information in Wireless Sensor Networks.

PubMed

Qin, Junping; Sun, Shiwen; Deng, Qingxu; Liu, Limin; Tian, Yonghong

2017-06-02

Object tracking and detection is one of the most significant research areas for wireless sensor networks. Existing indoor trajectory tracking schemes in wireless sensor networks are based on continuous localization and moving object data mining. Indoor trajectory tracking based on the received signal strength indicator ( RSSI ) has received increased attention because it has low cost and requires no special infrastructure. However, RSSI tracking introduces uncertainty because of the inaccuracies of measurement instruments and the irregularities (unstable, multipath, diffraction) of wireless signal transmissions in indoor environments. Heuristic information includes some key factors for trajectory tracking procedures. This paper proposes a novel trajectory tracking scheme based on Delaunay triangulation and heuristic information (TTDH). In this scheme, the entire field is divided into a series of triangular regions. The common side of adjacent triangular regions is regarded as a regional boundary. Our scheme detects heuristic information related to a moving object's trajectory, including boundaries and triangular regions. Then, the trajectory is formed by means of a dynamic time-warping position-fingerprint-matching algorithm with heuristic information constraints. Field experiments show that the average error distance of our scheme is less than 1.5 m, and that error does not accumulate among the regions.

Recognizing the Ordinary as Extraordinary: Insight Into the "Way We Work" to Improve Patient Safety Outcomes.

PubMed

Henneman, Elizabeth A

2017-07-01

The Institute of Medicine (now National Academy of Medicine) reports "To Err is Human" and "Crossing the Chasm" made explicit 3 previously unappreciated realities: (1) Medical errors are common and result in serious, preventable adverse events; (2) The majority of medical errors are the result of system versus human failures; and (3) It would be impossible for any system to prevent all errors. With these realities, the role of the nurse in the "near miss" process and as the final safety net for the patient is of paramount importance. The nurse's role in patient safety is described from both a systems perspective and a human factors perspective. Critical care nurses use specific strategies to identify, interrupt, and correct medical errors. Strategies to identify errors include knowing the patient, knowing the plan of care, double-checking, and surveillance. Nursing strategies to interrupt errors include offering assistance, clarifying, and verbally interrupting. Nurses correct errors by persevering, being physically present, reviewing/confirming the plan of care, or involving another nurse or physician. Each of these strategies has implications for education, practice, and research. Surveillance is a key nursing strategy for identifying medical errors and reducing adverse events. Eye-tracking technology is a novel approach for evaluating the surveillance process during common, high-risk processes such as blood transfusion and medication administration. Eye tracking has also been used to examine the impact of interruptions to care caused by bedside alarms as well as by other health care personnel. Findings from this safety-related eye-tracking research provide new insight into effective bedside surveillance and interruption management strategies. ©2017 American Association of Critical-Care Nurses.

Improving patient safety through quality assurance.

PubMed

Raab, Stephen S

2006-05-01

Anatomic pathology laboratories use several quality assurance tools to detect errors and to improve patient safety. To review some of the anatomic pathology laboratory patient safety quality assurance practices. Different standards and measures in anatomic pathology quality assurance and patient safety were reviewed. Frequency of anatomic pathology laboratory error, variability in the use of specific quality assurance practices, and use of data for error reduction initiatives. Anatomic pathology error frequencies vary according to the detection method used. Based on secondary review, a College of American Pathologists Q-Probes study showed that the mean laboratory error frequency was 6.7%. A College of American Pathologists Q-Tracks study measuring frozen section discrepancy found that laboratories improved the longer they monitored and shared data. There is a lack of standardization across laboratories even for governmentally mandated quality assurance practices, such as cytologic-histologic correlation. The National Institutes of Health funded a consortium of laboratories to benchmark laboratory error frequencies, perform root cause analysis, and design error reduction initiatives, using quality assurance data. Based on the cytologic-histologic correlation process, these laboratories found an aggregate nongynecologic error frequency of 10.8%. Based on gynecologic error data, the laboratory at my institution used Toyota production system processes to lower gynecologic error frequencies and to improve Papanicolaou test metrics. Laboratory quality assurance practices have been used to track error rates, and laboratories are starting to use these data for error reduction initiatives.

LANDSAT-4 MSS Geometric Correction: Methods and Results

NASA Technical Reports Server (NTRS)

Brooks, J.; Kimmer, E.; Su, J.

1984-01-01

An automated image registration system such as that developed for LANDSAT-4 can produce all of the information needed to verify and calibrate the software and to evaluate system performance. The on-line MSS archive generation process which upgrades systematic correction data to geodetic correction data is described as well as the control point library build subsystem which generates control point chips and support data for on-line upgrade of correction data. The system performance was evaluated for both temporal and geodetic registration. For temporal registration, 90% errors were computed to be .36 IFOV (instantaneous field of view) = 82.7 meters) cross track, and .29 IFOV along track. Also, for actual production runs monitored, the 90% errors were .29 IFOV cross track and .25 IFOV along track. The system specification is .3 IFOV, 90% of the time, both cross and along track. For geodetic registration performance, the model bias was measured by designating control points in the geodetically corrected imagery.

Automatic Tracking Algorithm in Coaxial Near-Infrared Laser Ablation Endoscope for Fetus Surgery

NASA Astrophysics Data System (ADS)

Hu, Yan; Yamanaka, Noriaki; Masamune, Ken

2014-07-01

This article reports a stable vessel object tracking method for the treatment of twin-to-twin transfusion syndrome based on our previous 2 DOF endoscope. During the treatment of laser coagulation, it is necessary to focus on the exact position of the target object, however it moves by the mother's respiratory motion and still remains a challenge to obtain and track the position precisely. In this article, an algorithm which uses features from accelerated segment test (FAST) to extract the features and optical flow as the object tracking method, is proposed to deal with above problem. Further, we experimentally simulate the movement due to the mother's respiration, and the results of position errors and similarity verify the effectiveness of the proposed tracking algorithm for laser ablation endoscopy in-vitro and under water considering two influential factors. At average, the errors are about 10 pixels and the similarity over 0.92 are obtained in the experiments.

Minimizing driver errors: examining factors leading to failed target tracking and detection.

DOT National Transportation Integrated Search

2013-06-01

Driving a motor vehicle is a common practice for many individuals. Although driving becomes : repetitive and a very habitual task, errors can occur that lead to accidents. One factor that can be a : cause for such errors is a lapse in attention or a ...

Follow the Leader Tracking by Autonomous Underwater Vehicles (AUVs) Using Acoustic Communications and Ranging

DTIC Science & Technology

2003-09-01

590-595, September 1996. Deitel , H.M., Deitel , P.J., Nieto, T.R., Lin, T.M., Sadhu, P., XML: How to Program , Prentice Hall, 2001. Du, Y...communications will result in a total track following error equal to the sum of the errors for the two vehicles........48 xv Figure 36. Test point programming ...Refer to (Hunter 2000), ( Deitel 2001), or similar references for additional information regarding the XML standard. Figure 17. XML example

Optical communication system performance with tracking error induced signal fading.

NASA Technical Reports Server (NTRS)

Tycz, M.; Fitzmaurice, M. W.; Premo, D. A.

1973-01-01

System performance is determined for an optical communication system using noncoherent detection in the presence of tracking error induced signal fading assuming (1) binary on-off modulation (OOK) with both fixed and adaptive threshold receivers, and (2) binary polarization modulation (BPM). BPM is shown to maintain its inherent 2- to 3-dB advantage over OOK when adaptive thresholding is used, and to have a substantially greater advantage when the OOK system is restricted to a fixed decision threshold.

Using an eye tracker during medication administration to identify gaps in nursing students' contextual knowledge: an observational study.

PubMed

Amster, Brian; Marquard, Jenna; Henneman, Elizabeth; Fisher, Donald

2015-01-01

In this clinical simulation study using an eye-tracking device, 40% of senior nursing students administered a contraindicated medication to a patient. Our findings suggest that the participants who did not identify the error did not know that amoxicillin is a type of penicillin. Eye-tracking devices may be valuable for determining whether nursing students are making rule- or knowledge-based errors, a distinction not easily captured via observations and interviews.

See-What-I-Do: Increasing Mentor and Trainee Sense of Co-Presence in Trauma Surgeries with the STAR Platform

DTIC Science & Technology

2016-04-01

publications, images, and videos.  Technologies or techniques . The technique for one shot gesture recognition is a result from the research activity... shot learning concept for gesture recognition. Name: Aditya Ajay Shanghavi Project Role: Master Student Researcher Identifier (e.g. ORCID ID...use case . The transparency error depends more on the x than the z head tracking error. Head tracking is typically accurate to less than 10mm in x

Average capacity of the ground to train communication link of a curved track in the turbulence of gamma-gamma distribution

NASA Astrophysics Data System (ADS)

Yang, Yanqiu; Yu, Lin; Zhang, Yixin

2017-04-01

A model of the average capacity of optical wireless communication link with pointing errors for the ground-to-train of the curved track is established based on the non-Kolmogorov. By adopting the gamma-gamma distribution model, we derive the average capacity expression for this channel. The numerical analysis reveals that heavier fog reduces the average capacity of link. The strength of atmospheric turbulence, the variance of pointing errors, and the covered track length need to be reduced for the larger average capacity of link. The normalized beamwidth and the average signal-to-noise ratio (SNR) of the turbulence-free link need to be increased. We can increase the transmit aperture to expand the beamwidth and enhance the signal intensity, thereby decreasing the impact of the beam wander accordingly. As the system adopting the automatic tracking of beam at the receiver positioned on the roof of the train, for eliminating the pointing errors caused by beam wander and train vibration, the equivalent average capacity of the channel will achieve a maximum value. The impact of the non-Kolmogorov spectral index's variation on the average capacity of link can be ignored.

Distributed cooperative H∞ optimal tracking control of MIMO nonlinear multi-agent systems in strict-feedback form via adaptive dynamic programming

NASA Astrophysics Data System (ADS)

Luy, N. T.

2018-04-01

The design of distributed cooperative H∞ optimal controllers for multi-agent systems is a major challenge when the agents' models are uncertain multi-input and multi-output nonlinear systems in strict-feedback form in the presence of external disturbances. In this paper, first, the distributed cooperative H∞ optimal tracking problem is transformed into controlling the cooperative tracking error dynamics in affine form. Second, control schemes and online algorithms are proposed via adaptive dynamic programming (ADP) and the theory of zero-sum differential graphical games. The schemes use only one neural network (NN) for each agent instead of three from ADP to reduce computational complexity as well as avoid choosing initial NN weights for stabilising controllers. It is shown that despite not using knowledge of cooperative internal dynamics, the proposed algorithms not only approximate values to Nash equilibrium but also guarantee all signals, such as the NN weight approximation errors and the cooperative tracking errors in the closed-loop system, to be uniformly ultimately bounded. Finally, the effectiveness of the proposed method is shown by simulation results of an application to wheeled mobile multi-robot systems.

A method for verification of treatment delivery in HDR prostate brachytherapy using a flat panel detector for both imaging and source tracking.

PubMed

Smith, Ryan L; Haworth, Annette; Panettieri, Vanessa; Millar, Jeremy L; Franich, Rick D

2016-05-01

Verification of high dose rate (HDR) brachytherapy treatment delivery is an important step, but is generally difficult to achieve. A technique is required to monitor the treatment as it is delivered, allowing comparison with the treatment plan and error detection. In this work, we demonstrate a method for monitoring the treatment as it is delivered and directly comparing the delivered treatment with the treatment plan in the clinical workspace. This treatment verification system is based on a flat panel detector (FPD) used for both pre-treatment imaging and source tracking. A phantom study was conducted to establish the resolution and precision of the system. A pretreatment radiograph of a phantom containing brachytherapy catheters is acquired and registration between the measurement and treatment planning system (TPS) is performed using implanted fiducial markers. The measured catheter paths immediately prior to treatment were then compared with the plan. During treatment delivery, the position of the (192)Ir source is determined at each dwell position by measuring the exit radiation with the FPD and directly compared to the planned source dwell positions. The registration between the two corresponding sets of fiducial markers in the TPS and radiograph yielded a registration error (residual) of 1.0 mm. The measured catheter paths agreed with the planned catheter paths on average to within 0.5 mm. The source positions measured with the FPD matched the planned source positions for all dwells on average within 0.6 mm (s.d. 0.3, min. 0.1, max. 1.4 mm). We have demonstrated a method for directly comparing the treatment plan with the delivered treatment that can be easily implemented in the clinical workspace. Pretreatment imaging was performed, enabling visualization of the implant before treatment delivery and identification of possible catheter displacement. Treatment delivery verification was performed by measuring the source position as each dwell was delivered. This approach using a FPD for imaging and source tracking provides a noninvasive method of acquiring extensive information for verification in HDR prostate brachytherapy.

A method for verification of treatment delivery in HDR prostate brachytherapy using a flat panel detector for both imaging and source tracking

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

Smith, Ryan L., E-mail: ryan.smith@wbrc.org.au; Millar, Jeremy L.; Franich, Rick D.

Purpose: Verification of high dose rate (HDR) brachytherapy treatment delivery is an important step, but is generally difficult to achieve. A technique is required to monitor the treatment as it is delivered, allowing comparison with the treatment plan and error detection. In this work, we demonstrate a method for monitoring the treatment as it is delivered and directly comparing the delivered treatment with the treatment plan in the clinical workspace. This treatment verification system is based on a flat panel detector (FPD) used for both pre-treatment imaging and source tracking. Methods: A phantom study was conducted to establish the resolutionmore » and precision of the system. A pretreatment radiograph of a phantom containing brachytherapy catheters is acquired and registration between the measurement and treatment planning system (TPS) is performed using implanted fiducial markers. The measured catheter paths immediately prior to treatment were then compared with the plan. During treatment delivery, the position of the {sup 192}Ir source is determined at each dwell position by measuring the exit radiation with the FPD and directly compared to the planned source dwell positions. Results: The registration between the two corresponding sets of fiducial markers in the TPS and radiograph yielded a registration error (residual) of 1.0 mm. The measured catheter paths agreed with the planned catheter paths on average to within 0.5 mm. The source positions measured with the FPD matched the planned source positions for all dwells on average within 0.6 mm (s.d. 0.3, min. 0.1, max. 1.4 mm). Conclusions: We have demonstrated a method for directly comparing the treatment plan with the delivered treatment that can be easily implemented in the clinical workspace. Pretreatment imaging was performed, enabling visualization of the implant before treatment delivery and identification of possible catheter displacement. Treatment delivery verification was performed by measuring the source position as each dwell was delivered. This approach using a FPD for imaging and source tracking provides a noninvasive method of acquiring extensive information for verification in HDR prostate brachytherapy.« less

Development of a video image-based QA system for the positional accuracy of dynamic tumor tracking irradiation in the Vero4DRT system.

PubMed

Ebe, Kazuyu; Sugimoto, Satoru; Utsunomiya, Satoru; Kagamu, Hiroshi; Aoyama, Hidefumi; Court, Laurence; Tokuyama, Katsuichi; Baba, Ryuta; Ogihara, Yoshisada; Ichikawa, Kosuke; Toyama, Joji

2015-08-01

To develop and evaluate a new video image-based QA system, including in-house software, that can display a tracking state visually and quantify the positional accuracy of dynamic tumor tracking irradiation in the Vero4DRT system. Sixteen trajectories in six patients with pulmonary cancer were obtained with the ExacTrac in the Vero4DRT system. Motion data in the cranio-caudal direction (Y direction) were used as the input for a programmable motion table (Quasar). A target phantom was placed on the motion table, which was placed on the 2D ionization chamber array (MatriXX). Then, the 4D modeling procedure was performed on the target phantom during a reproduction of the patient's tumor motion. A substitute target with the patient's tumor motion was irradiated with 6-MV x-rays under the surrogate infrared system. The 2D dose images obtained from the MatriXX (33 frames/s; 40 s) were exported to in-house video-image analyzing software. The absolute differences in the Y direction between the center of the exposed target and the center of the exposed field were calculated. Positional errors were observed. The authors' QA results were compared to 4D modeling function errors and gimbal motion errors obtained from log analyses in the ExacTrac to verify the accuracy of their QA system. The patients' tumor motions were evaluated in the wave forms, and the peak-to-peak distances were also measured to verify their reproducibility. Thirteen of sixteen trajectories (81.3%) were successfully reproduced with Quasar. The peak-to-peak distances ranged from 2.7 to 29.0 mm. Three trajectories (18.7%) were not successfully reproduced due to the limited motions of the Quasar. Thus, 13 of 16 trajectories were summarized. The mean number of video images used for analysis was 1156. The positional errors (absolute mean difference + 2 standard deviation) ranged from 0.54 to 1.55 mm. The error values differed by less than 1 mm from 4D modeling function errors and gimbal motion errors in the ExacTrac log analyses (n = 13). The newly developed video image-based QA system, including in-house software, can analyze more than a thousand images (33 frames/s). Positional errors are approximately equivalent to those in ExacTrac log analyses. This system is useful for the visual illustration of the progress of the tracking state and for the quantification of positional accuracy during dynamic tumor tracking irradiation in the Vero4DRT system.

GEOS-2 refraction program summary document. [ionospheric and tropospheric propagation errors in satellite tracking instruments

NASA Technical Reports Server (NTRS)

Mallinckrodt, A. J.

1977-01-01

Data from an extensive array of collocated instrumentation at the Wallops Island test facility were intercompared in order to (1) determine the practical achievable accuracy limitations of various tropospheric and ionospheric correction techniques; (2) examine the theoretical bases and derivation of improved refraction correction techniques; and (3) estimate internal systematic and random error levels of the various tracking stations. The GEOS 2 satellite was used as the target vehicle. Data were obtained regarding the ionospheric and tropospheric propagation errors, the theoretical and data analysis of which was documented in some 30 separate reports over the last 6 years. An overview of project results is presented.

Comparison of Online 6 Degree-of-Freedom Image Registration of Varian TrueBeam Cone-Beam CT and BrainLab ExacTrac X-Ray for Intracranial Radiosurgery.

