Robustness and Actuator Bandwidth of MRP-Based Sliding Mode Control for Spacecraft Attitude Control Problems

NASA Astrophysics Data System (ADS)

Keum, Jung-Hoon; Ra, Sung-Woong

2009-12-01

Nonlinear sliding surface design in variable structure systems for spacecraft attitude control problems is studied. A robustness analysis is performed for regular form of system, and calculation of actuator bandwidth is presented by reviewing sliding surface dynamics. To achieve non-singular attitude description and minimal parameterization, spacecraft attitude control problems are considered based on modified Rodrigues parameters (MRP). It is shown that the derived controller ensures the sliding motion in pre-determined region irrespective of unmodeled effects and disturbances.

Incremental inverse kinematics based vision servo for autonomous robotic capture of non-cooperative space debris

NASA Astrophysics Data System (ADS)

Dong, Gangqi; Zhu, Z. H.

2016-04-01

This paper proposed a new incremental inverse kinematics based vision servo approach for robotic manipulators to capture a non-cooperative target autonomously. The target's pose and motion are estimated by a vision system using integrated photogrammetry and EKF algorithm. Based on the estimated pose and motion of the target, the instantaneous desired position of the end-effector is predicted by inverse kinematics and the robotic manipulator is moved incrementally from its current configuration subject to the joint speed limits. This approach effectively eliminates the multiple solutions in the inverse kinematics and increases the robustness of the control algorithm. The proposed approach is validated by a hardware-in-the-loop simulation, where the pose and motion of the non-cooperative target is estimated by a real vision system. The simulation results demonstrate the effectiveness and robustness of the proposed estimation approach for the target and the incremental control strategy for the robotic manipulator.

Robust H ∞ Control for Spacecraft Rendezvous with a Noncooperative Target

PubMed Central

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

2013-01-01

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

Human motion planning based on recursive dynamics and optimal control techniques

NASA Technical Reports Server (NTRS)

Lo, Janzen; Huang, Gang; Metaxas, Dimitris

2002-01-01

This paper presents an efficient optimal control and recursive dynamics-based computer animation system for simulating and controlling the motion of articulated figures. A quasi-Newton nonlinear programming technique (super-linear convergence) is implemented to solve minimum torque-based human motion-planning problems. The explicit analytical gradients needed in the dynamics are derived using a matrix exponential formulation and Lie algebra. Cubic spline functions are used to make the search space for an optimal solution finite. Based on our formulations, our method is well conditioned and robust, in addition to being computationally efficient. To better illustrate the efficiency of our method, we present results of natural looking and physically correct human motions for a variety of human motion tasks involving open and closed loop kinematic chains.

Pigeons (C. livia) Follow Their Head during Turning Flight: Head Stabilization Underlies the Visual Control of Flight.

PubMed

Ros, Ivo G; Biewener, Andrew A

2017-01-01

Similar flight control principles operate across insect and vertebrate fliers. These principles indicate that robust solutions have evolved to meet complex behavioral challenges. Following from studies of visual and cervical feedback control of flight in insects, we investigate the role of head stabilization in providing feedback cues for controlling turning flight in pigeons. Based on previous observations that the eyes of pigeons remain at relatively fixed orientations within the head during flight, we test potential sensory control inputs derived from head and body movements during 90° aerial turns. We observe that periods of angular head stabilization alternate with rapid head repositioning movements (head saccades), and confirm that control of head motion is decoupled from aerodynamic and inertial forces acting on the bird's continuously rotating body during turning flapping flight. Visual cues inferred from head saccades correlate with changes in flight trajectory; whereas the magnitude of neck bending predicts angular changes in body position. The control of head motion to stabilize a pigeon's gaze may therefore facilitate extraction of important motion cues, in addition to offering mechanisms for controlling body and wing movements. Strong similarities between the sensory flight control of birds and insects may also inspire novel designs of robust controllers for human-engineered autonomous aerial vehicles.

Pigeons (C. livia) Follow Their Head during Turning Flight: Head Stabilization Underlies the Visual Control of Flight

PubMed Central

Ros, Ivo G.; Biewener, Andrew A.

2017-01-01

Similar flight control principles operate across insect and vertebrate fliers. These principles indicate that robust solutions have evolved to meet complex behavioral challenges. Following from studies of visual and cervical feedback control of flight in insects, we investigate the role of head stabilization in providing feedback cues for controlling turning flight in pigeons. Based on previous observations that the eyes of pigeons remain at relatively fixed orientations within the head during flight, we test potential sensory control inputs derived from head and body movements during 90° aerial turns. We observe that periods of angular head stabilization alternate with rapid head repositioning movements (head saccades), and confirm that control of head motion is decoupled from aerodynamic and inertial forces acting on the bird's continuously rotating body during turning flapping flight. Visual cues inferred from head saccades correlate with changes in flight trajectory; whereas the magnitude of neck bending predicts angular changes in body position. The control of head motion to stabilize a pigeon's gaze may therefore facilitate extraction of important motion cues, in addition to offering mechanisms for controlling body and wing movements. Strong similarities between the sensory flight control of birds and insects may also inspire novel designs of robust controllers for human-engineered autonomous aerial vehicles. PMID:29249929

Sagittal fresh blood imaging with interleaved acquisition of systolic and diastolic data for improved robustness to motion.