PubMed

Li, Jun; Shi, Wenyin; Andrews, David; Werner-Wasik, Maria; Lu, Bo; Yu, Yan; Dicker, Adam; Liu, Haisong

2017-06-01

The study was aimed to compare online 6 degree-of-freedom image registrations of TrueBeam cone-beam computed tomography and BrainLab ExacTrac X-ray imaging systems for intracranial radiosurgery. Phantom and patient studies were performed on a Varian TrueBeam STx linear accelerator (version 2.5), which is integrated with a BrainLab ExacTrac imaging system (version 6.1.1). The phantom study was based on a Rando head phantom and was designed to evaluate isocenter location dependence of the image registrations. Ten isocenters at various locations representing clinical treatment sites were selected in the phantom. Cone-beam computed tomography and ExacTrac X-ray images were taken when the phantom was located at each isocenter. The patient study included 34 patients. Cone-beam computed tomography and ExacTrac X-ray images were taken at each patient's treatment position. The 6 degree-of-freedom image registrations were performed on cone-beam computed tomography and ExacTrac, and residual errors calculated from cone-beam computed tomography and ExacTrac were compared. In the phantom study, the average residual error differences (absolute values) between cone-beam computed tomography and ExacTrac image registrations were 0.17 ± 0.11 mm, 0.36 ± 0.20 mm, and 0.25 ± 0.11 mm in the vertical, longitudinal, and lateral directions, respectively. The average residual error differences in the rotation, roll, and pitch were 0.34° ± 0.08°, 0.13° ± 0.09°, and 0.12° ± 0.10°, respectively. In the patient study, the average residual error differences in the vertical, longitudinal, and lateral directions were 0.20 ± 0.16 mm, 0.30 ± 0.18 mm, 0.21 ± 0.18 mm, respectively. The average residual error differences in the rotation, roll, and pitch were 0.40°± 0.16°, 0.17° ± 0.13°, and 0.20° ± 0.14°, respectively. Overall, the average residual error differences were <0.4 mm in the translational directions and <0.5° in the rotational directions. ExacTrac X-ray image registration is comparable to TrueBeam cone-beam computed tomography image registration in intracranial treatments.

40 CFR 96.256 - Account error.

Code of Federal Regulations, 2010 CFR

2010-07-01

... TRADING PROGRAM AND CAIR NOX AND SO2 TRADING PROGRAMS FOR STATE IMPLEMENTATION PLANS CAIR SO2 Allowance... her own motion, correct any error in any CAIR SO2 Allowance Tracking System account. Within 10...

Inter-track interference mitigation with two-dimensional variable equalizer for bit patterned media recording

NASA Astrophysics Data System (ADS)

Wang, Yao; Vijaya Kumar, B. V. K.

2017-05-01

The increased track density in bit patterned media recording (BPMR) causes increased inter-track interference (ITI), which degrades the bit error rate (BER) performance. In order to mitigate the effect of the ITI, signals from multiple tracks can be equalized by a 2D equalizer with 1D target. Usually, the 2D fixed equalizer coefficients are obtained by using a pseudo-random bit sequence (PRBS) for training. In this study, a 2D variable equalizer is proposed, where various sets of 2D equalizer coefficients are predetermined and stored for different ITI patterns besides the usual PRBS training. For data detection, as the ITI patterns are unknown in the first global iteration, the main and adjacent tracks are equalized with the conventional 2D fixed equalizer, detected with Bahl-Cocke-Jelinek-Raviv (BCJR) detector and decoded with low-density parity-check (LDPC) decoder. Then using the estimated bit information from main and adjacent tracks, the ITI pattern for each island of the main track can be estimated and the corresponding 2D variable equalizers are used to better equalize the bits on the main track. This process is executed iteratively by feeding back the main track information. Simulation results indicate that for both single-track and two-track detection, the proposed 2D variable equalizer can achieve better BER and frame error rate (FER) compared to that with the 2D fixed equalizer.

Mesoscale resolution capability of altimetry: Present and future

NASA Astrophysics Data System (ADS)

Dufau, Claire; Orsztynowicz, Marion; Dibarboure, Gérald; Morrow, Rosemary; Le Traon, Pierre-Yves

2016-07-01

Wavenumber spectra of along-track Sea Surface Height from the most recent satellite radar altimetry missions [Jason-2, Cryosat-2, and SARAL/Altika) are used to determine the size of ocean dynamical features observable with the present altimetry constellation. A global analysis of the along-track 1-D mesoscale resolution capability of the present-day altimeter missions is proposed, based on a joint analysis of the spectral slopes in the mesoscale band and the error levels observed for horizontal wavelengths lower than 20km. The global sea level spectral slope distribution provided by Xu and Fu with Jason-1 data is revisited with more recent altimeter missions, and maps of altimeter error levels are provided and discussed for each mission. Seasonal variations of both spectral slopes and altimeter error levels are also analyzed for Jason-2. SARAL/Altika, with its lower error levels, is shown to detect smaller structures everywhere. All missions show substantial geographical and temporal variations in their mesoscale resolution capabilities, with variations depending mostly on the error level change but also on slight regional changes in the spectral slopes. In western boundary currents where the signal to noise ratio is favorable, the along-track mesoscale resolution is approximately 40 km for SARAL/AltiKa, 45 km for Cryosat-2, and 50 km for Jason-2. Finally, a prediction of the future 2-D mesoscale sea level resolution capability of the Surface Water and Ocean Topography (SWOT) mission is given using a simulated error level.

The corticospinal responses of metronome-paced, but not self-paced strength training are similar to motor skill training.

PubMed

Leung, Michael; Rantalainen, Timo; Teo, Wei-Peng; Kidgell, Dawson

2017-12-01

The corticospinal responses to skill training may be different to strength training, depending on how the strength training is performed. It was hypothesised that the corticospinal responses would not be different following skill training and metronome-paced strength training (MPST), but would differ when compared with self-paced strength training (SPST). Corticospinal excitability, short-interval intra-cortical inhibition (SICI) and strength and tracking error were measured at baseline and 2 and 4 weeks. Participants (n = 44) were randomly allocated to visuomotor tracking, MPST, SPST or a control group. MPST increased strength by 7 and 18%, whilst SPST increased strength by 12 and 26% following 2 and 4 weeks of strength training. There were no changes in strength following skill training. Skill training reduced tracking error by 47 and 58% at 2 and 4 weeks. There were no changes in tracking error following SPST; however, tracking error reduced by 24% following 4 weeks of MPST. Corticospinal excitability increased by 40% following MPST and by 29% following skill training. There was no change in corticospinal excitability following 4 weeks of SPST. Importantly, the magnitude of change between skill training and MPST was not different. SICI decreased by 41 and 61% following 2 and 4 weeks of MPST, whilst SICI decreased by 41 and 33% following 2 and 4 weeks of skill training. Again, SPST had no effect on SICI at 2 and 4 weeks. There was no difference in the magnitude of SICI reduction between skill training and MPST. This study adds new knowledge regarding the corticospinal responses to skill and MPST, showing they are similar but different when compared with SPST.

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

PubMed

Gu, Guoying; Zhu, Limin

2010-08-01

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

Tracking and shape errors measurement of concentrating heliostats

NASA Astrophysics Data System (ADS)

Coquand, Mathieu; Caliot, Cyril; Hénault, François

2017-09-01

In solar tower power plants, factors such as tracking accuracy, facets misalignment and surface shape errors of concentrating heliostats are of prime importance on the efficiency of the system. At industrial scale, one critical issue is the time and effort required to adjust the different mirrors of the faceted heliostats, which could take several months using current techniques. Thus, methods enabling quick adjustment of a field with a huge number of heliostats are essential for the rise of solar tower technology. In this communication is described a new method for heliostat characterization that makes use of four cameras located near the solar receiver and simultaneously recording images of the sun reflected by the optical surfaces. From knowledge of a measured sun profile, data processing of the acquired images allows reconstructing the slope and shape errors of the heliostats, including tracking and canting errors. The mathematical basis of this shape reconstruction process is explained comprehensively. Numerical simulations demonstrate that the measurement accuracy of this "backward-gazing method" is compliant with the requirements of solar concentrating optics. Finally, we present our first experimental results obtained at the THEMIS experimental solar tower plant in Targasonne, France.

Decomposition and correction overlapping peaks of LIBS using an error compensation method combined with curve fitting.

PubMed

Tan, Bing; Huang, Min; Zhu, Qibing; Guo, Ya; Qin, Jianwei

2017-09-01

The laser induced breakdown spectroscopy (LIBS) technique is an effective method to detect material composition by obtaining the plasma emission spectrum. The overlapping peaks in the spectrum are a fundamental problem in the qualitative and quantitative analysis of LIBS. Based on a curve fitting method, this paper studies an error compensation method to achieve the decomposition and correction of overlapping peaks. The vital step is that the fitting residual is fed back to the overlapping peaks and performs multiple curve fitting processes to obtain a lower residual result. For the quantitative experiments of Cu, the Cu-Fe overlapping peaks in the range of 321-327 nm obtained from the LIBS spectrum of five different concentrations of CuSO 4 ·5H 2 O solution were decomposed and corrected using curve fitting and error compensation methods. Compared with the curve fitting method, the error compensation reduced the fitting residual about 18.12-32.64% and improved the correlation about 0.86-1.82%. Then, the calibration curve between the intensity and concentration of the Cu was established. It can be seen that the error compensation method exhibits a higher linear correlation between the intensity and concentration of Cu, which can be applied to the decomposition and correction of overlapping peaks in the LIBS spectrum.

Poster - 51: A tumor motion-compensating system with tracking and prediction – a proof-of-concept study

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

Guo, Kaiming; Teo, Peng; Kawalec, Philip

2016-08-15

Purpose: This work reports on the development of a mechanical slider system for the counter-steering of tumor motion in adaptive Radiation Therapy (RT). The tumor motion was tracked using a weighted optical flow algorithm and its position is being predicted with a neural network (NN). Methods: The components of the proposed mechanical counter-steering system includes: (1) an actuator which provides the tumor motion, (2) the motion detection using an optical flow algorithm, (3) motion prediction using a neural network, (4) a control module and (5) a mechanical slider to counter-steer the anticipated motion of the tumor phantom. An asymmetrical cosinemore » function and five patient traces (P1–P5) were used to evaluate the tracking of a 3D printed lung tumor. In the proposed mechanical counter-steering system, both actuator (Zaber NA14D60) and slider (Zaber A-BLQ0070-E01) were programed to move independently with LabVIEW and their positions were recorded by 2 potentiometers (ETI LCP12S-25). The accuracy of this counter-steering system is given by the difference between the two potentiometers. Results: The inherent accuracy of the system, measured using the cosine function, is −0.15 ± 0.06 mm. While the errors when tracking and prediction were included, is (0.04 ± 0.71) mm. Conclusion: A prototype tumor motion counter-steering system with tracking and prediction was implemented. The inherent errors are small in comparison to the tracking and prediction errors, which in turn are small in comparison to the magnitude of tumor motion. The results show that this system is suited for evaluating RT tracking and prediction.« less

Precision improving of double beam shadow moiré interferometer by phase shifting interferometry for the stress of flexible substrate

NASA Astrophysics Data System (ADS)

Huang, Kuo-Ting; Chen, Hsi-Chao; Lin, Ssu-Fan; Lin, Ke-Ming; Syue, Hong-Ye

2012-09-01

While tin-doped indium oxide (ITO) has been extensively applied in flexible electronics, the problem of the residual stress has many obstacles to overcome. This study investigated the residual stress of flexible electronics by the double beam shadow moiré interferometer, and focused on the precision improvement with phase shifting interferometry (PSI). According to the out-of-plane displacement equation, the theoretical error depends on the grating pitch and the angle between incident light and CCD. The angle error could be reduced to 0.03% by the angle shift of 10° as a result of the double beam interferometer was a symmetrical system. But the experimental error of the double beam moiré interferometer still reached to 2.2% by the noise of the vibration and interferograms. In order to improve the measurement precision, PSI was introduced to the double shadow moiré interferometer. Wavefront phase was reconstructed by the five interferograms with the Hariharan algorithm. The measurement results of standard cylinder indicating the error could be reduced from 2.2% to less than 1% with PSI. The deformation of flexible electronic could be reconstructed fast and calculated the residual stress with the Stoney correction formula. This shadow moiré interferometer with PSI could improve the precision of residual stress for flexible electronics.

Control of Systems With Slow Actuators Using Time Scale Separation

NASA Technical Reports Server (NTRS)

Stepanyan, Vehram; Nguyen, Nhan

2009-01-01

This paper addresses the problem of controlling a nonlinear plant with a slow actuator using singular perturbation method. For the known plant-actuator cascaded system the proposed scheme achieves tracking of a given reference model with considerably less control demand than would otherwise result when using conventional design techniques. This is the consequence of excluding the small parameter from the actuator dynamics via time scale separation. The resulting tracking error is within the order of this small parameter. For the unknown system the adaptive counterpart is developed based on the prediction model, which is driven towards the reference model by the control design. It is proven that the prediction model tracks the reference model with an error proportional to the small parameter, while the prediction error converges to zero. The resulting closed-loop system with all prediction models and adaptive laws remains stable. The benefits of the approach are demonstrated in simulation studies and compared to conventional control approaches.

An Optimal Control Modification to Model-Reference Adaptive Control for Fast Adaptation

NASA Technical Reports Server (NTRS)

Nguyen, Nhan T.; Krishnakumar, Kalmanje; Boskovic, Jovan

2008-01-01

This paper presents a method that can achieve fast adaptation for a class of model-reference adaptive control. It is well-known that standard model-reference adaptive control exhibits high-gain control behaviors when a large adaptive gain is used to achieve fast adaptation in order to reduce tracking error rapidly. High gain control creates high-frequency oscillations that can excite unmodeled dynamics and can lead to instability. The fast adaptation approach is based on the minimization of the squares of the tracking error, which is formulated as an optimal control problem. The necessary condition of optimality is used to derive an adaptive law using the gradient method. This adaptive law is shown to result in uniform boundedness of the tracking error by means of the Lyapunov s direct method. Furthermore, this adaptive law allows a large adaptive gain to be used without causing undesired high-gain control effects. The method is shown to be more robust than standard model-reference adaptive control. Simulations demonstrate the effectiveness of the proposed method.

The Investigation of Ghost Fluid Method for Simulating the Compressible Two-Medium Flow

NASA Astrophysics Data System (ADS)

Lu, Hai Tian; Zhao, Ning; Wang, Donghong

2016-06-01

In this paper, we investigate the conservation error of the two-dimensional compressible two-medium flow simulated by the front tracking method. As the improved versions of the original ghost fluid method, the modified ghost fluid method and the real ghost fluid method are selected to define the interface boundary conditions, respectively, to show different effects on the conservation error. A Riemann problem is constructed along the normal direction of the interface in the front tracking method, with the goal of obtaining an efficient procedure to track the explicit sharp interface precisely. The corresponding Riemann solutions are also used directly in these improved ghost fluid methods. Extensive numerical examples including the sod tube and the shock-bubble interaction are tested to calculate the conservation error. It is found that these two ghost fluid methods have distinctive performances for different initial conditions of the flow field, and the related conclusions are made to suggest the best choice for the combination.

Wind Retrieval Algorithms for the IWRAP and HIWRAP Airborne Doppler Radars with Applications to Hurricanes

NASA Technical Reports Server (NTRS)

Guimond, Stephen Richard; Tian, Lin; Heymsfield, Gerald M.; Frasier, Stephen J.

2013-01-01

Algorithms for the retrieval of atmospheric winds in precipitating systems from downward-pointing, conically-scanning airborne Doppler radars are presented. The focus in the paper is on two radars: the Imaging Wind and Rain Airborne Profiler(IWRAP) and the High-altitude IWRAP (HIWRAP). The IWRAP is a dual-frequency (Cand Ku band), multi-beam (incidence angles of 30 50) system that flies on the NOAAWP-3D aircraft at altitudes of 2-4 km. The HIWRAP is a dual-frequency (Ku and Kaband), dual-beam (incidence angles of 30 and 40) system that flies on the NASA Global Hawk aircraft at altitudes of 18-20 km. Retrievals of the three Cartesian wind components over the entire radar sampling volume are described, which can be determined using either a traditional least squares or variational solution procedure. The random errors in the retrievals are evaluated using both an error propagation analysis and a numerical simulation of a hurricane. These analyses show that the vertical and along-track wind errors have strong across-track dependence with values of 0.25 m s-1 at nadir to 2.0 m s-1 and 1.0 m s-1 at the swath edges, respectively. The across-track wind errors also have across-track structure and are on average, 3.0 3.5 m s-1 or 10 of the hurricane wind speed. For typical rotated figure four flight patterns through hurricanes, the zonal and meridional wind speed errors are 2 3 m s-1.Examples of measured data retrievals from IWRAP during an eyewall replacement cycle in Hurricane Isabel (2003) and from HIWRAP during the development of Tropical Storm Matthew (2010) are shown.

Performance Evaluation of Dual-axis Tracking System of Parabolic Trough Solar Collector

NASA Astrophysics Data System (ADS)

Ullah, Fahim; Min, Kang

2018-01-01

A parabolic trough solar collector with the concentration ratio of 24 was developed in the College of Engineering; Nanjing Agricultural University, China with the using of the TracePro software an optical model built. Effects of single-axis and dual-axis tracking modes, azimuth and elevating angle tracking errors on the optical performance were investigated and the thermal performance of the solar collector was experimentally measured. The results showed that the optical efficiency of the dual-axis tracking was 0.813% and its year average value was 14.3% and 40.9% higher than that of the eat-west tracking mode and north-south tracking mode respectively. Further, form the results of the experiment, it was concluded that the optical efficiency was affected significantly by the elevation angle tracking errors which should be kept below 0.6o. High optical efficiency could be attained by using dual-tracking mode even though the tracking precision of one axis was degraded. The real-time instantaneous thermal efficiency of the collector reached to 0.775%. In addition, the linearity of the normalized efficiency was favorable. The curve of the calculated thermal efficiency agreed well with the normalized instantaneous efficiency curve derived from the experimental data and the maximum difference between them was 10.3%. This type of solar collector should be applied in middle-scale thermal collection systems.

Robust tracking of a virtual electrode on a coronary sinus catheter for atrial fibrillation ablation procedures

NASA Astrophysics Data System (ADS)

Wu, Wen; Chen, Terrence; Strobel, Norbert; Comaniciu, Dorin

2012-02-01

Catheter tracking in X-ray fluoroscopic images has become more important in interventional applications for atrial fibrillation (AF) ablation procedures. It provides real-time guidance for the physicians and can be used as reference for motion compensation applications. In this paper, we propose a novel approach to track a virtual electrode (VE), which is a non-existing electrode on the coronary sinus (CS) catheter at a more proximal location than any real electrodes. Successful tracking of the VE can provide more accurate motion information than tracking of real electrodes. To achieve VE tracking, we first model the CS catheter as a set of electrodes which are detected by our previously published learning-based approach.1 The tracked electrodes are then used to generate the hypotheses for tracking the VE. Model-based hypotheses are fused and evaluated by a Bayesian framework. Evaluation has been conducted on a database of clinical AF ablation data including challenging scenarios such as low signal-to-noise ratio (SNR), occlusion and nonrigid deformation. Our approach obtains 0.54mm median error and 90% of evaluated data have errors less than 1.67mm. The speed of our tracking algorithm reaches 6 frames-per-second on most data. Our study on motion compensation shows that using the VE as reference provides a good point to detect non-physiological catheter motion during the AF ablation procedures.2

The Statistical Loop Analyzer (SLA)

NASA Technical Reports Server (NTRS)

Lindsey, W. C.

1985-01-01

The statistical loop analyzer (SLA) is designed to automatically measure the acquisition, tracking and frequency stability performance characteristics of symbol synchronizers, code synchronizers, carrier tracking loops, and coherent transponders. Automated phase lock and system level tests can also be made using the SLA. Standard baseband, carrier and spread spectrum modulation techniques can be accomodated. Through the SLA's phase error jitter and cycle slip measurements the acquisition and tracking thresholds of the unit under test are determined; any false phase and frequency lock events are statistically analyzed and reported in the SLA output in probabilistic terms. Automated signal drop out tests can be performed in order to trouble shoot algorithms and evaluate the reacquisition statistics of the unit under test. Cycle slip rates and cycle slip probabilities can be measured using the SLA. These measurements, combined with bit error probability measurements, are all that are needed to fully characterize the acquisition and tracking performance of a digital communication system.

GTARG - The TOPEX/Poseidon ground track maintenance maneuver targeting program

NASA Technical Reports Server (NTRS)

Shapiro, Bruce E.; Bhat, Ramachandra S.

1993-01-01

GTARG is a computer program used to design orbit maintenance maneuvers for the TOPEX/Poseidon satellite. These maneuvers ensure that the ground track is kept within +/-1 km with of an = 9.9 day exact repeat pattern. Maneuver parameters are determined using either of two targeting strategies: longitude targeting, which maximizes the time between maneuvers, and time targeting, in which maneuvers are targeted to occur at specific intervals. The GTARG algorithm propagates nonsingular mean elements, taking into account anticipated error sigma's in orbit determination, Delta v execution, drag prediction and Delta v quantization. A satellite unique drag model is used which incorporates an approximate mean orbital Jacchia-Roberts atmosphere and a variable mean area model. Maneuver Delta v magnitudes are targeted to precisely maintain either the unbiased ground track itself, or a comfortable (3 sigma) error envelope about the unbiased ground track.

Experimental study of adaptive pointing and tracking for large flexible space structures

NASA Technical Reports Server (NTRS)

Boussalis, D.; Bayard, D. S.; Ih, C.; Wang, S. J.; Ahmed, A.

1991-01-01

This paper describes an experimental study of adaptive pointing and tracking control for flexible spacecraft conducted on a complex ground experiment facility. The algorithm used in this study is based on a multivariable direct model reference adaptive control law. Several experimental validation studies were performed earlier using this algorithm for vibration damping and robust regulation, with excellent results. The current work extends previous studies by addressing the pointing and tracking problem. As is consistent with an adaptive control framework, the plant is assumed to be poorly known to the extent that only system level knowledge of its dynamics is available. Explicit bounds on the steady-state pointing error are derived as functions of the adaptive controller design parameters. It is shown that good tracking performance can be achieved in an experimental setting by adjusting adaptive controller design weightings according to the guidelines indicated by the analytical expressions for the error.

Summary of Aqua, Aura, and Terra High Interest Events

NASA Technical Reports Server (NTRS)

Newman, Lauri

2015-01-01

Single-obs tracking Sparsely tracked objects are an unfortunate reality of CARA operations Terra vs. 32081: new track with bad data was included in OD solution for secondary object and risk became high CARA and JSpOC discussed tracking and OSAs threw out the bad data. Event no longer presented high risk based on new OD Improvement: CARA now sends JSpOC a flag indicating when a single obs is included, so OSAs can evaluate if manual update to OD is required. Missing ASW OCMsAura vs. 87178, TCA: 317 at 08:04 UTC. Post-maneuver risk (conjunction was identified in OO results)CARA confirmed with JSpOC that ASW OCMs should have been received in addition to OO OCMsJSpOC corrected the manual error in their script that prevented the data from being delivered to CARAJSpOC QAd their other scripts to ensure this error did not exist in other places.

Untrained users derail your caboose? Learn to get on track

NASA Technical Reports Server (NTRS)

Bentley-Smith, M.

2000-01-01

You've implemented Oracle, and low-and-behold, your users can't bear it. They're making costly errors, finding creative work-arounds, and being mavericks with your system, because user training wasn't on track. This paper discusses how to build a proactive, comprehensive training program to get your users back on track.

SU-E-J-108: Template Matching Based On Multiple Templates Can Improve the Tumor Tracking Performance When There Is Large Tumor Deformation

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

Shi, X; Lin, J; Diwanji, T

2014-06-01

Purpose: Recently, template matching has been shown to be able to track tumor motion on cine-MRI images. However, artifacts such as deformation, rotation, and/or out-of-plane movement could seriously degrade the performance of this technique. In this work, we demonstrate the utility of multiple templates derived from different phases of tumor motion in reducing the negative effects of artifacts and improving the accuracy of template matching methods. Methods: Data from 2 patients with large tumors and significant tumor deformation were analyzed from a group of 12 patients from an earlier study. Cine-MRI (200 frames) imaging was performed while the patients weremore » instructed to breathe normally. Ground truth tumor position was established on each frame manually by a radiation oncologist. Tumor positions were also automatically determined using template matching with either single or multiple (5) templates. The tracking errors, defined as the absolute differences in tumor positions determined by the manual and automated methods, when using either single or multiple templates were compared in both the AP and SI directions, respectively. Results: Using multiple templates reduced the tracking error of template matching. In the SI direction where the tumor movement and deformation were significant, the mean tracking error decreased from 1.94 mm to 0.91 mm (Patient 1) and from 6.61 mm to 2.06 mm (Patient 2). In the AP direction where the tumor movement was small, the reduction of the mean tracking error was significant in Patient 1 (from 3.36 mm to 1.04 mm), but not in Patient 2 ( from 3.86 mm to 3.80 mm). Conclusion: This study shows the effectiveness of using multiple templates in improving the performance of template matching when artifacts like large tumor deformation or out-of-plane motion exists. Accurate tumor tracking capabilities can be integrated with MRI guided radiation therapy systems. This work was supported in part by grants from NIH/NCI CA 124766 and Varian Medical Systems, Palo Alto, CA.« less

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

NASA Astrophysics Data System (ADS)

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

2017-09-01

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

CDI Sensitivity and Crosstrack Error on Nonprecision Approaches

DOT National Transportation Integrated Search

1991-01-01

This study was conducted to determine the influence of course deviation : indicator (CDI) sensitivity on pilot tracking error during nonprecision approaches. : Twelve pilots flew an instrumented single-engine airplane on 144 approaches at six : diffe...

Enhancing the Use of Argos Satellite Data for Home Range and Long Distance Migration Studies of Marine Animals

PubMed Central

Hoenner, Xavier; Whiting, Scott D.; Hindell, Mark A.; McMahon, Clive R.

2012-01-01

Accurately quantifying animals’ spatial utilisation is critical for conservation, but has long remained an elusive goal due to technological impediments. The Argos telemetry system has been extensively used to remotely track marine animals, however location estimates are characterised by substantial spatial error. State-space models (SSM) constitute a robust statistical approach to refine Argos tracking data by accounting for observation errors and stochasticity in animal movement. Despite their wide use in ecology, few studies have thoroughly quantified the error associated with SSM predicted locations and no research has assessed their validity for describing animal movement behaviour. We compared home ranges and migratory pathways of seven hawksbill sea turtles (Eretmochelys imbricata) estimated from (a) highly accurate Fastloc GPS data and (b) locations computed using common Argos data analytical approaches. Argos 68th percentile error was <1 km for LC 1, 2, and 3 while markedly less accurate (>4 km) for LC ≤0. Argos error structure was highly longitudinally skewed and was, for all LC, adequately modelled by a Student’s t distribution. Both habitat use and migration routes were best recreated using SSM locations post-processed by re-adding good Argos positions (LC 1, 2 and 3) and filtering terrestrial points (mean distance to migratory tracks ± SD = 2.2±2.4 km; mean home range overlap and error ratio  = 92.2% and 285.6 respectively). This parsimonious and objective statistical procedure however still markedly overestimated true home range sizes, especially for animals exhibiting restricted movements. Post-processing SSM locations nonetheless constitutes the best analytical technique for remotely sensed Argos tracking data and we therefore recommend using this approach to rework historical Argos datasets for better estimation of animal spatial utilisation for research and evidence-based conservation purposes. PMID:22808241

Optimal preview control for a linear continuous-time stochastic control system in finite-time horizon

NASA Astrophysics Data System (ADS)

Wu, Jiang; Liao, Fucheng; Tomizuka, Masayoshi

2017-01-01

This paper discusses the design of the optimal preview controller for a linear continuous-time stochastic control system in finite-time horizon, using the method of augmented error system. First, an assistant system is introduced for state shifting. Then, in order to overcome the difficulty of the state equation of the stochastic control system being unable to be differentiated because of Brownian motion, the integrator is introduced. Thus, the augmented error system which contains the integrator vector, control input, reference signal, error vector and state of the system is reconstructed. This leads to the tracking problem of the optimal preview control of the linear stochastic control system being transformed into the optimal output tracking problem of the augmented error system. With the method of dynamic programming in the theory of stochastic control, the optimal controller with previewable signals of the augmented error system being equal to the controller of the original system is obtained. Finally, numerical simulations show the effectiveness of the controller.

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

NASA Technical Reports Server (NTRS)

Thibodeaux, J. J.

1977-01-01

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

A preliminary estimate of geoid-induced variations in repeat orbit satellite altimeter observations

NASA Technical Reports Server (NTRS)

Brenner, Anita C.; Beckley, B. D.; Koblinsky, C. J.

1990-01-01

Altimeter satellites are often maintained in a repeating orbit to facilitate the separation of sea-height variations from the geoid. However, atmospheric drag and solar radiation pressure cause a satellite orbit to drift. For Geosat this drift causes the ground track to vary by + or - 1 km about the nominal repeat path. This misalignment leads to an error in the estimates of sea surface height variations because of the local slope in the geoid. This error has been estimated globally for the Geosat Exact Repeat Mission using a mean sea surface constructed from Geos 3 and Seasat altimeter data. Over most of the ocean the geoid gradient is small, and the repeat-track misalignment leads to errors of only 1 to 2 cm. However, in the vicinity of trenches, continental shelves, islands, and seamounts, errors can exceed 20 cm. The estimated error is compared with direct estimates from Geosat altimetry, and a strong correlation is found in the vicinity of the Tonga and Aleutian trenches. This correlation increases as the orbit error is reduced because of the increased signal-to-noise ratio.

Determining residual reduction algorithm kinematic tracking weights for a sidestep cut via numerical optimization.

PubMed

Samaan, Michael A; Weinhandl, Joshua T; Bawab, Sebastian Y; Ringleb, Stacie I

2016-12-01

Musculoskeletal modeling allows for the determination of various parameters during dynamic maneuvers by using in vivo kinematic and ground reaction force (GRF) data as inputs. Differences between experimental and model marker data and inconsistencies in the GRFs applied to these musculoskeletal models may not produce accurate simulations. Therefore, residual forces and moments are applied to these models in order to reduce these differences. Numerical optimization techniques can be used to determine optimal tracking weights of each degree of freedom of a musculoskeletal model in order to reduce differences between the experimental and model marker data as well as residual forces and moments. In this study, the particle swarm optimization (PSO) and simplex simulated annealing (SIMPSA) algorithms were used to determine optimal tracking weights for the simulation of a sidestep cut. The PSO and SIMPSA algorithms were able to produce model kinematics that were within 1.4° of experimental kinematics with residual forces and moments of less than 10 N and 18 Nm, respectively. The PSO algorithm was able to replicate the experimental kinematic data more closely and produce more dynamically consistent kinematic data for a sidestep cut compared to the SIMPSA algorithm. Future studies should use external optimization routines to determine dynamically consistent kinematic data and report the differences between experimental and model data for these musculoskeletal simulations.

Distributed Multisensor Fusion System Specification and Evaluation Issues

DTIC Science & Technology

2005-10-01

incest , results in tracks that have an error that is increased, but a reported uncertainty that is erroneously decreased [McLaughlin, Evans...surveillance pic - ture are the number of omitted tracks, the number of false tracks and the num- ber of duplicated tracks. These are similar to some of the...1023–7. McLaughlin, S. P., Evans, R. J. & Krishnamurthy, V. (2003) Data incest removal in a survivable estimation fusion architecture, in Proceedings

A Solar Position Sensor Based on Image Vision.

PubMed

Ruelas, Adolfo; Velázquez, Nicolás; Villa-Angulo, Carlos; Acuña, Alexis; Rosales, Pedro; Suastegui, José

2017-07-29

Solar collector technologies operate with better performance when the Sun beam direction is normal to the capturing surface, and for that to happen despite the relative movement of the Sun, solar tracking systems are used, therefore, there are rules and standards that need minimum accuracy for these tracking systems to be used in solar collectors' evaluation. Obtaining accuracy is not an easy job, hence in this document the design, construction and characterization of a sensor based on a visual system that finds the relative azimuth error and height of the solar surface of interest, is presented. With these characteristics, the sensor can be used as a reference in control systems and their evaluation. The proposed sensor is based on a microcontroller with a real-time clock, inertial measurement sensors, geolocation and a vision sensor, that obtains the angle of incidence from the sunrays' direction as well as the tilt and sensor position. The sensor's characterization proved how a measurement of a focus error or a Sun position can be made, with an accuracy of 0.0426° and an uncertainty of 0.986%, which can be modified to reach an accuracy under 0.01°. The validation of this sensor was determined showing the focus error on one of the best commercial solar tracking systems, a Kipp & Zonen SOLYS 2. To conclude, the solar tracking sensor based on a vision system meets the Sun detection requirements and components that meet the accuracy conditions to be used in solar tracking systems and their evaluation or, as a tracking and orientation tool, on photovoltaic installations and solar collectors.

A Solar Position Sensor Based on Image Vision

PubMed Central

Ruelas, Adolfo; Velázquez, Nicolás; Villa-Angulo, Carlos; Rosales, Pedro; Suastegui, José

2017-01-01

Solar collector technologies operate with better performance when the Sun beam direction is normal to the capturing surface, and for that to happen despite the relative movement of the Sun, solar tracking systems are used, therefore, there are rules and standards that need minimum accuracy for these tracking systems to be used in solar collectors’ evaluation. Obtaining accuracy is not an easy job, hence in this document the design, construction and characterization of a sensor based on a visual system that finds the relative azimuth error and height of the solar surface of interest, is presented. With these characteristics, the sensor can be used as a reference in control systems and their evaluation. The proposed sensor is based on a microcontroller with a real-time clock, inertial measurement sensors, geolocation and a vision sensor, that obtains the angle of incidence from the sunrays’ direction as well as the tilt and sensor position. The sensor’s characterization proved how a measurement of a focus error or a Sun position can be made, with an accuracy of 0.0426° and an uncertainty of 0.986%, which can be modified to reach an accuracy under 0.01°. The validation of this sensor was determined showing the focus error on one of the best commercial solar tracking systems, a Kipp & Zonen SOLYS 2. To conclude, the solar tracking sensor based on a vision system meets the Sun detection requirements and components that meet the accuracy conditions to be used in solar tracking systems and their evaluation or, as a tracking and orientation tool, on photovoltaic installations and solar collectors. PMID:28758935

Speeding up Coarse Point Cloud Registration by Threshold-Independent Baysac Match Selection

NASA Astrophysics Data System (ADS)

Kang, Z.; Lindenbergh, R.; Pu, S.

2016-06-01

This paper presents an algorithm for the automatic registration of terrestrial point clouds by match selection using an efficiently conditional sampling method -- threshold-independent BaySAC (BAYes SAmpling Consensus) and employs the error metric of average point-to-surface residual to reduce the random measurement error and then approach the real registration error. BaySAC and other basic sampling algorithms usually need to artificially determine a threshold by which inlier points are identified, which leads to a threshold-dependent verification process. Therefore, we applied the LMedS method to construct the cost function that is used to determine the optimum model to reduce the influence of human factors and improve the robustness of the model estimate. Point-to-point and point-to-surface error metrics are most commonly used. However, point-to-point error in general consists of at least two components, random measurement error and systematic error as a result of a remaining error in the found rigid body transformation. Thus we employ the measure of the average point-to-surface residual to evaluate the registration accuracy. The proposed approaches, together with a traditional RANSAC approach, are tested on four data sets acquired by three different scanners in terms of their computational efficiency and quality of the final registration. The registration results show the st.dev of the average point-to-surface residuals is reduced from 1.4 cm (plain RANSAC) to 0.5 cm (threshold-independent BaySAC). The results also show that, compared to the performance of RANSAC, our BaySAC strategies lead to less iterations and cheaper computational cost when the hypothesis set is contaminated with more outliers.

Nonlinear robust control of hypersonic aircrafts with interactions between flight dynamics and propulsion systems.

PubMed

Li, Zhaoying; Zhou, Wenjie; Liu, Hao

2016-09-01

This paper addresses the nonlinear robust tracking controller design problem for hypersonic vehicles. This problem is challenging due to strong coupling between the aerodynamics and the propulsion system, and the uncertainties involved in the vehicle dynamics including parametric uncertainties, unmodeled model uncertainties, and external disturbances. By utilizing the feedback linearization technique, a linear tracking error system is established with prescribed references. For the linear model, a robust controller is proposed based on the signal compensation theory to guarantee that the tracking error dynamics is robustly stable. Numerical simulation results are given to show the advantages of the proposed nonlinear robust control method, compared to the robust loop-shaping control approach. Copyright © 2016 ISA. Published by Elsevier Ltd. All rights reserved.

Force and Directional Force Modulation Effects on Accuracy and Variability in Low-Level Pinch Force Tracking.