PubMed

Atanasova, Iliyana P; Kim, Daniel; Storey, Pippa; Rosenkrantz, Andrew B; Lim, Ruth P; Lee, Vivian S

2013-02-01

To improve robustness to patient motion of "fresh blood imaging" (FBI) for lower extremity noncontrast MR angiography. In FBI, two sets of three-dimensional fast spin echo images are acquired at different cardiac phases and subtracted to generate bright-blood angiograms. Routinely performed with a single coronal slab and sequential acquisition of systolic and diastolic data, FBI is prone to subtraction errors due to patient motion. In this preliminary feasibility study, FBI was implemented with two sagittal imaging slabs, and the systolic and diastolic acquisitions were interleaved to minimize sensitivity to motion. The proposed technique was evaluated in volunteers and patients. In 10 volunteers, imaged while performing controlled movements, interleaved FBI demonstrated better tolerance to subject motion than sequential FBI. In one patient with peripheral arterial disease, interleaved FBI offered better depiction of collateral flow by reducing sensitivity to inadvertent motion. FBI with interleaved acquisition of diastolic and systolic data in two sagittal imaging slabs offers improved tolerance to patient motion. Copyright © 2013 Wiley Periodicals, Inc.

Sagittal Fresh Blood Imaging with Interleaved Acquisition of Systolic and Diastolic Data for Improved Robustness to Motion

PubMed Central

Atanasova, Iliyana P.; Kim, Daniel; Storey, Pippa; Rosenkrantz, Andrew B; Lim, Ruth P.; Lee, Vivian S.

2012-01-01

Purpose To improve robustness to patient motion of ‘fresh blood imaging’ (FBI) for lower extremity non-contrast MRA. Methods In FBI, two sets of 3D fast spin echo images are acquired at different cardiac phases and subtracted to generate bright-blood angiograms. Routinely performed with a single coronal slab and sequential acquisition of systolic and diastolic data, FBI is prone to subtraction errors due to patient motion. In this preliminary feasibility study, FBI was implemented with two sagittal imaging slabs, and the systolic and diastolic acquisitions were interleaved to minimize sensitivity to motion. The proposed technique was evaluated in volunteers and patients. Results In ten volunteers, imaged while performing controlled movements, interleaved FBI demonstrated better tolerance to subject motion than sequential FBI. In one patient with peripheral arterial disease, interleaved FBI offered better depiction of collateral flow by reducing sensitivity to inadvertent motion. Conclusions FBI with interleaved acquisition of diastolic and systolic data in two sagittal imaging slabs offers improved tolerance to patient motion. PMID:23300129

Robust coordinated control of a dual-arm space robot

NASA Astrophysics Data System (ADS)

Shi, Lingling; Kayastha, Sharmila; Katupitiya, Jay

2017-09-01

Dual-arm space robots are more capable of implementing complex space tasks compared with single arm space robots. However, the dynamic coupling between the arms and the base will have a serious impact on the spacecraft attitude and the hand motion of each arm. Instead of considering one arm as the mission arm and the other as the balance arm, in this work two arms of the space robot perform as mission arms aimed at accomplishing secure capture of a floating target. The paper investigates coordinated control of the base's attitude and the arms' motion in the task space in the presence of system uncertainties. Two types of controllers, i.e. a Sliding Mode Controller (SMC) and a nonlinear Model Predictive Controller (MPC) are verified and compared with a conventional Computed-Torque Controller (CTC) through numerical simulations in terms of control accuracy and system robustness. Both controllers eliminate the need to linearly parameterize the dynamic equations. The MPC has been shown to achieve performance with higher accuracy than CTC and SMC in the absence of system uncertainties under the condition that they consume comparable energy. When the system uncertainties are included, SMC and CTC present advantageous robustness than MPC. Specifically, in a case where system inertia increases, SMC delivers higher accuracy than CTC and costs the least amount of energy.

A High-Availability, Distributed Hardware Control System Using Java

NASA Technical Reports Server (NTRS)

Niessner, Albert F.

2011-01-01

Two independent coronagraph experiments that require 24/7 availability with different optical layouts and different motion control requirements are commanded and controlled with the same Java software system executing on many geographically scattered computer systems interconnected via TCP/IP. High availability of a distributed system requires that the computers have a robust communication messaging system making the mix of TCP/IP (a robust transport), and XML (a robust message) a natural choice. XML also adds the configuration flexibility. Java then adds object-oriented paradigms, exception handling, heavily tested libraries, and many third party tools for implementation robustness. The result is a software system that provides users 24/7 access to two diverse experiments with XML files defining the differences

Control Of A Serpentine Robot For Inspection Tasks

NASA Technical Reports Server (NTRS)

Seraji, Homayoun; Colbaugh, Richard D.; Glass, Kristin L.

1996-01-01

Efficient, robust kinematic control scheme developed to control serpentine robot designed to inspect complex structure. Takes full advantage of multiple redundant degrees of freedom of robot to provide considerable dexterity for maneuvering through workspace cluttered with stationary obstacles at initially unknown positions. Control scheme produces slithering motion.