PubMed

Park, Sangsoo; Spirduso, Waneen; Eakin, Tim; Abraham, Lawrence

2018-01-01

The authors investigated how varying the required low-level forces and the direction of force change affect accuracy and variability of force production in a cyclic isometric pinch force tracking task. Eighteen healthy right-handed adult volunteers performed the tracking task over 3 different force ranges. Root mean square error and coefficient of variation were higher at lower force levels and during minimum reversals compared with maximum reversals. Overall, the thumb showed greater root mean square error and coefficient of variation scores than did the index finger during maximum reversals, but not during minimum reversals. The observed impaired performance during minimum reversals might originate from history-dependent mechanisms of force production and highly coupled 2-digit performance.

Errors in laboratory medicine: practical lessons to improve patient safety.

PubMed

Howanitz, Peter J

2005-10-01

Patient safety is influenced by the frequency and seriousness of errors that occur in the health care system. Error rates in laboratory practices are collected routinely for a variety of performance measures in all clinical pathology laboratories in the United States, but a list of critical performance measures has not yet been recommended. The most extensive databases describing error rates in pathology were developed and are maintained by the College of American Pathologists (CAP). These databases include the CAP's Q-Probes and Q-Tracks programs, which provide information on error rates from more than 130 interlaboratory studies. To define critical performance measures in laboratory medicine, describe error rates of these measures, and provide suggestions to decrease these errors, thereby ultimately improving patient safety. A review of experiences from Q-Probes and Q-Tracks studies supplemented with other studies cited in the literature. Q-Probes studies are carried out as time-limited studies lasting 1 to 4 months and have been conducted since 1989. In contrast, Q-Tracks investigations are ongoing studies performed on a yearly basis and have been conducted only since 1998. Participants from institutions throughout the world simultaneously conducted these studies according to specified scientific designs. The CAP has collected and summarized data for participants about these performance measures, including the significance of errors, the magnitude of error rates, tactics for error reduction, and willingness to implement each of these performance measures. A list of recommended performance measures, the frequency of errors when these performance measures were studied, and suggestions to improve patient safety by reducing these errors. Error rates for preanalytic and postanalytic performance measures were higher than for analytic measures. Eight performance measures were identified, including customer satisfaction, test turnaround times, patient identification, specimen acceptability, proficiency testing, critical value reporting, blood product wastage, and blood culture contamination. Error rate benchmarks for these performance measures were cited and recommendations for improving patient safety presented. Not only has each of the 8 performance measures proven practical, useful, and important for patient care, taken together, they also fulfill regulatory requirements. All laboratories should consider implementing these performance measures and standardizing their own scientific designs, data analysis, and error reduction strategies according to findings from these published studies.

Fluoroscopic tumor tracking for image-guided lung cancer radiotherapy

NASA Astrophysics Data System (ADS)

Lin, Tong; Cerviño, Laura I.; Tang, Xiaoli; Vasconcelos, Nuno; Jiang, Steve B.

2009-02-01

Accurate lung tumor tracking in real time is a keystone to image-guided radiotherapy of lung cancers. Existing lung tumor tracking approaches can be roughly grouped into three categories: (1) deriving tumor position from external surrogates; (2) tracking implanted fiducial markers fluoroscopically or electromagnetically; (3) fluoroscopically tracking lung tumor without implanted fiducial markers. The first approach suffers from insufficient accuracy, while the second may not be widely accepted due to the risk of pneumothorax. Previous studies in fluoroscopic markerless tracking are mainly based on template matching methods, which may fail when the tumor boundary is unclear in fluoroscopic images. In this paper we propose a novel markerless tumor tracking algorithm, which employs the correlation between the tumor position and surrogate anatomic features in the image. The positions of the surrogate features are not directly tracked; instead, we use principal component analysis of regions of interest containing them to obtain parametric representations of their motion patterns. Then, the tumor position can be predicted from the parametric representations of surrogates through regression. Four regression methods were tested in this study: linear and two-degree polynomial regression, artificial neural network (ANN) and support vector machine (SVM). The experimental results based on fluoroscopic sequences of ten lung cancer patients demonstrate a mean tracking error of 2.1 pixels and a maximum error at a 95% confidence level of 4.6 pixels (pixel size is about 0.5 mm) for the proposed tracking algorithm.

A discontinuous Poisson-Boltzmann equation with interfacial jump: homogenisation and residual error estimate.

PubMed

Fellner, Klemens; Kovtunenko, Victor A

2016-01-01

A nonlinear Poisson-Boltzmann equation with inhomogeneous Robin type boundary conditions at the interface between two materials is investigated. The model describes the electrostatic potential generated by a vector of ion concentrations in a periodic multiphase medium with dilute solid particles. The key issue stems from interfacial jumps, which necessitate discontinuous solutions to the problem. Based on variational techniques, we derive the homogenisation of the discontinuous problem and establish a rigorous residual error estimate up to the first-order correction.

Load environment of rail joint bars - phase I, effects of track parameters on rail joint stresses and crack growth.

DOT National Transportation Integrated Search

2013-04-01

The load environment of joint bars was assessed under a variety of loading and track conditions. Bending stresses, thermal stresses, and residual stresses were measured on commonly used joint bars. Crack growth rates from artificially induced cracks ...

Towards designing an optical-flow based colonoscopy tracking algorithm: a comparative study

NASA Astrophysics Data System (ADS)

Liu, Jianfei; Subramanian, Kalpathi R.; Yoo, Terry S.

2013-03-01

Automatic co-alignment of optical and virtual colonoscopy images can supplement traditional endoscopic procedures, by providing more complete information of clinical value to the gastroenterologist. In this work, we present a comparative analysis of our optical flow based technique for colonoscopy tracking, in relation to current state of the art methods, in terms of tracking accuracy, system stability, and computational efficiency. Our optical-flow based colonoscopy tracking algorithm starts with computing multi-scale dense and sparse optical flow fields to measure image displacements. Camera motion parameters are then determined from optical flow fields by employing a Focus of Expansion (FOE) constrained egomotion estimation scheme. We analyze the design choices involved in the three major components of our algorithm: dense optical flow, sparse optical flow, and egomotion estimation. Brox's optical flow method,1 due to its high accuracy, was used to compare and evaluate our multi-scale dense optical flow scheme. SIFT6 and Harris-affine features7 were used to assess the accuracy of the multi-scale sparse optical flow, because of their wide use in tracking applications; the FOE-constrained egomotion estimation was compared with collinear,2 image deformation10 and image derivative4 based egomotion estimation methods, to understand the stability of our tracking system. Two virtual colonoscopy (VC) image sequences were used in the study, since the exact camera parameters(for each frame) were known; dense optical flow results indicated that Brox's method was superior to multi-scale dense optical flow in estimating camera rotational velocities, but the final tracking errors were comparable, viz., 6mm vs. 8mm after the VC camera traveled 110mm. Our approach was computationally more efficient, averaging 7.2 sec. vs. 38 sec. per frame. SIFT and Harris affine features resulted in tracking errors of up to 70mm, while our sparse optical flow error was 6mm. The comparison among egomotion estimation algorithms showed that our FOE-constrained egomotion estimation method achieved the optimal balance between tracking accuracy and robustness. The comparative study demonstrated that our optical-flow based colonoscopy tracking algorithm maintains good accuracy and stability for routine use in clinical practice.

Optimal Dynamic Strategies for Index Tracking and Algorithmic Trading

NASA Astrophysics Data System (ADS)

Ward, Brian

In this thesis we study dynamic strategies for index tracking and algorithmic trading. Tracking problems have become ever more important in Financial Engineering as investors seek to precisely control their portfolio risks and exposures over different time horizons. This thesis analyzes various tracking problems and elucidates the tracking errors and strategies one can employ to minimize those errors and maximize profit. In Chapters 2 and 3, we study the empirical tracking properties of exchange traded funds (ETFs), leveraged ETFs (LETFs), and futures products related to spot gold and the Chicago Board Option Exchange (CBOE) Volatility Index (VIX), respectively. These two markets provide interesting and differing examples for understanding index tracking. We find that static strategies work well in the nonleveraged case for gold, but fail to track well in the corresponding leveraged case. For VIX, tracking via neither ETFs, nor futures\\ portfolios succeeds, even in the nonleveraged case. This motivates the need for dynamic strategies, some of which we construct in these two chapters and further expand on in Chapter 4. There, we analyze a framework for index tracking and risk exposure control through financial derivatives. We derive a tracking condition that restricts our exposure choices and also define a slippage process that characterizes the deviations from the index over longer horizons. The framework is applied to a number of models, for example, Black Scholes model and Heston model for equity index tracking, as well as the Square Root (SQR) model and the Concatenated Square Root (CSQR) model for VIX tracking. By specifying how each of these models fall into our framework, we are able to understand the tracking errors in each of these models. Finally, Chapter 5 analyzes a tracking problem of a different kind that arises in algorithmic trading: schedule following for optimal execution. We formulate and solve a stochastic control problem to obtain the optimal trading rates using both market and limit orders. There is a quadratic terminal penalty to ensure complete liquidation as well as a trade speed limiter and trader director to provide better control on the trading rates. The latter two penalties allow the trader to tailor the magnitude and sign (respectively) of the optimal trading rates. We demonstrate the applicability of the model to following a benchmark schedule. In addition, we identify conditions on the model parameters to ensure optimality of the controls and finiteness of the associated value functions. Throughout the chapter, numerical simulations are provided to demonstrate the properties of the optimal trading rates.

Test-to-Test Repeatability of Results From a Subsonic Wing-Body Configuration in the National Transonic Facility

NASA Technical Reports Server (NTRS)

Mineck, Raymond E.; Pendergraft, Odis C., Jr.

2000-01-01

Results from three wind tunnel tests in the National Transonic Facility of a model of an advanced-technology, subsonic-transport wing-body configuration have been analyzed to assess the test-to-test repeatability of several aerodynamic parameters. The scatter, as measured by the prediction interval, in the longitudinal force and moment coefficients increases as the Mach number increases. Residual errors with and without the ESP tubes installed suggest a bias leading to lower drag with the tubes installed. Residual errors as well as average values of the longitudinal force and moment coefficients show that there are small bias errors between the different tests.

Low relative error in consumer-grade GPS units make them ideal for measuring small-scale animal movement patterns

PubMed Central

Severns, Paul M.

2015-01-01

Consumer-grade GPS units are a staple of modern field ecology, but the relatively large error radii reported by manufacturers (up to 10 m) ostensibly precludes their utility in measuring fine-scale movement of small animals such as insects. Here we demonstrate that for data collected at fine spatio-temporal scales, these devices can produce exceptionally accurate data on step-length and movement patterns of small animals. With an understanding of the properties of GPS error and how it arises, it is possible, using a simple field protocol, to use consumer grade GPS units to collect step-length data for the movement of small animals that introduces a median error as small as 11 cm. These small error rates were measured in controlled observations of real butterfly movement. Similar conclusions were reached using a ground-truth test track prepared with a field tape and compass and subsequently measured 20 times using the same methodology as the butterfly tracking. Median error in the ground-truth track was slightly higher than the field data, mostly between 20 and 30 cm, but even for the smallest ground-truth step (70 cm), this is still a signal-to-noise ratio of 3:1, and for steps of 3 m or more, the ratio is greater than 10:1. Such small errors relative to the movements being measured make these inexpensive units useful for measuring insect and other small animal movements on small to intermediate scales with budgets orders of magnitude lower than survey-grade units used in past studies. As an additional advantage, these units are simpler to operate, and insect or other small animal trackways can be collected more quickly than either survey-grade units or more traditional ruler/gird approaches. PMID:26312190

Low relative error in consumer-grade GPS units make them ideal for measuring small-scale animal movement patterns.

PubMed

Breed, Greg A; Severns, Paul M

2015-01-01

Consumer-grade GPS units are a staple of modern field ecology, but the relatively large error radii reported by manufacturers (up to 10 m) ostensibly precludes their utility in measuring fine-scale movement of small animals such as insects. Here we demonstrate that for data collected at fine spatio-temporal scales, these devices can produce exceptionally accurate data on step-length and movement patterns of small animals. With an understanding of the properties of GPS error and how it arises, it is possible, using a simple field protocol, to use consumer grade GPS units to collect step-length data for the movement of small animals that introduces a median error as small as 11 cm. These small error rates were measured in controlled observations of real butterfly movement. Similar conclusions were reached using a ground-truth test track prepared with a field tape and compass and subsequently measured 20 times using the same methodology as the butterfly tracking. Median error in the ground-truth track was slightly higher than the field data, mostly between 20 and 30 cm, but even for the smallest ground-truth step (70 cm), this is still a signal-to-noise ratio of 3:1, and for steps of 3 m or more, the ratio is greater than 10:1. Such small errors relative to the movements being measured make these inexpensive units useful for measuring insect and other small animal movements on small to intermediate scales with budgets orders of magnitude lower than survey-grade units used in past studies. As an additional advantage, these units are simpler to operate, and insect or other small animal trackways can be collected more quickly than either survey-grade units or more traditional ruler/gird approaches.

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

NASA Astrophysics Data System (ADS)

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

2014-07-01

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

Virtual rigid body: a new optical tracking paradigm in image-guided interventions

NASA Astrophysics Data System (ADS)

Cheng, Alexis; Lee, David S.; Deshmukh, Nishikant; Boctor, Emad M.

2015-03-01

Tracking technology is often necessary for image-guided surgical interventions. Optical tracking is one the options, but it suffers from line of sight and workspace limitations. Optical tracking is accomplished by attaching a rigid body marker, having a pattern for pose detection, onto a tool or device. A larger rigid body results in more accurate tracking, but at the same time large size limits its usage in a crowded surgical workspace. This work presents a prototype of a novel optical tracking method using a virtual rigid body (VRB). We define the VRB as a 3D rigid body marker in the form of pattern on a surface generated from a light source. Its pose can be recovered by observing the projected pattern with a stereo-camera system. The rigid body's size is no longer physically limited as we can manufacture small size light sources. Conventional optical tracking also requires line of sight to the rigid body. VRB overcomes these limitations by detecting a pattern projected onto the surface. We can project the pattern onto a region of interest, allowing the pattern to always be in the view of the optical tracker. This helps to decrease the occurrence of occlusions. This manuscript describes the method and results compared with conventional optical tracking in an experiment setup using known motions. The experiments are done using an optical tracker and a linear-stage, resulting in targeting errors of 0.38mm+/-0.28mm with our method compared to 0.23mm+/-0.22mm with conventional optical markers. Another experiment that replaced the linear stage with a robot arm resulted in rotational errors of 0.50+/-0.31° and 2.68+/-2.20° and the translation errors of 0.18+/-0.10 mm and 0.03+/-0.02 mm respectively.

Conical-scan tracking with the 64-m-diameter antenna at goldstone

NASA Technical Reports Server (NTRS)

Ohlson, J. E.; Reid, M. S.

1976-01-01

The theory and experimental work which demonstrated the feasibility of conical-scan tracking with a 64 m diameter paraboloid antenna is documented. The purpose of this scheme is to actively track spacecraft and radio sources continuously with an accuracy superior to that obtained by manual correction of the computer driven pointing. The conical-scan implementation gives increased tracking accuracy with X-band spacecraft signals, as demonstrated in the Mariner Venus/Mercury 1973 mission. Also, the high accuracy and ease of measurement with conical-scan tracking allow evaluation of systematic and random antenna tracking errors.

Adaptive quaternion tracking with nonlinear extended state observer

NASA Astrophysics Data System (ADS)

Bai, Yu-liang; Wang, Xiao-gang; Xu, Jiang-tao; Cui, Nai-gang

2017-10-01

This paper addresses the problem of attitude tracking for spacecraft in the presence of uncertainties in moments of inertia and environmental disturbances. An adaptive quaternion tracking control is combined with a nonlinear extended state observer and the disturbances compensated for in each sampling period. The tracking controller is proved to asymptotically track a prescribed motion in the presence of these uncertainties. Simulations of a nano-spacecraft demonstrate a significant improvement in pointing accuracy and tracking error when compared to a conventional attitude controller. The proposed tracking control is completely deterministic, simple to implement, does not require knowledge of the uncertainties and does not suffer from chattering.

Stereovision-based integrated system for point cloud reconstruction and simulated brain shift validation.

PubMed

Yang, Xiaochen; Clements, Logan W; Luo, Ma; Narasimhan, Saramati; Thompson, Reid C; Dawant, Benoit M; Miga, Michael I

2017-07-01

Intraoperative soft tissue deformation, referred to as brain shift, compromises the application of current image-guided surgery navigation systems in neurosurgery. A computational model driven by sparse data has been proposed as a cost-effective method to compensate for cortical surface and volumetric displacements. We present a mock environment developed to acquire stereoimages from a tracked operating microscope and to reconstruct three-dimensional point clouds from these images. A reconstruction error of 1 mm is estimated by using a phantom with a known geometry and independently measured deformation extent. The microscope is tracked via an attached tracking rigid body that facilitates the recording of the position of the microscope via a commercial optical tracking system as it moves during the procedure. Point clouds, reconstructed under different microscope positions, are registered into the same space to compute the feature displacements. Using our mock craniotomy device, realistic cortical deformations are generated. When comparing our tracked microscope stereo-pair measure of mock vessel displacements to that of the measurement determined by the independent optically tracked stylus marking, the displacement error was [Formula: see text] on average. These results demonstrate the practicality of using tracked stereoscopic microscope as an alternative to laser range scanners to collect sufficient intraoperative information for brain shift correction.

Intelligent Photovoltaic Systems by Combining the Improved Perturbation Method of Observation and Sun Location Tracking.

PubMed

Wang, Yajie; Shi, Yunbo; Yu, Xiaoyu; Liu, Yongjie

2016-01-01

Currently, tracking in photovoltaic (PV) systems suffers from some problems such as high energy consumption, poor anti-interference performance, and large tracking errors. This paper presents a solar PV tracking system on the basis of an improved perturbation and observation method, which maximizes photoelectric conversion efficiency. According to the projection principle, we design a sensor module with a light-intensity-detection module for environmental light-intensity measurement. The effect of environmental factors on the system operation is reduced, and intelligent identification of the weather is realized. This system adopts the discrete-type tracking method to reduce power consumption. A mechanical structure with a level-pitch double-degree-of-freedom is designed, and attitude correction is performed by closed-loop control. A worm-and-gear mechanism is added, and the reliability, stability, and precision of the system are improved. Finally, the perturbation and observation method designed and improved by this study was tested by simulated experiments. The experiments verified that the photoelectric sensor resolution can reach 0.344°, the tracking error is less than 2.5°, the largest improvement in the charge efficiency can reach 44.5%, and the system steadily and reliably works.

Intelligent Photovoltaic Systems by Combining the Improved Perturbation Method of Observation and Sun Location Tracking

PubMed Central

Wang, Yajie; Shi, Yunbo; Yu, Xiaoyu; Liu, Yongjie

2016-01-01

Currently, tracking in photovoltaic (PV) systems suffers from some problems such as high energy consumption, poor anti-interference performance, and large tracking errors. This paper presents a solar PV tracking system on the basis of an improved perturbation and observation method, which maximizes photoelectric conversion efficiency. According to the projection principle, we design a sensor module with a light-intensity-detection module for environmental light-intensity measurement. The effect of environmental factors on the system operation is reduced, and intelligent identification of the weather is realized. This system adopts the discrete-type tracking method to reduce power consumption. A mechanical structure with a level-pitch double-degree-of-freedom is designed, and attitude correction is performed by closed-loop control. A worm-and-gear mechanism is added, and the reliability, stability, and precision of the system are improved. Finally, the perturbation and observation method designed and improved by this study was tested by simulated experiments. The experiments verified that the photoelectric sensor resolution can reach 0.344°, the tracking error is less than 2.5°, the largest improvement in the charge efficiency can reach 44.5%, and the system steadily and reliably works. PMID:27327657

UCAC3: ASTROMETRIC REDUCTIONS

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

Finch, Charlie T.; Zacharias, Norbert; Wycoff, Gary L., E-mail: finch@usno.navy.mi

2010-06-15

Presented here are the details of the astrometric reductions from the x, y data to mean right ascension (R.A.), declination (decl.) coordinates of the third U.S. Naval Observatory CCD Astrograph Catalog (UCAC3). For these new reductions we used over 216,000 CCD exposures. The Two-Micron All-Sky Survey (2MASS) data are used extensively to probe for coordinate and coma-like systematic errors in UCAC data mainly caused by the poor charge transfer efficiency of the 4K CCD. Errors up to about 200 mas have been corrected using complex look-up tables handling multiple dependences derived from the residuals. Similarly, field distortions and sub-pixel phasemore » errors have also been evaluated using the residuals with respect to 2MASS. The overall magnitude equation is derived from UCAC calibration field observations alone, independent of external catalogs. Systematic errors of positions at the UCAC observing epoch as presented in UCAC3 are better corrected than in the previous catalogs for most stars. The Tycho-2 catalog is used to obtain final positions on the International Celestial Reference Frame. Residuals of the Tycho-2 reference stars show a small magnitude equation (depending on declination zone) that might be inherent in the Tycho-2 catalog.« less

New approach for the identification of implausible values and outliers in longitudinal childhood anthropometric data.

PubMed

Shi, Joy; Korsiak, Jill; Roth, Daniel E

2018-03-01

We aimed to demonstrate the use of jackknife residuals to take advantage of the longitudinal nature of available growth data in assessing potential biologically implausible values and outliers. Artificial errors were induced in 5% of length, weight, and head circumference measurements, measured on 1211 participants from the Maternal Vitamin D for Infant Growth (MDIG) trial from birth to 24 months of age. Each child's sex- and age-standardized z-score or raw measurements were regressed as a function of age in child-specific models. Each error responsible for a biologically implausible decrease between a consecutive pair of measurements was identified based on the higher of the two absolute values of jackknife residuals in each pair. In further analyses, outliers were identified as those values beyond fixed cutoffs of the jackknife residuals (e.g., greater than +5 or less than -5 in primary analyses). Kappa, sensitivity, and specificity were calculated over 1000 simulations to assess the ability of the jackknife residual method to detect induced errors and to compare these methods with the use of conditional growth percentiles and conventional cross-sectional methods. Among the induced errors that resulted in a biologically implausible decrease in measurement between two consecutive values, the jackknife residual method identified the correct value in 84.3%-91.5% of these instances when applied to the sex- and age-standardized z-scores, with kappa values ranging from 0.685 to 0.795. Sensitivity and specificity of the jackknife method were higher than those of the conditional growth percentile method, but specificity was lower than for conventional cross-sectional methods. Using jackknife residuals provides a simple method to identify biologically implausible values and outliers in longitudinal child growth data sets in which each child contributes at least 4 serial measurements. Crown Copyright © 2018. Published by Elsevier Inc. All rights reserved.

High-efficiency K-band tracking antenna feed

NASA Technical Reports Server (NTRS)

Beavin, R. L.; Simanyi, A. I.

1975-01-01

Antenna feed features high aperture efficiency of multimode near-field horn and develops tracking signals without conventional monopulse bridge. Feed assembly is relatively simple and very compact. However, feed is sensitive to cross-polarized energy which couples into orthogonal error channel.

Residual and suppressed-carrier arraying techniques for deep-space communications

NASA Technical Reports Server (NTRS)

Shihabi, M.; Shah, B.; Hinedi, S.; Million, S.

1995-01-01

Three techniques that use carrier information from multiple antennas to enhance carrier acquisition and tracking are presented. These techniques in combination with baseband combining are analyzed and simulated for residual and suppressed-carrier modulation. It is shown that the carrier arraying using a single carrier loop technique can acquire and track the carrier even when any single antenna in the array cannot do so by itself. The carrier aiding and carrier arraying using multiple carrier loop techniques, on the other hand, are shown to lock on the carrier only when one of the array elements has sufficient margin to acquire the carrier on its own.

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

NASA Technical Reports Server (NTRS)

Gordon, Steven C.

1993-01-01

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

First clinical experience in carbon ion scanning beam therapy: retrospective analysis of patient positional accuracy.

PubMed

Mori, Shinichiro; Shibayama, Kouichi; Tanimoto, Katsuyuki; Kumagai, Motoki; Matsuzaki, Yuka; Furukawa, Takuji; Inaniwa, Taku; Shirai, Toshiyuki; Noda, Koji; Tsuji, Hiroshi; Kamada, Tadashi

2012-09-01

Our institute has constructed a new treatment facility for carbon ion scanning beam therapy. The first clinical trials were successfully completed at the end of November 2011. To evaluate patient setup accuracy, positional errors between the reference Computed Tomography (CT) scan and final patient setup images were calculated using 2D-3D registration software. Eleven patients with tumors of the head and neck, prostate and pelvis receiving carbon ion scanning beam treatment participated. The patient setup process takes orthogonal X-ray flat panel detector (FPD) images and the therapists adjust the patient table position in six degrees of freedom to register the reference position by manual or auto- (or both) registration functions. We calculated residual positional errors with the 2D-3D auto-registration function using the final patient setup orthogonal FPD images and treatment planning CT data. Residual error averaged over all patients in each fraction decreased from the initial to the last treatment fraction [1.09 mm/0.76° (averaged in the 1st and 2nd fractions) to 0.77 mm/0.61° (averaged in the 15th and 16th fractions)]. 2D-3D registration calculation time was 8.0 s on average throughout the treatment course. Residual errors in translation and rotation averaged over all patients as a function of date decreased with the passage of time (1.6 mm/1.2° in May 2011 to 0.4 mm/0.2° in December 2011). This retrospective residual positional error analysis shows that the accuracy of patient setup during the first clinical trials of carbon ion beam scanning therapy was good and improved with increasing therapist experience.

Using polarizable POSSIM force field and fuzzy-border continuum solvent model to calculate pK(a) shifts of protein residues.

PubMed

Sharma, Ity; Kaminski, George A

2017-01-15

Our Fuzzy-Border (FB) continuum solvent model has been extended and modified to produce hydration parameters for small molecules using POlarizable Simulations Second-order Interaction Model (POSSIM) framework with an average error of 0.136 kcal/mol. It was then used to compute pK a shifts for carboxylic and basic residues of the turkey ovomucoid third domain (OMTKY3) protein. The average unsigned errors in the acid and base pK a values were 0.37 and 0.4 pH units, respectively, versus 0.58 and 0.7 pH units as calculated with a previous version of polarizable protein force field and Poisson Boltzmann continuum solvent. This POSSIM/FB result is produced with explicit refitting of the hydration parameters to the pK a values of the carboxylic and basic residues of the OMTKY3 protein; thus, the values of the acidity constants can be viewed as additional fitting target data. In addition to calculating pK a shifts for the OMTKY3 residues, we have studied aspartic acid residues of Rnase Sa. This was done without any further refitting of the parameters and agreement with the experimental pK a values is within an average unsigned error of 0.65 pH units. This result included the Asp79 residue that is buried and thus has a high experimental pK a value of 7.37 units. Thus, the presented model is capable or reproducing pK a results for residues in an environment that is significantly different from the solvated protein surface used in the fitting. Therefore, the POSSIM force field and the FB continuum solvent parameters have been demonstrated to be sufficiently robust and transferable. © 2016 Wiley Periodicals, Inc. © 2016 Wiley Periodicals, Inc.

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

PubMed

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

2010-07-01

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

Data-driven robust approximate optimal tracking control for unknown general nonlinear systems using adaptive dynamic programming method.

PubMed

Zhang, Huaguang; Cui, Lili; Zhang, Xin; Luo, Yanhong

2011-12-01

In this paper, a novel data-driven robust approximate optimal tracking control scheme is proposed for unknown general nonlinear systems by using the adaptive dynamic programming (ADP) method. In the design of the controller, only available input-output data is required instead of known system dynamics. A data-driven model is established by a recurrent neural network (NN) to reconstruct the unknown system dynamics using available input-output data. By adding a novel adjustable term related to the modeling error, the resultant modeling error is first guaranteed to converge to zero. Then, based on the obtained data-driven model, the ADP method is utilized to design the approximate optimal tracking controller, which consists of the steady-state controller and the optimal feedback controller. Further, a robustifying term is developed to compensate for the NN approximation errors introduced by implementing the ADP method. Based on Lyapunov approach, stability analysis of the closed-loop system is performed to show that the proposed controller guarantees the system state asymptotically tracking the desired trajectory. Additionally, the obtained control input is proven to be close to the optimal control input within a small bound. Finally, two numerical examples are used to demonstrate the effectiveness of the proposed control scheme.

A discriminative structural similarity measure and its application to video-volume registration for endoscope three-dimensional motion tracking.

PubMed

Luo, Xiongbiao; Mori, Kensaku

2014-06-01

Endoscope 3-D motion tracking, which seeks to synchronize pre- and intra-operative images in endoscopic interventions, is usually performed as video-volume registration that optimizes the similarity between endoscopic video and pre-operative images. The tracking performance, in turn, depends significantly on whether a similarity measure can successfully characterize the difference between video sequences and volume rendering images driven by pre-operative images. The paper proposes a discriminative structural similarity measure, which uses the degradation of structural information and takes image correlation or structure, luminance, and contrast into consideration, to boost video-volume registration. By applying the proposed similarity measure to endoscope tracking, it was demonstrated to be more accurate and robust than several available similarity measures, e.g., local normalized cross correlation, normalized mutual information, modified mean square error, or normalized sum squared difference. Based on clinical data evaluation, the tracking error was reduced significantly from at least 14.6 mm to 4.5 mm. The processing time was accelerated more than 30 frames per second using graphics processing unit.

Validation of a stereo camera system to quantify brain deformation due to breathing and pulsatility.

PubMed

Faria, Carlos; Sadowsky, Ofri; Bicho, Estela; Ferrigno, Giancarlo; Joskowicz, Leo; Shoham, Moshe; Vivanti, Refael; De Momi, Elena

2014-11-01

A new stereo vision system is presented to quantify brain shift and pulsatility in open-skull neurosurgeries. The system is endowed with hardware and software synchronous image acquisition with timestamp embedding in the captured images, a brain surface oriented feature detection, and a tracking subroutine robust to occlusions and outliers. A validation experiment for the stereo vision system was conducted against a gold-standard optical tracking system, Optotrak CERTUS. A static and dynamic analysis of the stereo camera tracking error was performed tracking a customized object in different positions, orientations, linear, and angular speeds. The system is able to detect an immobile object position and orientation with a maximum error of 0.5 mm and 1.6° in all depth of field, and tracking a moving object until 3 mm/s with a median error of 0.5 mm. Three stereo video acquisitions were recorded from a patient, immediately after the craniotomy. The cortical pulsatile motion was captured and is represented in the time and frequency domain. The amplitude of motion of the cloud of features' center of mass was inferior to 0.8 mm. Three distinct peaks are identified in the fast Fourier transform analysis related to the sympathovagal balance, breathing, and blood pressure with 0.03-0.05, 0.2, and 1 Hz, respectively. The stereo vision system presented is a precise and robust system to measure brain shift and pulsatility with an accuracy superior to other reported systems.

Magellan spacecraft and memory state tracking: Lessons learned, future thoughts

NASA Technical Reports Server (NTRS)

Bucher, Allen W.

1993-01-01

Numerous studies have been dedicated to improving the two main elements of Spacecraft Mission Operations: Command and Telemetry. As a result, not much attention has been given to other tasks that can become tedious, repetitive, and error prone. One such task is Spacecraft and Memory State Tracking, the process by which the status of critical spacecraft components, parameters, and the contents of on-board memory are managed on the ground to maintain knowledge of spacecraft and memory states for future testing, anomaly investigation, and on-board memory reconstruction. The task of Spacecraft and Memory State Tracking has traditionally been a manual task allocated to Mission Operations Procedures. During nominal Mission Operations this job is tedious and error prone. Because the task is not complex and can be accomplished manually, the worth of a sophisticated software tool is often questioned. However, in the event of an anomaly which alters spacecraft components autonomously or a memory anomaly such as a corrupt memory or flight software error, an accurate ground image that can be reconstructed quickly is a priceless commodity. This study explores the process of Spacecraft and Memory State Tracking used by the Magellan Spacecraft Team highlighting its strengths as well as identifying lessons learned during the primary and extended missions, two memory anomalies, and other hardships encountered due to incomplete knowledge of spacecraft states. Ideas for future state tracking tools that require minimal user interaction and are integrated into the Ground Data System will also be discussed.

Magellan spacecraft and memory state tracking: Lessons learned, future thoughts

NASA Astrophysics Data System (ADS)

Bucher, Allen W.

1993-03-01

Numerous studies have been dedicated to improving the two main elements of Spacecraft Mission Operations: Command and Telemetry. As a result, not much attention has been given to other tasks that can become tedious, repetitive, and error prone. One such task is Spacecraft and Memory State Tracking, the process by which the status of critical spacecraft components, parameters, and the contents of on-board memory are managed on the ground to maintain knowledge of spacecraft and memory states for future testing, anomaly investigation, and on-board memory reconstruction. The task of Spacecraft and Memory State Tracking has traditionally been a manual task allocated to Mission Operations Procedures. During nominal Mission Operations this job is tedious and error prone. Because the task is not complex and can be accomplished manually, the worth of a sophisticated software tool is often questioned. However, in the event of an anomaly which alters spacecraft components autonomously or a memory anomaly such as a corrupt memory or flight software error, an accurate ground image that can be reconstructed quickly is a priceless commodity. This study explores the process of Spacecraft and Memory State Tracking used by the Magellan Spacecraft Team highlighting its strengths as well as identifying lessons learned during the primary and extended missions, two memory anomalies, and other hardships encountered due to incomplete knowledge of spacecraft states. Ideas for future state tracking tools that require minimal user interaction and are integrated into the Ground Data System will also be discussed.

Visual tracking based on the sparse representation of the PCA subspace

NASA Astrophysics Data System (ADS)

Chen, Dian-bing; Zhu, Ming; Wang, Hui-li

2017-09-01

We construct a collaborative model of the sparse representation and the subspace representation. First, we represent the tracking target in the principle component analysis (PCA) subspace, and then we employ an L 1 regularization to restrict the sparsity of the residual term, an L 2 regularization term to restrict the sparsity of the representation coefficients, and an L 2 norm to restrict the distance between the reconstruction and the target. Then we implement the algorithm in the particle filter framework. Furthermore, an iterative method is presented to get the global minimum of the residual and the coefficients. Finally, an alternative template update scheme is adopted to avoid the tracking drift which is caused by the inaccurate update. In the experiment, we test the algorithm on 9 sequences, and compare the results with 5 state-of-art methods. According to the results, we can conclude that our algorithm is more robust than the other methods.

Analysis of target wavefront error for secondary mirror of a spaceborne telescope

NASA Astrophysics Data System (ADS)

Chang, Shenq-Tsong; Lin, Wei-Cheng; Kuo, Ching-Hsiang; Chan, Chia-Yen; Lin, Yu-Chuan; Huang, Ting-Ming

2014-09-01

During the fabrication of an aspherical mirror, the inspection of the residual wavefront error is critical. In the program of a spaceborne telescope development, primary mirror is made of ZERODUR with clear aperture of 450 mm. The mass is 10 kg after lightweighting. Deformation of mirror due to gravity is expected; hence uniform supporting measured by load cells has been applied to reduce the gravity effect. Inspection has been taken to determine the residual wavefront error at the configuration of mirror face upwards. Correction polishing has been performed according to the measurement. However, after comparing with the data measured by bench test while the primary mirror is at a configuration of mirror face horizontal, deviations have been found for the two measurements. Optical system that is not able to meet the requirement is predicted according to the measured wavefront error by bench test. A target wavefront error of secondary mirror is therefore analyzed to correct that of primary mirror. Optical performance accordingly is presented.

Optimal analytic method for the nonlinear Hasegawa-Mima equation

NASA Astrophysics Data System (ADS)

Baxter, Mathew; Van Gorder, Robert A.; Vajravelu, Kuppalapalle

2014-05-01

The Hasegawa-Mima equation is a nonlinear partial differential equation that describes the electric potential due to a drift wave in a plasma. In the present paper, we apply the method of homotopy analysis to a slightly more general Hasegawa-Mima equation, which accounts for hyper-viscous damping or viscous dissipation. First, we outline the method for the general initial/boundary value problem over a compact rectangular spatial domain. We use a two-stage method, where both the convergence control parameter and the auxiliary linear operator are optimally selected to minimize the residual error due to the approximation. To do the latter, we consider a family of operators parameterized by a constant which gives the decay rate of the solutions. After outlining the general method, we consider a number of concrete examples in order to demonstrate the utility of this approach. The results enable us to study properties of the initial/boundary value problem for the generalized Hasegawa-Mima equation. In several cases considered, we are able to obtain solutions with extremely small residual errors after relatively few iterations are computed (residual errors on the order of 10-15 are found in multiple cases after only three iterations). The results demonstrate that selecting a parameterized auxiliary linear operator can be extremely useful for minimizing residual errors when used concurrently with the optimal homotopy analysis method, suggesting that this approach can prove useful for a number of nonlinear partial differential equations arising in physics and nonlinear mechanics.