A novel single thruster control strategy for spacecraft attitude stabilization

NASA Astrophysics Data System (ADS)

Godard; Kumar, Krishna Dev; Zou, An-Min

2013-05-01

Feasibility of achieving three axis attitude stabilization using a single thruster is explored in this paper. Torques are generated using a thruster orientation mechanism with which the thrust vector can be tilted on a two axis gimbal. A robust nonlinear control scheme is developed based on the nonlinear kinematic and dynamic equations of motion of a rigid body spacecraft in the presence of gravity gradient torque and external disturbances. The spacecraft, controlled using the proposed concept, constitutes an underactuated system (a system with fewer independent control inputs than degrees of freedom) with nonlinear dynamics. Moreover, using thruster gimbal angles as control inputs make the system non-affine (control terms appear nonlinearly in the state equation). This necessitates the control algorithms to be developed based on nonlinear control theory since linear control methods are not directly applicable. The stability conditions for the spacecraft attitude motion for robustness against uncertainties and disturbances are derived to establish the regions of asymptotic 3-axis attitude stabilization. Several numerical simulations are presented to demonstrate the efficacy of the proposed controller and validate the theoretical results. The control algorithm is shown to compensate for time-varying external disturbances including solar radiation pressure, aerodynamic forces, and magnetic disturbances; and uncertainties in the spacecraft inertia parameters. The numerical results also establish the robustness of the proposed control scheme to negate disturbances caused by orbit eccentricity.

Motion control of multi-actuator hydraulic systems for mobile machineries: Recent advancements and future trends

NASA Astrophysics Data System (ADS)

Xu, Bing; Cheng, Min

2018-06-01

This paper presents a survey of recent advancements and upcoming trends in motion control technologies employed in designing multi-actuator hydraulic systems for mobile machineries. Hydraulic systems have been extensively used in mobile machineries due to their superior power density and robustness. However, motion control technologies of multi-actuator hydraulic systems have faced increasing challenges due to stringent emission regulations. In this study, an overview of the evolution of existing throttling control technologies is presented, including open-center and load sensing controls. Recent advancements in energy-saving hydraulic technologies, such as individual metering, displacement, and hybrid controls, are briefly summarized. The impact of energy-saving hydraulic technologies on dynamic performance and control solutions are also discussed. Then, the advanced operation methods of multi-actuator mobile machineries are reviewed, including coordinated and haptic controls. Finally, challenges and opportunities of advanced motion control technologies are presented by providing an overall consideration of energy efficiency, controllability, cost, reliability, and other aspects.

Real-Time Classification of Hand Motions Using Ultrasound Imaging of Forearm Muscles.

PubMed

Akhlaghi, Nima; Baker, Clayton A; Lahlou, Mohamed; Zafar, Hozaifah; Murthy, Karthik G; Rangwala, Huzefa S; Kosecka, Jana; Joiner, Wilsaan M; Pancrazio, Joseph J; Sikdar, Siddhartha

2016-08-01

Surface electromyography (sEMG) has been the predominant method for sensing electrical activity for a number of applications involving muscle-computer interfaces, including myoelectric control of prostheses and rehabilitation robots. Ultrasound imaging for sensing mechanical deformation of functional muscle compartments can overcome several limitations of sEMG, including the inability to differentiate between deep contiguous muscle compartments, low signal-to-noise ratio, and lack of a robust graded signal. The objective of this study was to evaluate the feasibility of real-time graded control using a computationally efficient method to differentiate between complex hand motions based on ultrasound imaging of forearm muscles. Dynamic ultrasound images of the forearm muscles were obtained from six able-bodied volunteers and analyzed to map muscle activity based on the deformation of the contracting muscles during different hand motions. Each participant performed 15 different hand motions, including digit flexion, different grips (i.e., power grasp and pinch grip), and grips in combination with wrist pronation. During the training phase, we generated a database of activity patterns corresponding to different hand motions for each participant. During the testing phase, novel activity patterns were classified using a nearest neighbor classification algorithm based on that database. The average classification accuracy was 91%. Real-time image-based control of a virtual hand showed an average classification accuracy of 92%. Our results demonstrate the feasibility of using ultrasound imaging as a robust muscle-computer interface. Potential clinical applications include control of multiarticulated prosthetic hands, stroke rehabilitation, and fundamental investigations of motor control and biomechanics.

Analysis of the Accuracy and Robustness of the Leap Motion Controller

PubMed Central

Weichert, Frank; Bachmann, Daniel; Rudak, Bartholomäus; Fisseler, Denis

2013-01-01

The Leap Motion Controller is a new device for hand gesture controlled user interfaces with declared sub-millimeter accuracy. However, up to this point its capabilities in real environments have not been analyzed. Therefore, this paper presents a first study of a Leap Motion Controller. The main focus of attention is on the evaluation of the accuracy and repeatability. For an appropriate evaluation, a novel experimental setup was developed making use of an industrial robot with a reference pen allowing a position accuracy of 0.2 mm. Thereby, a deviation between a desired 3D position and the average measured positions below 0.2 mm has been obtained for static setups and of 1.2 mm for dynamic setups. Using the conclusion of this analysis can improve the development of applications for the Leap Motion controller in the field of Human-Computer Interaction. PMID:23673678

Analysis of the accuracy and robustness of the leap motion controller.

PubMed

Weichert, Frank; Bachmann, Daniel; Rudak, Bartholomäus; Fisseler, Denis

2013-05-14

The Leap Motion Controller is a new device for hand gesture controlled user interfaces with declared sub-millimeter accuracy. However, up to this point its capabilities in real environments have not been analyzed. Therefore, this paper presents a first study of a Leap Motion Controller. The main focus of attention is on the evaluation of the accuracy and repeatability. For an appropriate evaluation, a novel experimental setup was developed making use of an industrial robot with a reference pen allowing a position accuracy of 0.2 mm. Thereby, a deviation between a desired 3D position and the average measured positions below 0.2 mm has been obtained for static setups and of 1.2 mm for dynamic setups. Using the conclusion of this analysis can improve the development of applications for the Leap Motion controller in the field of Human-Computer Interaction.

SU-E-T-452: Impact of Respiratory Motion On Robustly-Optimized Intensity-Modulated Proton Therapy to Treat Lung Cancers

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

Liu, W; Schild, S; Bues, M

Purpose: We compared conventionally optimized intensity-modulated proton therapy (IMPT) treatment plans against the worst-case robustly optimized treatment plans for lung cancer. The comparison of the two IMPT optimization strategies focused on the resulting plans' ability to retain dose objectives under the influence of patient set-up, inherent proton range uncertainty, and dose perturbation caused by respiratory motion. Methods: For each of the 9 lung cancer cases two treatment plans were created accounting for treatment uncertainties in two different ways: the first used the conventional Method: delivery of prescribed dose to the planning target volume (PTV) that is geometrically expanded from themore » internal target volume (ITV). The second employed the worst-case robust optimization scheme that addressed set-up and range uncertainties through beamlet optimization. The plan optimality and plan robustness were calculated and compared. Furthermore, the effects on dose distributions of the changes in patient anatomy due to respiratory motion was investigated for both strategies by comparing the corresponding plan evaluation metrics at the end-inspiration and end-expiration phase and absolute differences between these phases. The mean plan evaluation metrics of the two groups were compared using two-sided paired t-tests. Results: Without respiratory motion considered, we affirmed that worst-case robust optimization is superior to PTV-based conventional optimization in terms of plan robustness and optimality. With respiratory motion considered, robust optimization still leads to more robust dose distributions to respiratory motion for targets and comparable or even better plan optimality [D95% ITV: 96.6% versus 96.1% (p=0.26), D5% - D95% ITV: 10.0% versus 12.3% (p=0.082), D1% spinal cord: 31.8% versus 36.5% (p =0.035)]. Conclusion: Worst-case robust optimization led to superior solutions for lung IMPT. Despite of the fact that robust optimization did not explicitly account for respiratory motion it produced motion-resistant treatment plans. However, further research is needed to incorporate respiratory motion into IMPT robust optimization.« less

Sliding mode control of electromagnetic tethered satellite formation

NASA Astrophysics Data System (ADS)

Hallaj, Mohammad Amin Alandi; Assadian, Nima

2016-08-01

This paper investigates the control of tethered satellite formation actuated by electromagnetic dipoles and reaction wheels using the robust sliding mode control technique. Generating electromagnetic forces and moments by electric current coils provides an attractive control actuation alternative for tethered satellite system due to the advantages of no propellant consumption and no obligatory rotational motion. Based on a dumbbell model of tethered satellite in which the flexibility and mass of the tether is neglected, the equations of motion in Cartesian coordinate are derived. In this model, the J2 perturbation is taken into account. The far-field and mid-field models of electromagnetic forces and moments of two satellites on each other and the effect of the Earth's magnetic field are presented. A robust sliding mode controller is designed for precise trajectory tracking purposes and to deal with the electromagnetic force and moment uncertainties and external disturbances due to the Earth's gravitational and magnetic fields inaccuracy. Numerical simulation results are presented to validate the effectiveness of the developed controller and its superiority over the linear controller.

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

PubMed

Yin, Xiuxing; Pan, Li

2018-01-01

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

Robust quantum logic in neutral atoms via adiabatic Rydberg dressing

DOE PAGES

Keating, Tyler; Cook, Robert L.; Hankin, Aaron M.; ...

2015-01-28

We study a scheme for implementing a controlled-Z (CZ) gate between two neutral-atom qubits based on the Rydberg blockade mechanism in a manner that is robust to errors caused by atomic motion. By employing adiabatic dressing of the ground electronic state, we can protect the gate from decoherence due to random phase errors that typically arise because of atomic thermal motion. In addition, the adiabatic protocol allows for a Doppler-free configuration that involves counterpropagating lasers in a σ +/σ - orthogonal polarization geometry that further reduces motional errors due to Doppler shifts. The residual motional error is dominated by dipole-dipolemore » forces acting on doubly-excited Rydberg atoms when the blockade is imperfect. As a result, for reasonable parameters, with qubits encoded into the clock states of 133Cs, we predict that our protocol could produce a CZ gate in < 10 μs with error probability on the order of 10 -3.« less

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.

An EMG-based robot control scheme robust to time-varying EMG signal features.

PubMed

Artemiadis, Panagiotis K; Kyriakopoulos, Kostas J

2010-05-01

Human-robot control interfaces have received increased attention during the past decades. With the introduction of robots in everyday life, especially in providing services to people with special needs (i.e., elderly, people with impairments, or people with disabilities), there is a strong necessity for simple and natural control interfaces. In this paper, electromyographic (EMG) signals from muscles of the human upper limb are used as the control interface between the user and a robot arm. EMG signals are recorded using surface EMG electrodes placed on the user's skin, making the user's upper limb free of bulky interface sensors or machinery usually found in conventional human-controlled systems. The proposed interface allows the user to control in real time an anthropomorphic robot arm in 3-D space, using upper limb motion estimates based only on EMG recordings. Moreover, the proposed interface is robust to EMG changes with respect to time, mainly caused by muscle fatigue or adjustments of contraction level. The efficiency of the method is assessed through real-time experiments, including random arm motions in the 3-D space with variable hand speed profiles.