The effects of time-varying observation errors on semi-empirical sea-level projections

DOE PAGES

Ruckert, Kelsey L.; Guan, Yawen; Bakker, Alexander M. R.; ...

2016-11-30

Sea-level rise is a key driver of projected flooding risks. The design of strategies to manage these risks often hinges on projections that inform decision-makers about the surrounding uncertainties. Producing semi-empirical sea-level projections is difficult, for example, due to the complexity of the error structure of the observations, such as time-varying (heteroskedastic) observation errors and autocorrelation of the data-model residuals. This raises the question of how neglecting the error structure impacts hindcasts and projections. Here, we quantify this effect on sea-level projections and parameter distributions by using a simple semi-empirical sea-level model. Specifically, we compare three model-fitting methods: a frequentistmore » bootstrap as well as a Bayesian inversion with and without considering heteroskedastic residuals. All methods produce comparable hindcasts, but the parametric distributions and projections differ considerably based on methodological choices. In conclusion, our results show that the differences based on the methodological choices are enhanced in the upper tail projections. For example, the Bayesian inversion accounting for heteroskedasticity increases the sea-level anomaly with a 1% probability of being equaled or exceeded in the year 2050 by about 34% and about 40% in the year 2100 compared to a frequentist bootstrap. These results indicate that neglecting known properties of the observation errors and the data-model residuals can lead to low-biased sea-level projections.« less

The effects of time-varying observation errors on semi-empirical sea-level projections

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

Ruckert, Kelsey L.; Guan, Yawen; Bakker, Alexander M. R.

Sea-level rise is a key driver of projected flooding risks. The design of strategies to manage these risks often hinges on projections that inform decision-makers about the surrounding uncertainties. Producing semi-empirical sea-level projections is difficult, for example, due to the complexity of the error structure of the observations, such as time-varying (heteroskedastic) observation errors and autocorrelation of the data-model residuals. This raises the question of how neglecting the error structure impacts hindcasts and projections. Here, we quantify this effect on sea-level projections and parameter distributions by using a simple semi-empirical sea-level model. Specifically, we compare three model-fitting methods: a frequentistmore » bootstrap as well as a Bayesian inversion with and without considering heteroskedastic residuals. All methods produce comparable hindcasts, but the parametric distributions and projections differ considerably based on methodological choices. In conclusion, our results show that the differences based on the methodological choices are enhanced in the upper tail projections. For example, the Bayesian inversion accounting for heteroskedasticity increases the sea-level anomaly with a 1% probability of being equaled or exceeded in the year 2050 by about 34% and about 40% in the year 2100 compared to a frequentist bootstrap. These results indicate that neglecting known properties of the observation errors and the data-model residuals can lead to low-biased sea-level projections.« less

Tracking accuracy of a real-time fiducial tracking system for patient positioning and monitoring in radiation therapy.

PubMed

Shchory, Tal; Schifter, Dan; Lichtman, Rinat; Neustadter, David; Corn, Benjamin W

2010-11-15

In radiation therapy there is a need to accurately know the location of the target in real time. A novel radioactive tracking technology has been developed to answer this need. The technology consists of a radioactive implanted fiducial marker designed to minimize migration and a linac mounted tracking device. This study measured the static and dynamic accuracy of the new tracking technology in a clinical radiation therapy environment. The tracking device was installed on the linac gantry. The radioactive marker was located in a tissue equivalent phantom. Marker location was measured simultaneously by the radioactive tracking system and by a Microscribe G2 coordinate measuring machine (certified spatial accuracy of 0.38 mm). Localization consistency throughout a volume and absolute accuracy in the Fixed coordinate system were measured at multiple gantry angles over volumes of at least 10 cm in diameter centered at isocenter. Dynamic accuracy was measured with the marker located inside a breathing phantom. The mean consistency for the static source was 0.58 mm throughout the tested region at all measured gantry angles. The mean absolute position error in the Fixed coordinate system for all gantry angles was 0.97 mm. The mean real-time tracking error for the dynamic source within the breathing phantom was less than 1 mm. This novel radioactive tracking technology has the potential to be useful in accurate target localization and real-time monitoring for radiation therapy. Copyright © 2010 Elsevier Inc. All rights reserved.

Precision laser automatic tracking system.

PubMed

Lucy, R F; Peters, C J; McGann, E J; Lang, K T

1966-04-01

A precision laser tracker has been constructed and tested that is capable of tracking a low-acceleration target to an accuracy of about 25 microrad root mean square. In tracking high-acceleration targets, the error is directly proportional to the angular acceleration. For an angular acceleration of 0.6 rad/sec(2), the measured tracking error was about 0.1 mrad. The basic components in this tracker, similar in configuration to a heliostat, are a laser and an image dissector, which are mounted on a stationary frame, and a servocontrolled tracking mirror. The daytime sensitivity of this system is approximately 3 x 10(-10) W/m(2); the ultimate nighttime sensitivity is approximately 3 x 10(-14) W/m(2). Experimental tests were performed to evaluate both dynamic characteristics of this system and the system sensitivity. Dynamic performance of the system was obtained, using a small rocket covered with retroreflective material launched at an acceleration of about 13 g at a point 204 m from the tracker. The daytime sensitivity of the system was checked, using an efficient retroreflector mounted on a light aircraft. This aircraft was tracked out to a maximum range of 15 km, which checked the daytime sensitivity of the system measured by other means. The system also has been used to track passively stars and the Echo I satellite. Also, the system tracked passively a +7.5 magnitude star, and the signal-to-noise ratio in this experiment indicates that it should be possible to track a + 12.5 magnitude star.

Development of a video image-based QA system for the positional accuracy of dynamic tumor tracking irradiation in the Vero4DRT system

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

Ebe, Kazuyu, E-mail: nrr24490@nifty.com; Tokuyama, Katsuichi; Baba, Ryuta

Purpose: To develop and evaluate a new video image-based QA system, including in-house software, that can display a tracking state visually and quantify the positional accuracy of dynamic tumor tracking irradiation in the Vero4DRT system. Methods: Sixteen trajectories in six patients with pulmonary cancer were obtained with the ExacTrac in the Vero4DRT system. Motion data in the cranio–caudal direction (Y direction) were used as the input for a programmable motion table (Quasar). A target phantom was placed on the motion table, which was placed on the 2D ionization chamber array (MatriXX). Then, the 4D modeling procedure was performed on themore » target phantom during a reproduction of the patient’s tumor motion. A substitute target with the patient’s tumor motion was irradiated with 6-MV x-rays under the surrogate infrared system. The 2D dose images obtained from the MatriXX (33 frames/s; 40 s) were exported to in-house video-image analyzing software. The absolute differences in the Y direction between the center of the exposed target and the center of the exposed field were calculated. Positional errors were observed. The authors’ QA results were compared to 4D modeling function errors and gimbal motion errors obtained from log analyses in the ExacTrac to verify the accuracy of their QA system. The patients’ tumor motions were evaluated in the wave forms, and the peak-to-peak distances were also measured to verify their reproducibility. Results: Thirteen of sixteen trajectories (81.3%) were successfully reproduced with Quasar. The peak-to-peak distances ranged from 2.7 to 29.0 mm. Three trajectories (18.7%) were not successfully reproduced due to the limited motions of the Quasar. Thus, 13 of 16 trajectories were summarized. The mean number of video images used for analysis was 1156. The positional errors (absolute mean difference + 2 standard deviation) ranged from 0.54 to 1.55 mm. The error values differed by less than 1 mm from 4D modeling function errors and gimbal motion errors in the ExacTrac log analyses (n = 13). Conclusions: The newly developed video image-based QA system, including in-house software, can analyze more than a thousand images (33 frames/s). Positional errors are approximately equivalent to those in ExacTrac log analyses. This system is useful for the visual illustration of the progress of the tracking state and for the quantification of positional accuracy during dynamic tumor tracking irradiation in the Vero4DRT system.« less

Poster - 49: Assessment of Synchrony respiratory compensation error for CyberKnife liver treatment

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

Liu, Ming; Cygler,

The goal of this work is to quantify respiratory motion compensation errors for liver tumor patients treated by the CyberKnife system with Synchrony tracking, to identify patients with the smallest tracking errors and to eventually help coach patient’s breathing patterns to minimize dose delivery errors. The accuracy of CyberKnife Synchrony respiratory motion compensation was assessed for 37 patients treated for liver lesions by analyzing data from system logfiles. A predictive model is used to modulate the direction of individual beams during dose delivery based on the positions of internally implanted fiducials determined using an orthogonal x-ray imaging system and themore » current location of LED external markers. For each x-ray pair acquired, system logfiles report the prediction error, the difference between the measured and predicted fiducial positions, and the delivery error, which is an estimate of the statistical error in the model overcoming the latency between x-ray acquisition and robotic repositioning. The total error was calculated at the time of each x-ray pair, for the number of treatment fractions and the number of patients, giving the average respiratory motion compensation error in three dimensions. The 99{sup th} percentile for the total radial error is 3.85 mm, with the highest contribution of 2.79 mm in superior/inferior (S/I) direction. The absolute mean compensation error is 1.78 mm radially with a 1.27 mm contribution in the S/I direction. Regions of high total error may provide insight into features predicting groups of patients with larger or smaller total errors.« less

A study of modelling simplifications in ground vibration predictions for railway traffic at grade

NASA Astrophysics Data System (ADS)

Germonpré, M.; Degrande, G.; Lombaert, G.

2017-10-01

Accurate computational models are required to predict ground-borne vibration due to railway traffic. Such models generally require a substantial computational effort. Therefore, much research has focused on developing computationally efficient methods, by either exploiting the regularity of the problem geometry in the direction along the track or assuming a simplified track structure. This paper investigates the modelling errors caused by commonly made simplifications of the track geometry. A case study is presented investigating a ballasted track in an excavation. The soil underneath the ballast is stiffened by a lime treatment. First, periodic track models with different cross sections are analyzed, revealing that a prediction of the rail receptance only requires an accurate representation of the soil layering directly underneath the ballast. A much more detailed representation of the cross sectional geometry is required, however, to calculate vibration transfer from track to free field. Second, simplifications in the longitudinal track direction are investigated by comparing 2.5D and periodic track models. This comparison shows that the 2.5D model slightly overestimates the track stiffness, while the transfer functions between track and free field are well predicted. Using a 2.5D model to predict the response during a train passage leads to an overestimation of both train-track interaction forces and free field vibrations. A combined periodic/2.5D approach is therefore proposed in this paper. First, the dynamic axle loads are computed by solving the train-track interaction problem with a periodic model. Next, the vibration transfer to the free field is computed with a 2.5D model. This combined periodic/2.5D approach only introduces small modelling errors compared to an approach in which a periodic model is used in both steps, while significantly reducing the computational cost.

Detection of obstacles on runway using Ego-Motion compensation and tracking of significant features

NASA Technical Reports Server (NTRS)

Kasturi, Rangachar (Principal Investigator); Camps, Octavia (Principal Investigator); Gandhi, Tarak; Devadiga, Sadashiva

1996-01-01

This report describes a method for obstacle detection on a runway for autonomous navigation and landing of an aircraft. Detection is done in the presence of extraneous features such as tiremarks. Suitable features are extracted from the image and warping using approximately known camera and plane parameters is performed in order to compensate ego-motion as far as possible. Residual disparity after warping is estimated using an optical flow algorithm. Features are tracked from frame to frame so as to obtain more reliable estimates of their motion. Corrections are made to motion parameters with the residual disparities using a robust method, and features having large residual disparities are signaled as obstacles. Sensitivity analysis of the procedure is also studied. Nelson's optical flow constraint is proposed to separate moving obstacles from stationary ones. A Bayesian framework is used at every stage so that the confidence in the estimates can be determined.

Tracking Architecture Based on Dual-Filter with State Feedback and Its Application in Ultra-Tight GPS/INS Integration

PubMed Central

Zhang, Xi; Miao, Lingjuan; Shao, Haijun

2016-01-01

If a Kalman Filter (KF) is applied to Global Positioning System (GPS) baseband signal preprocessing, the estimates of signal phase and frequency can have low variance, even in highly dynamic situations. This paper presents a novel preprocessing scheme based on a dual-filter structure. Compared with the traditional model utilizing a single KF, this structure avoids carrier tracking being subjected to code tracking errors. Meanwhile, as the loop filters are completely removed, state feedback values are adopted to generate local carrier and code. Although local carrier frequency has a wide fluctuation, the accuracy of Doppler shift estimation is improved. In the ultra-tight GPS/Inertial Navigation System (INS) integration, the carrier frequency derived from the external navigation information is not viewed as the local carrier frequency directly. That facilitates retaining the design principle of state feedback. However, under harsh conditions, the GPS outputs may still bear large errors which can destroy the estimation of INS errors. Thus, an innovative integrated navigation filter is constructed by modeling the non-negligible errors in the estimated Doppler shifts, to ensure INS is properly calibrated. Finally, field test and semi-physical simulation based on telemetered missile trajectory validate the effectiveness of methods proposed in this paper. PMID:27144570

Tracking Architecture Based on Dual-Filter with State Feedback and Its Application in Ultra-Tight GPS/INS Integration.

PubMed

Zhang, Xi; Miao, Lingjuan; Shao, Haijun

2016-05-02

If a Kalman Filter (KF) is applied to Global Positioning System (GPS) baseband signal preprocessing, the estimates of signal phase and frequency can have low variance, even in highly dynamic situations. This paper presents a novel preprocessing scheme based on a dual-filter structure. Compared with the traditional model utilizing a single KF, this structure avoids carrier tracking being subjected to code tracking errors. Meanwhile, as the loop filters are completely removed, state feedback values are adopted to generate local carrier and code. Although local carrier frequency has a wide fluctuation, the accuracy of Doppler shift estimation is improved. In the ultra-tight GPS/Inertial Navigation System (INS) integration, the carrier frequency derived from the external navigation information is not viewed as the local carrier frequency directly. That facilitates retaining the design principle of state feedback. However, under harsh conditions, the GPS outputs may still bear large errors which can destroy the estimation of INS errors. Thus, an innovative integrated navigation filter is constructed by modeling the non-negligible errors in the estimated Doppler shifts, to ensure INS is properly calibrated. Finally, field test and semi-physical simulation based on telemetered missile trajectory validate the effectiveness of methods proposed in this paper.

Position Tracking During Human Walking Using an Integrated Wearable Sensing System.

PubMed

Zizzo, Giulio; Ren, Lei

2017-12-10

Progress has been made enabling expensive, high-end inertial measurement units (IMUs) to be used as tracking sensors. However, the cost of these IMUs is prohibitive to their widespread use, and hence the potential of low-cost IMUs is investigated in this study. A wearable low-cost sensing system consisting of IMUs and ultrasound sensors was developed. Core to this system is an extended Kalman filter (EKF), which provides both zero-velocity updates (ZUPTs) and Heuristic Drift Reduction (HDR). The IMU data was combined with ultrasound range measurements to improve accuracy. When a map of the environment was available, a particle filter was used to impose constraints on the possible user motions. The system was therefore composed of three subsystems: IMUs, ultrasound sensors, and a particle filter. A Vicon motion capture system was used to provide ground truth information, enabling validation of the sensing system. Using only the IMU, the system showed loop misclosure errors of 1% with a maximum error of 4-5% during walking. The addition of the ultrasound sensors resulted in a 15% reduction in the total accumulated error. Lastly, the particle filter was capable of providing noticeable corrections, which could keep the tracking error below 2% after the first few steps.

A study of the comparative effects of various means of motion cueing during a simulated compensatory tracking task

NASA Technical Reports Server (NTRS)

Mckissick, B. T.; Ashworth, B. R.; Parrish, R. V.; Martin, D. J., Jr.

1980-01-01

NASA's Langley Research Center conducted a simulation experiment to ascertain the comparative effects of motion cues (combinations of platform motion and g-seat normal acceleration cues) on compensatory tracking performance. In the experiment, a full six-degree-of-freedom YF-16 model was used as the simulated pursuit aircraft. The Langley Visual Motion Simulator (with in-house developed wash-out), and a Langley developed g-seat were principal components of the simulation. The results of the experiment were examined utilizing univariate and multivariate techniques. The statistical analyses demonstrate that the platform motion and g-seat cues provide additional information to the pilot that allows substantial reduction of lateral tracking error. Also, the analyses show that the g-seat cue helps reduce vertical error.

Optimum radars and filters for the passive sphere system

NASA Technical Reports Server (NTRS)

Luers, J. K.; Soltes, A.

1971-01-01

Studies have been conducted to determine the influence of the tracking radar and data reduction technique on the accuracy of the meteorological measurements made in the 30 to 100 kilometer altitude region by the ROBIN passive falling sphere. A survey of accuracy requirements was made of agencies interested in data from this region of the atmosphere. In light of these requirements, various types of radars were evaluated to determine the tracking system most applicable to the ROBIN, and methods were developed to compute the errors in wind and density that arise from noise errors in the radar supplied data. The effects of launch conditions on the measurements were also examined. Conclusions and recommendations have been made concerning the optimum tracking and data reduction techniques for the ROBIN falling sphere system.

An Empirical State Error Covariance Matrix for Batch State Estimation

NASA Technical Reports Server (NTRS)

Frisbee, Joseph H., Jr.