A DNA-based nanomechanical device with three robust states.

PubMed

Chakraborty, Banani; Sha, Ruojie; Seeman, Nadrian C

2008-11-11

DNA has been used to build a variety of devices, ranging from those that are controlled by DNA structural transitions to those that are controlled by the addition of specific DNA strands. These sequence-dependent devices fulfill the promise of DNA in nanotechnology because a variety of devices in the same physical environment can be controlled individually. Many such devices have been reported, but most of them contain one or two structurally robust end states, in addition to a floppy intermediate or even a floppy end state. We describe a system in which three different structurally robust end states can be obtained, all resulting from the addition of different set strands to a single floppy intermediate. This system is an extension of the PX-JX(2) DNA device. The three states are related to each other by three different motions, a twofold rotation, a translation of approximately 2.1-2.5 nm, and a twofold screw rotation, which combines these two motions. We demonstrate the transitions by gel electrophoresis, by fluorescence resonance energy transfer, and by atomic force microscopy. The control of this system by DNA strands opens the door to trinary logic and to systems containing N devices that are able to attain 3(N) structural states.

A DNA-based nanomechanical device with three robust states

PubMed Central

Chakraborty, Banani; Sha, Ruojie; Seeman, Nadrian C.

2008-01-01

DNA has been used to build a variety of devices, ranging from those that are controlled by DNA structural transitions to those that are controlled by the addition of specific DNA strands. These sequence-dependent devices fulfill the promise of DNA in nanotechnology because a variety of devices in the same physical environment can be controlled individually. Many such devices have been reported, but most of them contain one or two structurally robust end states, in addition to a floppy intermediate or even a floppy end state. We describe a system in which three different structurally robust end states can be obtained, all resulting from the addition of different set strands to a single floppy intermediate. This system is an extension of the PX-JX2 DNA device. The three states are related to each other by three different motions, a twofold rotation, a translation of ≈2.1–2.5 nm, and a twofold screw rotation, which combines these two motions. We demonstrate the transitions by gel electrophoresis, by fluorescence resonance energy transfer, and by atomic force microscopy. The control of this system by DNA strands opens the door to trinary logic and to systems containing N devices that are able to attain 3N structural states. PMID:18474862

Periodic-disturbance accommodating control of the space station for asymptotic momentum management

NASA Technical Reports Server (NTRS)

Warren, Wayne; Wie, Bong

1989-01-01

Periodic maneuvering control is developed for asymptotic momentum management of control gyros used as primary actuating devices for the Space Station. The proposed controller utilizes the concepts of quaternion feedback control and periodic-disturbance accommodation to achieve oscillations about the constant torque equilibrium attitude, while minimizing the control effort required. Three-axis coupled equations of motion, written in terms of quaternions, are derived for roll/yaw controller design and stability analysis. It is shown that the quaternion feedback controller is very robust for a wide range of pitch angles. It is also shown that the proposed controller tunes the open-loop unstable vehicle to a stable oscillatory motion which minimizes the control effort needed for steady-state operations.

Topological protection of multiparticle dissipative transport

NASA Astrophysics Data System (ADS)

Loehr, Johannes; Loenne, Michael; Ernst, Adrian; de Las Heras, Daniel; Fischer, Thomas M.

2016-06-01

Topological protection allows robust transport of localized phenomena such as quantum information, solitons and dislocations. The transport can be either dissipative or non-dissipative. Here, we experimentally demonstrate and theoretically explain the topologically protected dissipative motion of colloidal particles above a periodic hexagonal magnetic pattern. By driving the system with periodic modulation loops of an external and spatially homogeneous magnetic field, we achieve total control over the motion of diamagnetic and paramagnetic colloids. We can transport simultaneously and independently each type of colloid along any of the six crystallographic directions of the pattern via adiabatic or deterministic ratchet motion. Both types of motion are topologically protected. As an application, we implement an automatic topologically protected quality control of a chemical reaction between functionalized colloids. Our results are relevant to other systems with the same symmetry.

The role of muscle synergies in myoelectric control: trends and challenges for simultaneous multifunction control

NASA Astrophysics Data System (ADS)

Ison, Mark; Artemiadis, Panagiotis

2014-10-01

Myoelectric control is filled with potential to significantly change human-robot interaction due to the ability to non-invasively measure human motion intent. However, current control schemes have struggled to achieve the robust performance that is necessary for use in commercial applications. As demands in myoelectric control trend toward simultaneous multifunctional control, multi-muscle coordinations, or synergies, play larger roles in the success of the control scheme. Detecting and refining patterns in muscle activations robust to the high variance and transient changes associated with surface electromyography is essential for efficient, user-friendly control. This article reviews the role of muscle synergies in myoelectric control schemes by dissecting each component of the scheme with respect to associated challenges for achieving robust simultaneous control of myoelectric interfaces. Electromyography recording details, signal feature extraction, pattern recognition and motor learning based control schemes are considered, and future directions are proposed as steps toward fulfilling the potential of myoelectric control in clinically and commercially viable applications.

Human Guidance Behavior Decomposition and Modeling

NASA Astrophysics Data System (ADS)

Feit, Andrew James

Trained humans are capable of high performance, adaptable, and robust first-person dynamic motion guidance behavior. This behavior is exhibited in a wide variety of activities such as driving, piloting aircraft, skiing, biking, and many others. Human performance in such activities far exceeds the current capability of autonomous systems in terms of adaptability to new tasks, real-time motion planning, robustness, and trading safety for performance. The present work investigates the structure of human dynamic motion guidance that enables these performance qualities. This work uses a first-person experimental framework that presents a driving task to the subject, measuring control inputs, vehicle motion, and operator visual gaze movement. The resulting data is decomposed into subspace segment clusters that form primitive elements of action-perception interactive behavior. Subspace clusters are defined by both agent-environment system dynamic constraints and operator control strategies. A key contribution of this work is to define transitions between subspace cluster segments, or subgoals, as points where the set of active constraints, either system or operator defined, changes. This definition provides necessary conditions to determine transition points for a given task-environment scenario that allow a solution trajectory to be planned from known behavior elements. In addition, human gaze behavior during this task contains predictive behavior elements, indicating that the identified control modes are internally modeled. Based on these ideas, a generative, autonomous guidance framework is introduced that efficiently generates optimal dynamic motion behavior in new tasks. The new subgoal planning algorithm is shown to generate solutions to certain tasks more quickly than existing approaches currently used in robotics.

Finite time state and disturbance estimation for robust performance of motion control systems using sliding modes

NASA Astrophysics Data System (ADS)

Tamhane, Bhagyashri; Kurode, Shailaja

2018-05-01

In this paper, simultaneous state and disturbance estimation of a drive system composed of motor connected to a load is proposed. Such a system is represented by a two mass model realising in a fourth-order plant. Backlash is introduced as the nonlinear disturbance in gears which is proposed to be estimated and in turn compensated. For this motion control system, a two-stage higher order sliding-mode observer is proposed for state and backlash estimation. The novelty lies in the fact that for this fourth-order system, output is considered from the motor end only, i.e. its angular displacement. The unmeasured states consisting of output derivative, load-side angular displacement and its derivative along with backlash are estimated in finite time. This disturbance due to backlash is unmatched in nature. The estimated states and disturbance are used to devise a robust sliding-mode control. This proposed scheme is validated in simulation and experimentation.

Experimental investigation of shaping disturbance observer design for motion control of precision mechatronic stages with resonances

NASA Astrophysics Data System (ADS)

Yang, Jin; Hu, Chuxiong; Zhu, Yu; Wang, Ze; Zhang, Ming

2017-08-01

In this paper, shaping disturbance observer (SDOB) is investigated for precision mechatronic stages with middle-frequency zero/pole type resonance to achieve good motion control performance in practical manufacturing situations. Compared with traditional standard disturbance observer (DOB), in SDOB a pole-zero cancellation based shaping filter is cascaded to the mechatronic stage plant to meet the challenge of motion control performance deterioration caused by actual resonance. Noting that pole-zero cancellation is inevitably imperfect and the controller may even consequently become unstable in practice, frequency domain stability analysis is conducted to find out how each parameter of the shaping filter affects the control stability. Moreover, the robust design criterion of the shaping filter, and the design procedure of SDOB, are both proposed to guide the actual design and facilitate practical implementation. The SDOB with the proposed design criterion is applied to a linear motor driven stage and a voice motor driven stage, respectively. Experimental results consistently validate the effectiveness nature of the proposed SDOB scheme in practical mechatronics motion applications. The proposed SDOB design actually could be an effective unit in the controller design for motion stages of mechanical manufacture equipments.

Robust adaptive kinematic control of redundant robots

NASA Technical Reports Server (NTRS)

Tarokh, M.; Zuck, D. D.

1992-01-01

The paper presents a general method for the resolution of redundancy that combines the Jacobian pseudoinverse and augmentation approaches. A direct adaptive control scheme is developed to generate joint angle trajectories for achieving desired end-effector motion as well as additional user defined tasks. The scheme ensures arbitrarily small errors between the desired and the actual motion of the manipulator. Explicit bounds on the errors are established that are directly related to the mismatch between actual and estimated pseudoinverse Jacobian matrix, motion velocity and the controller gain. It is shown that the scheme is tolerant of the mismatch and consequently only infrequent pseudoinverse computations are needed during a typical robot motion. As a result, the scheme is computationally fast, and can be implemented for real-time control of redundant robots. A method is incorporated to cope with the robot singularities allowing the manipulator to get very close or even pass through a singularity while maintaining a good tracking performance and acceptable joint velocities. Computer simulations and experimental results are provided in support of the theoretical developments.

Periodic-disturbance accommodating control of the space station for asymptotic momentum management

NASA Technical Reports Server (NTRS)

Warren, Wayne; Wie, Bong; Geller, David

1989-01-01

Periodic-disturbance accommodating control is investigated for asymptotic momentum management of control moment gyros used as primary actuating devices for the Space Station. The proposed controller utilizes the concepts of quaternion feedback control and periodic-disturbance accommodation to achieve oscillations about the constant torque equilibrium attitude, while minimizing the control effort required. Three-axis coupled equations of motion, written in terms of quaternions, are derived for roll/yaw controller design and stability analysis. The quaternion feedback controller designed using the linear-quadratic regulator synthesis technique is shown to be robust for a wide range of pitch angles. It is also shown that the proposed controller tunes the open-loop unstable vehicle to a stable oscillatory motion which minimizes the control effort needed for steady-state operations.