2011-01-01

State estimation techniques serve effectively to provide mean state estimates. However, the state error covariance matrices provided as part of these techniques suffer from some degree of lack of confidence in their ability to adequately describe the uncertainty in the estimated states. A specific problem with the traditional form of state error covariance matrices is that they represent only a mapping of the assumed observation error characteristics into the state space. Any errors that arise from other sources (environment modeling, precision, etc.) are not directly represented in a traditional, theoretical state error covariance matrix. Consider that an actual observation contains only measurement error and that an estimated observation contains all other errors, known and unknown. It then follows that a measurement residual (the difference between expected and observed measurements) contains all errors for that measurement. Therefore, a direct and appropriate inclusion of the actual measurement residuals in the state error covariance matrix will result in an empirical state error covariance matrix. This empirical state error covariance matrix will fully account for the error in the state estimate. By way of a literal reinterpretation of the equations involved in the weighted least squares estimation algorithm, it is possible to arrive at an appropriate, and formally correct, empirical state error covariance matrix. The first specific step of the method is to use the average form of the weighted measurement residual variance performance index rather than its usual total weighted residual form. Next it is helpful to interpret the solution to the normal equations as the average of a collection of sample vectors drawn from a hypothetical parent population. From here, using a standard statistical analysis approach, it directly follows as to how to determine the standard empirical state error covariance matrix. This matrix will contain the total uncertainty in the state estimate, regardless as to the source of the uncertainty. Also, in its most straight forward form, the technique only requires supplemental calculations to be added to existing batch algorithms. The generation of this direct, empirical form of the state error covariance matrix is independent of the dimensionality of the observations. Mixed degrees of freedom for an observation set are allowed. As is the case with any simple, empirical sample variance problems, the presented approach offers an opportunity (at least in the case of weighted least squares) to investigate confidence interval estimates for the error covariance matrix elements. The diagonal or variance terms of the error covariance matrix have a particularly simple form to associate with either a multiple degree of freedom chi-square distribution (more approximate) or with a gamma distribution (less approximate). The off diagonal or covariance terms of the matrix are less clear in their statistical behavior. However, the off diagonal covariance matrix elements still lend themselves to standard confidence interval error analysis. The distributional forms associated with the off diagonal terms are more varied and, perhaps, more approximate than those associated with the diagonal terms. Using a simple weighted least squares sample problem, results obtained through use of the proposed technique are presented. The example consists of a simple, two observer, triangulation problem with range only measurements. Variations of this problem reflect an ideal case (perfect knowledge of the range errors) and a mismodeled case (incorrect knowledge of the range errors).

Performance analysis of a new positron camera geometry for high speed, fine particle tracking

NASA Astrophysics Data System (ADS)

Sovechles, J. M.; Boucher, D.; Pax, R.; Leadbeater, T.; Sasmito, A. P.; Waters, K. E.

2017-09-01

A new positron camera arrangement was assembled using 16 ECAT951 modular detector blocks. A closely packed, cross pattern arrangement was selected to produce a highly sensitive cylindrical region for tracking particles with low activities and high speeds. To determine the capabilities of this system a comprehensive analysis of the tracking performance was conducted to determine the 3D location error and location frequency as a function of tracer activity and speed. The 3D error was found to range from 0.54 mm for a stationary particle, consistent for all tracer activities, up to 4.33 mm for a tracer with an activity of 3 MBq and a speed of 4 m · s-1. For lower activity tracers (<10-2 MBq), the error was more sensitive to increases in speed, increasing to 28 mm (at 4 m · s-1), indicating that at these conditions a reliable trajectory is not possible. These results expanded on, but correlated well with, previous literature that only contained location errors for tracer speeds up to 1.5 m · s-1. The camera was also used to track directly activated mineral particles inside a two-inch hydrocyclone and a 142 mm diameter flotation cell. A detailed trajectory, inside the hydrocyclone, of a  -212  +  106 µm (10-1 MBq) quartz particle displayed the expected spiralling motion towards the apex. This was the first time a mineral particle of this size had been successfully traced within a hydrocyclone, however more work is required to develop detailed velocity fields.

Adaptive Neural Networks Prescribed Performance Control Design for Switched Interconnected Uncertain Nonlinear Systems.

PubMed

Li, Yongming; Tong, Shaocheng

2017-06-28

In this paper, an adaptive neural networks (NNs)-based decentralized control scheme with the prescribed performance is proposed for uncertain switched nonstrict-feedback interconnected nonlinear systems. It is assumed that nonlinear interconnected terms and nonlinear functions of the concerned systems are unknown, and also the switching signals are unknown and arbitrary. A linear state estimator is constructed to solve the problem of unmeasured states. The NNs are employed to approximate unknown interconnected terms and nonlinear functions. A new output feedback decentralized control scheme is developed by using the adaptive backstepping design technique. The control design problem of nonlinear interconnected switched systems with unknown switching signals can be solved by the proposed scheme, and only a tuning parameter is needed for each subsystem. The proposed scheme can ensure that all variables of the control systems are semi-globally uniformly ultimately bounded and the tracking errors converge to a small residual set with the prescribed performance bound. The effectiveness of the proposed control approach is verified by some simulation results.

Comparison of three optical tracking systems in a complex navigation scenario.

PubMed

Rudolph, Tobias; Ebert, Lars; Kowal, Jens

2010-01-01

Three-dimensional rotational X-ray imaging with the SIREMOBIL Iso-C3D (Siemens AG, Medical Solutions, Erlangen, Germany) has become a well-established intra-operative imaging modality. In combination with a tracking system, the Iso-C3D provides inherently registered image volumes ready for direct navigation. This is achieved by means of a pre-calibration procedure. The aim of this study was to investigate the influence of the tracking system used on the overall navigation accuracy of direct Iso-C3D navigation. Three models of tracking system were used in the study: Two Optotrak 3020s, a Polaris P4 and a Polaris Spectra system, with both Polaris systems being in the passive operation mode. The evaluation was carried out at two different sites using two Iso-C3D devices. To measure the navigation accuracy, a number of phantom experiments were conducted using an acrylic phantom equipped with titanium spheres. After scanning, a special pointer was used to pinpoint these markers. The difference between the digitized and navigated positions served as the accuracy measure. Up to 20 phantom scans were performed for each tracking system. The average accuracy measured was 0.86 mm and 0.96 mm for the two Optotrak 3020 systems, 1.15 mm for the Polaris P4, and 1.04 mm for the Polaris Spectra system. For the Polaris systems a higher maximal error was found, but all three systems yielded similar minimal errors. On average, all tracking systems used in this study could deliver similar navigation accuracy. The passive Polaris system showed – as expected – higher maximal errors; however, depending on the application constraints, this might be negligible.

Improved track forecasting of a typhoon reaching landfall from four-dimensional variational data assimilation of AMSU-A retrieved data

NASA Astrophysics Data System (ADS)

Zhao, Ying; Wang, Bin; Ji, Zhongzhen; Liang, Xudong; Deng, Guo; Zhang, Xin

2005-07-01

In this study, an attempt to improve typhoon forecasts is made by incorporating three-dimensional Advanced Microwave Sounding Unit-A (AMSU-A) retrieved wind and temperature and the central sea level pressure of cyclones from typhoon reports or bogus surface low data into initial conditions, on the basis of the Fifth-Generation National Center for Atmospheric Research/Pennsylvania State University Mesoscale Model (MM5) four-dimensional variational data assimilation (4DVar) system with a full-physics adjoint model. All the above-mentioned data are found to be useful for improvement of typhoon forecasts in this mesoscale data assimilation experiment. The comparison tests showed the following results: (1) The assimilation of the satellite-retrieved data was found to have a positive impact on the typhoon track forecast, but the landing position error is ˜150 km. (2) The assimilation of both the satellite-retrieved data and moving information of the typhoon center dramatically improved the track forecast and captured the recurvature and landfall. The mean track error during the 72-hour forecast is 69 km. The predicted typhoon intensity, however, is much weaker than that from observations. (3) The assimilation of both the satellite-retrieved data and the bogus surface low data improved the intensity and track forecasts more significantly than the assimilation of only bogus surface low data (bogus data assimilation) did. The mean errors during the 72-hour forecast are 2.6 hPa for the minimum sea level pressure and 87 km for track position. However, the forecasted landing time is ˜6 hours earlier than the observed one.

Skull registration for prone patient position using tracked ultrasound

NASA Astrophysics Data System (ADS)

Underwood, Grace; Ungi, Tamas; Baum, Zachary; Lasso, Andras; Kronreif, Gernot; Fichtinger, Gabor

2017-03-01

PURPOSE: Tracked navigation has become prevalent in neurosurgery. Problems with registration of a patient and a preoperative image arise when the patient is in a prone position. Surfaces accessible to optical tracking on the back of the head are unreliable for registration. We investigated the accuracy of surface-based registration using points accessible through tracked ultrasound. Using ultrasound allows access to bone surfaces that are not available through optical tracking. Tracked ultrasound could eliminate the need to work (i) under the table for registration and (ii) adjust the tracker between surgery and registration. In addition, tracked ultrasound could provide a non-invasive method in comparison to an alternative method of registration involving screw implantation. METHODS: A phantom study was performed to test the feasibility of tracked ultrasound for registration. An initial registration was performed to partially align the pre-operative computer tomography data and skull phantom. The initial registration was performed by an anatomical landmark registration. Surface points accessible by tracked ultrasound were collected and used to perform an Iterative Closest Point Algorithm. RESULTS: When the surface registration was compared to a ground truth landmark registration, the average TRE was found to be 1.6+/-0.1mm and the average distance of points off the skull surface was 0.6+/-0.1mm. CONCLUSION: The use of tracked ultrasound is feasible for registration of patients in prone position and eliminates the need to perform registration under the table. The translational component of error found was minimal. Therefore, the amount of TRE in registration is due to a rotational component of error.

Geographically correlated errors observed from a laser-based short-arc technique

NASA Astrophysics Data System (ADS)

Bonnefond, P.; Exertier, P.; Barlier, F.

1999-07-01

The laser-based short-arc technique has been developed in order to avoid local errors which affect the dynamical orbit computation, such as those due to mismodeling in the geopotential. It is based on a geometric method and consists in fitting short arcs (about 4000 km), issued from a global orbit, with satellite laser ranging tracking measurements from a ground station network. Ninety-two TOPEX/Poseidon (T/P) cycles of laser-based short-arc orbits have then been compared to JGM-2 and JGM-3 T/P orbits computed by the Precise Orbit Determination (POD) teams (Service d'Orbitographie Doris/Centre National d'Etudes Spatiales and Goddard Space Flight Center/NASA) over two areas: (1) the Mediterranean area and (2) a part of the Pacific (including California and Hawaii) called hereafter the U.S. area. Geographically correlated orbit errors in these areas are clearly evidenced: for example, -2.6 cm and +0.7 cm for the Mediterranean and U.S. areas, respectively, relative to JGM-3 orbits. However, geographically correlated errors (GCE) which are commonly linked to errors in the gravity model, can also be due to systematic errors in the reference frame and/or to biases in the tracking measurements. The short-arc technique being very sensitive to such error sources, our analysis however demonstrates that the induced geographical systematic effects are at the level of 1-2 cm on the radial orbit component. Results are also compared with those obtained with the GPS-based reduced dynamic technique. The time-dependent part of GCE has also been studied. Over 6 years of T/P data, coherent signals in the radial component of T/P Precise Orbit Ephemeris (POE) are clearly evidenced with a time period of about 6 months. In addition, impact of time varying-error sources coming from the reference frame and the tracking data accuracy has been analyzed, showing a possible linear trend of about 0.5-1 mm/yr in the radial component of T/P POE.

Origins of coevolution between residues distant in protein 3D structures

PubMed Central

Ovchinnikov, Sergey; Kamisetty, Hetunandan; Baker, David

2017-01-01

Residue pairs that directly coevolve in protein families are generally close in protein 3D structures. Here we study the exceptions to this general trend—directly coevolving residue pairs that are distant in protein structures—to determine the origins of evolutionary pressure on spatially distant residues and to understand the sources of error in contact-based structure prediction. Over a set of 4,000 protein families, we find that 25% of directly coevolving residue pairs are separated by more than 5 Å in protein structures and 3% by more than 15 Å. The majority (91%) of directly coevolving residue pairs in the 5–15 Å range are found to be in contact in at least one homologous structure—these exceptions arise from structural variation in the family in the region containing the residues. Thirty-five percent of the exceptions greater than 15 Å are at homo-oligomeric interfaces, 19% arise from family structural variation, and 27% are in repeat proteins likely reflecting alignment errors. Of the remaining long-range exceptions (<1% of the total number of coupled pairs), many can be attributed to close interactions in an oligomeric state. Overall, the results suggest that directly coevolving residue pairs not in repeat proteins are spatially proximal in at least one biologically relevant protein conformation within the family; we find little evidence for direct coupling between residues at spatially separated allosteric and functional sites or for increased direct coupling between residue pairs on putative allosteric pathways connecting them. PMID:28784799

Improved Spatial Registration and Target Tracking Method for Sensors on Multiple Missiles.

PubMed

Lu, Xiaodong; Xie, Yuting; Zhou, Jun

2018-05-27

Inspired by the problem that the current spatial registration methods are unsuitable for three-dimensional (3-D) sensor on high-dynamic platform, this paper focuses on the estimation for the registration errors of cooperative missiles and motion states of maneuvering target. There are two types of errors being discussed: sensor measurement biases and attitude biases. Firstly, an improved Kalman Filter on Earth-Centered Earth-Fixed (ECEF-KF) coordinate algorithm is proposed to estimate the deviations mentioned above, from which the outcomes are furtherly compensated to the error terms. Secondly, the Pseudo Linear Kalman Filter (PLKF) and the nonlinear scheme the Unscented Kalman Filter (UKF) with modified inputs are employed for target tracking. The convergence of filtering results are monitored by a position-judgement logic, and a low-pass first order filter is selectively introduced before compensation to inhibit the jitter of estimations. In the simulation, the ECEF-KF enhancement is proven to improve the accuracy and robustness of the space alignment, while the conditional-compensation-based PLKF method is demonstrated to be the optimal performance in target tracking.

Power collection reduction by mirror surface nonflatness and tracking error for a central receiver solar power system.

PubMed

McFee, R H

1975-07-01

The effects of random waviness, curvature, and tracking error of plane-mirror heliostats in a rectangular array around a central-receiver solar power system are determined by subdividing each mirror into 484 elements, assuming the slope of each element to be representative of the surface slope average at its location, and summing the contributions of all elements and then of all mirrors in the array. Total received power and flux density distribution are computed for a given sun location and set of array parameter values. Effects of shading and blocking by adjacent mirrors are included in the calculation. Alt-azimuth mounting of the heliostats is assumed. Representative curves for two receiver diameters and two sun locations indicate a power loss of 20% for random waviness, curvature, and tracking error of 0.1 degrees rms, 0.002 m(-1), and 0.5 degrees , 3sigma, respectively, for an 18.2-m diam receiver and 0.3 degrees rms, 0.005 m(-1), and greater than 1 degrees , respectively, for a 30.4-m diam receiver.

Indirect learning control for nonlinear dynamical systems

NASA Technical Reports Server (NTRS)

Ryu, Yeong Soon; Longman, Richard W.

1993-01-01

In a previous paper, learning control algorithms were developed based on adaptive control ideas for linear time variant systems. The learning control methods were shown to have certain advantages over their adaptive control counterparts, such as the ability to produce zero tracking error in time varying systems, and the ability to eliminate repetitive disturbances. In recent years, certain adaptive control algorithms have been developed for multi-body dynamic systems such as robots, with global guaranteed convergence to zero tracking error for the nonlinear system euations. In this paper we study the relationship between such adaptive control methods designed for this specific class of nonlinear systems, and the learning control problem for such systems, seeking to converge to zero tracking error in following a specific command repeatedly, starting from the same initial conditions each time. The extension of these methods from the adaptive control problem to the learning control problem is seen to be trivial. The advantages and disadvantages of using learning control based on such adaptive control concepts for nonlinear systems, and the use of other currently available learning control algorithms are discussed.

Combustion Organic Aerosol as Cloud Condensation Nuclei in Ship Tracks.

NASA Astrophysics Data System (ADS)

Russell, Lynn M.; Noone, Kevin J.; Ferek, Ronald J.; Pockalny, Robert A.; Flagan, Richard C.; Seinfeld, John H.

2000-08-01

Polycyclic aromatic hydrocarbons (PAHs) have been sampled in marine stratiform clouds to identify the contribution of anthropogenic combustion emissions in activation of aerosol to cloud droplets. The Monterey Area Ship Track experiment provided an opportunity to acquire data on the role of organic compounds in ambient clouds and in ship tracks identified in satellite images. Identification of PAHs in cloud droplet residual samples indicates that several PAHs are present in cloud condensation nuclei in anthropogenically influenced air and do result in activated droplets in cloud. These results establish the presence of combustion products, such as PAHs, in submicrometer aerosols in anthropogenically influenced marine air, with enhanced concentrations in air polluted by ship effluent. The presence of PAHs in droplet residuals in anthropogenically influenced air masses indicates that some fraction of those combustion products is present in the cloud condensation nuclei that activate in cloud. Although a sufficient mass of droplet residuals was not collected to establish a similar role for organics from measurements in satellite-identified ship tracks, the available evidence from the fraction of organics present in the interstitial aerosol is consistent with part of the organic fraction partitioning to the droplet population. In addition, the probability that a compound will be found in cloud droplets rather than in the unactivated aerosol and the compound's water solubility are compared. The PAHs studied are only weakly soluble in water, but most of the sparse data collected support more soluble compounds having a higher probability of activation.

Soil moisture assimilation using a modified ensemble transform Kalman filter with water balance constraint

NASA Astrophysics Data System (ADS)

Wu, Guocan; Zheng, Xiaogu; Dan, Bo

2016-04-01

The shallow soil moisture observations are assimilated into Common Land Model (CoLM) to estimate the soil moisture in different layers. The forecast error is inflated to improve the analysis state accuracy and the water balance constraint is adopted to reduce the water budget residual in the assimilation procedure. The experiment results illustrate that the adaptive forecast error inflation can reduce the analysis error, while the proper inflation layer can be selected based on the -2log-likelihood function of the innovation statistic. The water balance constraint can result in reducing water budget residual substantially, at a low cost of assimilation accuracy loss. The assimilation scheme can be potentially applied to assimilate the remote sensing data.

Use of Inverse-Modeling Methods to Improve Ground-Water-Model Calibration and Evaluate Model-Prediction Uncertainty, Camp Edwards, Cape Cod, Massachusetts

USGS Publications Warehouse

Walter, Donald A.; LeBlanc, Denis R.