Ego-motion based on EM for bionic navigation

NASA Astrophysics Data System (ADS)

Yue, Xiaofeng; Wang, L. J.; Liu, J. G.

2015-12-01

Researches have proved that flying insects such as bees can achieve efficient and robust flight control, and biologists have explored some biomimetic principles regarding how they control flight. Based on those basic studies and principles acquired from the flying insects, this paper proposes a different solution of recovering ego-motion for low level navigation. Firstly, a new type of entropy flow is provided to calculate the motion parameters. Secondly, EKF, which has been used for navigation for some years to correct accumulated error, and estimation-Maximization, which is always used to estimate parameters, are put together to determine the ego-motion estimation of aerial vehicles. Numerical simulation on MATLAB has proved that this navigation system provides more accurate position and smaller mean absolute error than pure optical flow navigation. This paper has done pioneering work in bionic mechanism to space navigation.

Real-Time Robust Tracking for Motion Blur and Fast Motion via Correlation Filters.

PubMed

Xu, Lingyun; Luo, Haibo; Hui, Bin; Chang, Zheng

2016-09-07

Visual tracking has extensive applications in intelligent monitoring and guidance systems. Among state-of-the-art tracking algorithms, Correlation Filter methods perform favorably in robustness, accuracy and speed. However, it also has shortcomings when dealing with pervasive target scale variation, motion blur and fast motion. In this paper we proposed a new real-time robust scheme based on Kernelized Correlation Filter (KCF) to significantly improve performance on motion blur and fast motion. By fusing KCF and STC trackers, our algorithm also solve the estimation of scale variation in many scenarios. We theoretically analyze the problem for CFs towards motions and utilize the point sharpness function of the target patch to evaluate the motion state of target. Then we set up an efficient scheme to handle the motion and scale variation without much time consuming. Our algorithm preserves the properties of KCF besides the ability to handle special scenarios. In the end extensive experimental results on benchmark of VOT datasets show our algorithm performs advantageously competed with the top-rank trackers.

Control-oriented modelization of a satellite with large flexible appendages and use of worst-case analysis to verify robustness to model uncertainties of attitude control

NASA Astrophysics Data System (ADS)

Gasbarri, Paolo; Monti, Riccardo; Campolo, Giovanni; Toglia, Chiara

2012-12-01

The design of large space structures (LSS) requires the use of design and analysis tools that include different disciplines. For such a kind of spacecrafts it is in fact mandatory that mechanical design and guidance navigation and control (GNC) design are developed within a common framework. One of the key-points in the development of LSS is related to the dynamic phenomena. These phenomena usually lead to two different interpretations. The former one is related to the overall motion of the spacecraft, i.e., the motion of the centre of gravity and motion around the centre of gravity. The latter one is related to the local motion of the elastic elements that leads to oscillations. These oscillations have in turn a disturbing effect on the motion of the spacecraft. From an engineering perspective, the structural model of flexible spacecrafts is generally obtained via FEM involving thousands of degrees of freedom (DOFs). Many of them are not significant from the attitude control point of view. One of the procedures to reduce the structural DOFs is tied to the modal decomposition technique. In the present paper a technique to develop a control-oriented structural model will be proposed. Starting from a detailed FE model of the spacecraft and using a special modal condensation approach, a continuous model is defined. With this transformation the number of DOFs necessary to study the coupled elastic/rigid dynamic is reduced. The final dynamic model will be suitable for the control design implementation. In order to properly design a satellite controller, it is important to recall that the characteristic parameters of the satellite are uncertain. The effect that uncertainties have on control performance must be investigated. A possible solution is that, after the attitude controller is designed on the nominal model, a Verification and Validation (V&V) process is performed to guarantee a correct functionality under a large number of scenarios. The V&V process can be very lengthy and expensive: difficulty and cost do increase because of the overall system dimension that depends on the number of uncertainties. Uncertain parameters have to be parametrically investigated to determine robust performance of the control laws via gridding approaches. In particular in this paper we propose to consider two methods: (i) a conventional Monte Carlo analysis, and (ii) a worst-case analysis, i.e., an optimization process to find an estimation of the true worst-case behaviour. Both techniques allow to verify that the design is robust enough to meet the system performance specification in case of uncertainties.

On decentralized adaptive full-order sliding mode control of multiple UAVs.

PubMed

Xiang, Xianbo; Liu, Chao; Su, Housheng; Zhang, Qin

2017-11-01

In this study, a novel decentralized adaptive full-order sliding mode control framework is proposed for the robust synchronized formation motion of multiple unmanned aerial vehicles (UAVs) subject to system uncertainty. First, a full-order sliding mode surface in a decentralized manner is designed to incorporate both the individual position tracking error and the synchronized formation error while the UAV group is engaged in building a certain desired geometric pattern in three dimensional space. Second, a decentralized virtual plant controller is constructed which allows the embedded low-pass filter to attain the chattering free property of the sliding mode controller. In addition, robust adaptive technique is integrated in the decentralized chattering free sliding control design in order to handle unknown bounded uncertainties, without requirements for assuming a priori knowledge of bounds on the system uncertainties as stated in conventional chattering free control methods. Subsequently, system robustness as well as stability of the decentralized full-order sliding mode control of multiple UAVs is synthesized. Numerical simulation results illustrate the effectiveness of the proposed control framework to achieve robust 3D formation flight of the multi-UAV system. Copyright © 2017 ISA. Published by Elsevier Ltd. All rights reserved.