2008-01-01

Historical weapons testing and disposal activities at Camp Edwards, which is located on the Massachusetts Military Reservation, western Cape Cod, have resulted in the release of contaminants into an underlying sand and gravel aquifer that is the sole source of potable water to surrounding communities. Ground-water models have been used at the site to simulate advective transport in the aquifer in support of field investigations. Reasonable models developed by different groups and calibrated by trial and error often yield different predictions of advective transport, and the predictions lack quantitative measures of uncertainty. A recently (2004) developed regional model of western Cape Cod, modified to include the sensitivity and parameter-estimation capabilities of MODFLOW-2000, was used in this report to evaluate the utility of inverse (statistical) methods to (1) improve model calibration and (2) assess model-prediction uncertainty. Simulated heads and flows were most sensitive to recharge and to the horizontal hydraulic conductivity of the Buzzards Bay and Sandwich Moraines and the Buzzards Bay and northern parts of the Mashpee outwash plains. Conversely, simulated heads and flows were much less sensitive to vertical hydraulic conductivity. Parameter estimation (inverse calibration) improved the match to observed heads and flows; the absolute mean residual for heads improved by 0.32 feet and the absolute mean residual for streamflows improved by about 0.2 cubic feet per second. Advective-transport predictions in Camp Edwards generally were most sensitive to the parameters with the highest precision (lowest coefficients of variation), indicating that the numerical model is adequate for evaluating prediction uncertainties in and around Camp Edwards. The incorporation of an advective-transport observation, representing the leading edge of a contaminant plume that had been difficult to match by using trial-and-error calibration, improved the match between an observed and simulated plume path; however, a modified representation of local geology was needed to simultaneously maintain a reasonable calibration to heads and flows and to the plume path. Advective-transport uncertainties were expressed as about 68-, 95-, and 99-percent confidence intervals on three dimensional simulated particle positions. The confidence intervals can be graphically represented as ellipses around individual particle positions in the X-Y (geographic) plane and in the X-Z or Y-Z (vertical) planes. The merging of individual ellipses allows uncertainties on forward particle tracks to be displayed in map or cross-sectional view as a cone of uncertainty around a simulated particle path; uncertainties on reverse particle-track endpoints - representing simulated recharge locations - can be geographically displayed as areas at the water table around the discrete particle endpoints. This information gives decisionmakers insight into the level of confidence they can have in particle-tracking results and can assist them in the efficient use of available field resources.

Technical Note: Evaluation of the systematic accuracy of a frameless, multiple image modality guided, linear accelerator based stereotactic radiosurgery system

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

Wen, N., E-mail: nwen1@hfhs.org; Snyder, K. C.; Qin, Y.

2016-05-15

Purpose: To evaluate the total systematic accuracy of a frameless, image guided stereotactic radiosurgery system. Methods: The localization accuracy and intermodality difference was determined by delivering radiation to an end-to-end prototype phantom, in which the targets were localized using optical surface monitoring system (OSMS), electromagnetic beacon-based tracking (Calypso®), cone-beam CT, “snap-shot” planar x-ray imaging, and a robotic couch. Six IMRT plans with jaw tracking and a flattening filter free beam were used to study the dosimetric accuracy for intracranial and spinal stereotactic radiosurgery treatment. Results: End-to-end localization accuracy of the system evaluated with the end-to-end phantom was 0.5 ± 0.2more » mm with a maximum deviation of 0.9 mm over 90 measurements (including jaw, MLC, and cone measurements for both auto and manual fusion) for single isocenter, single target treatment, 0.6 ± 0.4 mm for multitarget treatment with shared isocenter. Residual setup errors were within 0.1 mm for OSMS, and 0.3 mm for Calypso. Dosimetric evaluation based on absolute film dosimetry showed greater than 90% pass rate for all cases using a gamma criteria of 3%/1 mm. Conclusions: The authors’ experience demonstrates that the localization accuracy of the frameless image-guided system is comparable to robotic or invasive frame based radiosurgery systems.« less

Steady-state phase error for a phase-locked loop subjected to periodic Doppler inputs

NASA Technical Reports Server (NTRS)

Chen, C.-C.; Win, M. Z.

1991-01-01

The performance of a carrier phase locked loop (PLL) driven by a periodic Doppler input is studied. By expanding the Doppler input into a Fourier series and applying the linearized PLL approximations, it is easy to show that, for periodic frequency disturbances, the resulting steady state phase error is also periodic. Compared to the method of expanding frequency excursion into a power series, the Fourier expansion method can be used to predict the maximum phase error excursion for a periodic Doppler input. For systems with a large Doppler rate fluctuation, such as an optical transponder aboard an Earth orbiting spacecraft, the method can be applied to test whether a lower order tracking loop can provide satisfactory tracking and thereby save the effect of a higher order loop design.

A mathematical theory of learning control for linear discrete multivariable systems

NASA Technical Reports Server (NTRS)

Phan, Minh; Longman, Richard W.

1988-01-01

When tracking control systems are used in repetitive operations such as robots in various manufacturing processes, the controller will make the same errors repeatedly. Here consideration is given to learning controllers that look at the tracking errors in each repetition of the process and adjust the control to decrease these errors in the next repetition. A general formalism is developed for learning control of discrete-time (time-varying or time-invariant) linear multivariable systems. Methods of specifying a desired trajectory (such that the trajectory can actually be performed by the discrete system) are discussed, and learning controllers are developed. Stability criteria are obtained which are relatively easy to use to insure convergence of the learning process, and proper gain settings are discussed in light of measurement noise and system uncertainties.

Evaluation of an image-based tracking workflow using a passive marker and resonant micro-coil fiducials for automatic image plane alignment in interventional MRI.

PubMed

Neumann, M; Breton, E; Cuvillon, L; Pan, L; Lorenz, C H; de Mathelin, M

2012-01-01

In this paper, an original workflow is presented for MR image plane alignment based on tracking in real-time MR images. A test device consisting of two resonant micro-coils and a passive marker is proposed for detection using image-based algorithms. Micro-coils allow for automated initialization of the object detection in dedicated low flip angle projection images; then the passive marker is tracked in clinical real-time MR images, with alternation between two oblique orthogonal image planes along the test device axis; in case the passive marker is lost in real-time images, the workflow is reinitialized. The proposed workflow was designed to minimize dedicated acquisition time to a single dedicated acquisition in the ideal case (no reinitialization required). First experiments have shown promising results for test-device tracking precision, with a mean position error of 0.79 mm and a mean orientation error of 0.24°.

LEA Detection and Tracking Method for Color-Independent Visual-MIMO

PubMed Central

Kim, Jai-Eun; Kim, Ji-Won; Kim, Ki-Doo

2016-01-01

Communication performance in the color-independent visual-multiple input multiple output (visual-MIMO) technique is deteriorated by light emitting array (LEA) detection and tracking errors in the received image because the image sensor included in the camera must be used as the receiver in the visual-MIMO system. In this paper, in order to improve detection reliability, we first set up the color-space-based region of interest (ROI) in which an LEA is likely to be placed, and then use the Harris corner detection method. Next, we use Kalman filtering for robust tracking by predicting the most probable location of the LEA when the relative position between the camera and the LEA varies. In the last step of our proposed method, the perspective projection is used to correct the distorted image, which can improve the symbol decision accuracy. Finally, through numerical simulation, we show the possibility of robust detection and tracking of the LEA, which results in a symbol error rate (SER) performance improvement. PMID:27384563

Tracking Three-Dimensional Fish Behavior with a New Marine Acoustic Telemetry System

NASA Technical Reports Server (NTRS)

Brosnan, Ian G.; McGarry, Louise P.; Greene, Charles H.; Steig, Tracey W.; Johnston, Samuel V.; Ehrenberg, John E.

2015-01-01

The persistent monitoring capability provided by acoustic telemetry systems allows us to study behavior, movement, and resource selection of mobile marine animals. Current marine acoustic telemetry systems are challenged by localization errors and limits in the number of animals that can be tracked simultaneously. We designed a new system to provide detection ranges of up to 1 km, to reduce localization errors to less than 1 m, and to increase to 500 the number of unique tags simultaneously tracked. The design builds on HTIs experience of more than a decade developing acoustic telemetry systems for freshwater environments. A field trial of the prototype system was conducted at the University of Washingtons Friday Harbor Marine Laboratory (Friday Harbor, WA). Copper rockfish (Sebastes caurinus) were selected for field trials of this new system because their high site-fidelity and small home ranges provide ample opportunity to track individual fish behavior while testing our ability to characterize the movements of a species of interest to management authorities.

LEA Detection and Tracking Method for Color-Independent Visual-MIMO.

PubMed

Kim, Jai-Eun; Kim, Ji-Won; Kim, Ki-Doo

2016-07-02

Communication performance in the color-independent visual-multiple input multiple output (visual-MIMO) technique is deteriorated by light emitting array (LEA) detection and tracking errors in the received image because the image sensor included in the camera must be used as the receiver in the visual-MIMO system. In this paper, in order to improve detection reliability, we first set up the color-space-based region of interest (ROI) in which an LEA is likely to be placed, and then use the Harris corner detection method. Next, we use Kalman filtering for robust tracking by predicting the most probable location of the LEA when the relative position between the camera and the LEA varies. In the last step of our proposed method, the perspective projection is used to correct the distorted image, which can improve the symbol decision accuracy. Finally, through numerical simulation, we show the possibility of robust detection and tracking of the LEA, which results in a symbol error rate (SER) performance improvement.

Selective visual scaling of time-scale processes facilitates broadband learning of isometric force frequency tracking.

PubMed

King, Adam C; Newell, Karl M

2015-10-01

The experiment investigated the effect of selectively augmenting faster time scales of visual feedback information on the learning and transfer of continuous isometric force tracking tasks to test the generality of the self-organization of 1/f properties of force output. Three experimental groups tracked an irregular target pattern either under a standard fixed gain condition or with selectively enhancement in the visual feedback display of intermediate (4-8 Hz) or high (8-12 Hz) frequency components of the force output. All groups reduced tracking error over practice, with the error lowest in the intermediate scaling condition followed by the high scaling and fixed gain conditions, respectively. Selective visual scaling induced persistent changes across the frequency spectrum, with the strongest effect in the intermediate scaling condition and positive transfer to novel feedback displays. The findings reveal an interdependence of the timescales in the learning and transfer of isometric force output frequency structures consistent with 1/f process models of the time scales of motor output variability.

A game theory approach to target tracking in sensor networks.

PubMed

Gu, Dongbing

2011-02-01

In this paper, we investigate a moving-target tracking problem with sensor networks. Each sensor node has a sensor to observe the target and a processor to estimate the target position. It also has wireless communication capability but with limited range and can only communicate with neighbors. The moving target is assumed to be an intelligent agent, which is "smart" enough to escape from the detection by maximizing the estimation error. This adversary behavior makes the target tracking problem more difficult. We formulate this target estimation problem as a zero-sum game in this paper and use a minimax filter to estimate the target position. The minimax filter is a robust filter that minimizes the estimation error by considering the worst case noise. Furthermore, we develop a distributed version of the minimax filter for multiple sensor nodes. The distributed computation is implemented via modeling the information received from neighbors as measurements in the minimax filter. The simulation results show that the target tracking algorithm proposed in this paper provides a satisfactory result.

Flight Evaluation of Center-TRACON Automation System Trajectory Prediction Process

NASA Technical Reports Server (NTRS)

Williams, David H.; Green, Steven M.

1998-01-01

Two flight experiments (Phase 1 in October 1992 and Phase 2 in September 1994) were conducted to evaluate the accuracy of the Center-TRACON Automation System (CTAS) trajectory prediction process. The Transport Systems Research Vehicle (TSRV) Boeing 737 based at Langley Research Center flew 57 arrival trajectories that included cruise and descent segments; at the same time, descent clearance advisories from CTAS were followed. Actual trajectories of the airplane were compared with the trajectories predicted by the CTAS trajectory synthesis algorithms and airplane Flight Management System (FMS). Trajectory prediction accuracy was evaluated over several levels of cockpit automation that ranged from a conventional cockpit to performance-based FMS vertical navigation (VNAV). Error sources and their magnitudes were identified and measured from the flight data. The major source of error during these tests was found to be the predicted winds aloft used by CTAS. The most significant effect related to flight guidance was the cross-track and turn-overshoot errors associated with conventional VOR guidance. FMS lateral navigation (LNAV) guidance significantly reduced both the cross-track and turn-overshoot error. Pilot procedures and VNAV guidance were found to significantly reduce the vertical profile errors associated with atmospheric and airplane performance model errors.

Integration of an On-Axis General Sun-Tracking Formula in the Algorithm of an Open-Loop Sun-Tracking System

PubMed Central

Chong, Kok-Keong; Wong, Chee-Woon; Siaw, Fei-Lu; Yew, Tiong-Keat; Ng, See-Seng; Liang, Meng-Suan; Lim, Yun-Seng; Lau, Sing-Liong

2009-01-01

A novel on-axis general sun-tracking formula has been integrated in the algorithm of an open-loop sun-tracking system in order to track the sun accurately and cost effectively. Sun-tracking errors due to installation defects of the 25 m2 prototype solar concentrator have been analyzed from recorded solar images with the use of a CCD camera. With the recorded data, misaligned angles from ideal azimuth-elevation axes have been determined and corrected by a straightforward changing of the parameters' values in the general formula of the tracking algorithm to improve the tracking accuracy to 2.99 mrad, which falls below the encoder resolution limit of 4.13 mrad. PMID:22408483

Improving the nowcasting of precipitation in an Alpine region with an enhanced radar echo tracking algorithm

NASA Astrophysics Data System (ADS)

Mecklenburg, S.; Joss, J.; Schmid, W.

2000-12-01

Nowcasting for hydrological applications is discussed. The tracking algorithm extrapolates radar images in space and time. It originates from the pattern recognition techniques TREC (Tracking Radar Echoes by Correlation, Rinehart and Garvey, J. Appl. Meteor., 34 (1995) 1286) and COTREC (Continuity of TREC vectors, Li et al., Nature, 273 (1978) 287). To evaluate the quality of the extrapolation, a parameter scheme is introduced, able to distinguish between errors in the position and the intensity of the predicted precipitation. The parameters for the position are the absolute error, the relative error and the error of the forecasted direction. The parameters for the intensity are the ratio of the medians and the variations of the rain rate (ratio of two quantiles) between the actual and the forecasted image. To judge the overall quality of the forecast, the correlation coefficient between the forecasted and the actual radar image has been used. To improve the forecast, three aspects have been investigated: (a) Common meteorological attributes of convective cells, derived from a hail statistics, have been determined to optimize the parameters of the tracking algorithm. Using (a), the forecast procedure modifications (b) and (c) have been applied. (b) Small-scale features have been removed by using larger tracking areas and by applying a spatial and temporal smoothing, since problems with the tracking algorithm are mainly caused by small-scale/short-term variations of the echo pattern or because of limitations caused by the radar technique itself (erroneous vectors caused by clutter or shielding). (c) The searching area and the number of searched boxes have been restricted. This limits false detections, which is especially useful in stratiform precipitation and for stationary echoes. Whereas a larger scale and the removal of small-scale features improve the forecasted position for the convective precipitation, the forecast of the stratiform event is not influenced, but limiting the search area leads to a slightly better forecast. The forecast of the intensity is successful for both precipitation events. Forecasting the variation of the rain rate calls for further investigation. Applying COTREC improves the forecast of the convective precipitation, especially for extrapolation times exceeding 30 min.

UWB Tracking System Design for Lunar/Mars Exploration

NASA Technical Reports Server (NTRS)

Ni, Jianjun; Arndt, Dickey; Ngo, Phong; Phan, Chau; Gross, Julia

2006-01-01

This paper describes a design effort for a prototype ultra-wideband (UWB) tracking system that is currently under development at NASA Johnson Space Center (JSC). The system is being studied for use in tracking of lunar/Mars rovers during early exploration missions when satellite navigation systems are not available. The UWB technology is exploited to implement the tracking system due to its properties such as high data rate, fine time resolution, low power spectral density, and multipath immunity. A two-cluster prototype design using commercially available UWB products is proposed to implement the Angle Of Arrival (AOA) tracking methodology in this research effort. An AOA technique using the Time Difference Of Arrival (TDOA) information is utilized for location estimation in the prototype system, not only to exploit the precise time resolution possible with UWB signals, but also to eliminate the need for synchronization between the transmitter and the receiver. After the UWB radio at each cluster is used to obtain the TDOA estimates from the UWB signal sent from the target, the TDOA data is converted to AOA data to find the angle of arrival, assuming this is a far field application. Since the distance between two clusters is known, the target position is computed by a simple triangulation. Simulations show that the average tracking error at a range of 610 meters is 2.7595 meters, less than 0.5% of the tracking range. Outdoor tests to track the SCOUT vehicle (The Science Crew Operations and Utility Testbed) near the Meteor Crater, Flagstaff, Arizona were performed on September 12-13, 2005. The tracking performance was obtained with less than 1% tracking error at ranges up to 2000 feet. No RF interference with on-board GPS, video, voice and telemetry systems was detected. Outdoor tests demonstrated the UWB tracking capability.

A General Method for Predicting Amino Acid Residues Experiencing Hydrogen Exchange

PubMed Central

Wang, Boshen; Perez-Rathke, Alan; Li, Renhao; Liang, Jie

2018-01-01

Information on protein hydrogen exchange can help delineate key regions involved in protein-protein interactions and provides important insight towards determining functional roles of genetic variants and their possible mechanisms in disease processes. Previous studies have shown that the degree of hydrogen exchange is affected by hydrogen bond formations, solvent accessibility, proximity to other residues, and experimental conditions. However, a general predictive method for identifying residues capable of hydrogen exchange transferable to a broad set of proteins is lacking. We have developed a machine learning method based on random forest that can predict whether a residue experiences hydrogen exchange. Using data from the Start2Fold database, which contains information on 13,306 residues (3,790 of which experience hydrogen exchange and 9,516 which do not exchange), our method achieves good performance. Specifically, we achieve an overall out-of-bag (OOB) error, an unbiased estimate of the test set error, of 20.3 percent. Using a randomly selected test data set consisting of 500 residues experiencing hydrogen exchange and 500 which do not, our method achieves an accuracy of 0.79, a recall of 0.74, a precision of 0.82, and an F1 score of 0.78.

Measures of Residual Risk with Connections to Regression, Risk Tracking, Surrogate Models, and Ambiguity

DTIC Science & Technology

2015-04-15

manage , predict, and mitigate the risk in the original variable. Residual risk can be exemplified as a quantification of the improved... the random variable of interest is viewed in concert with a related random vector that helps to manage , predict, and mitigate the risk in the original... manage , predict and mitigate the risk in the original variable. Residual risk can be exemplified as a quantification of the improved situation faced