Systematic evaluation of four-dimensional hybrid depth scanning for carbon-ion lung therapy.

PubMed

Mori, Shinichiro; Furukawa, Takuji; Inaniwa, Taku; Zenklusen, Silvan; Nakao, Minoru; Shirai, Toshiyuki; Noda, Koji

2013-03-01

Irradiation of a moving target with a scanning beam requires a comprehensive understanding of organ motion as well as a robust dose error mitigation technique. The authors studied the effects of intrafractional respiratory motion for carbon-ion pencil beam scanning with phase-controlled rescanning on dose distributions for lung tumors. To address density variations, they used 4DCT data. Dose distributions for various rescanning methods, such as simple layer rescanning (LR), volumetric rescanning, and phase-controlled rescanning (PCR), were calculated for a lung phantom and a lung patient studies. To ensure realism, they set the scanning parameters such as scanning velocity and energy variation time to be similar to those used at our institution. Evaluation metrics were determined with regard to clinical relevance, and consisted of (i) phase-controlled rescanning, (ii) sweep direction, (iii) target motion (direction and amplitude), (iv) respiratory cycle, and (v) prescribed dose. Spot weight maps were calculated by using a beam field-specific target volume, which takes account of range variations for respective respiratory phases. To emphasize the impact of intrafractional motion on the dose distribution, respiratory gating was not used. The accumulated dose was calculated by applying a B-spline-based deformable image registration, and the results for phase-controlled layered rescanning (PCRL) and phase-controlled volumetric rescanning (PCRV) were compared. For the phantom study, simple LR was unable to improve the dose distributions for an increased number of rescannings. The phase-controlled technique without rescanning (1×PCRL and 1×PCRV) degraded dose conformity significantly due to a reduced scan velocity. In contrast, 4×PCRL or more significantly and consistently improved dose distribution. PCRV showed interference effects, but in general also improved dose homogeneity with higher numbers of rescannings. Dose distributions with single PCRL∕PCRV with a sweep direction perpendicular to motion direction showed large hot∕cold spots; however, this effect vanished with higher numbers of rescannings for both methods. Similar observations were obtained for the other dose metrics, such as target motion (SI∕AP), amplitude (6-22 mm peak-to-peak) and respiratory period (3.0-5.0 s). For four or more rescannings, both methods showed significantly better results, albeit that volumetric PCR was more affected by interference effects, which lead to severe degradation of a few dose distributions. The clinical example showed the same tendencies as the phantom study. Dose assessment metrics (D95, Dmax∕Dmin, homogeneity index) were improved with an increasing number of PCRL∕PCRV, but with PCRL being more robust. PCRL requires a longer treatment time than PCRV for high numbers of rescannings in the NIRS scanning system but is more robust. Although four or more rescans provided good dose homogeneity and conformity, the authors prefer to use more rescannings for clinical cases to further minimize dose degradation effects due to organ motion.

Vehicle dynamics control of four in-wheel motor drive electric vehicle using gain scheduling based on tyre cornering stiffness estimation

NASA Astrophysics Data System (ADS)

Xiong, Lu; Yu, Zhuoping; Wang, Yang; Yang, Chen; Meng, Yufeng

2012-06-01

This paper focuses on the vehicle dynamic control system for a four in-wheel motor drive electric vehicle, aiming at improving vehicle stability under critical driving conditions. The vehicle dynamics controller is composed of three modules, i.e. motion following control, control allocation and vehicle state estimation. Considering the strong nonlinearity of the tyres under critical driving conditions, the yaw motion of the vehicle is regulated by gain scheduling control based on the linear quadratic regulator theory. The feed-forward and feedback gains of the controller are updated in real-time by online estimation of the tyre cornering stiffness, so as to ensure the control robustness against environmental disturbances as well as parameter uncertainty. The control allocation module allocates the calculated generalised force requirements to each in-wheel motor based on quadratic programming theory while taking the tyre longitudinal/lateral force coupling characteristic into consideration. Simulations under a variety of driving conditions are carried out to verify the control algorithm. Simulation results indicate that the proposed vehicle stability controller can effectively stabilise the vehicle motion under critical driving conditions.

Respiratory motion correction in dynamic MRI using robust data decomposition registration - application to DCE-MRI.

PubMed

Hamy, Valentin; Dikaios, Nikolaos; Punwani, Shonit; Melbourne, Andrew; Latifoltojar, Arash; Makanyanga, Jesica; Chouhan, Manil; Helbren, Emma; Menys, Alex; Taylor, Stuart; Atkinson, David

2014-02-01

Motion correction in Dynamic Contrast Enhanced (DCE-) MRI is challenging because rapid intensity changes can compromise common (intensity based) registration algorithms. In this study we introduce a novel registration technique based on robust principal component analysis (RPCA) to decompose a given time-series into a low rank and a sparse component. This allows robust separation of motion components that can be registered, from intensity variations that are left unchanged. This Robust Data Decomposition Registration (RDDR) is demonstrated on both simulated and a wide range of clinical data. Robustness to different types of motion and breathing choices during acquisition is demonstrated for a variety of imaged organs including liver, small bowel and prostate. The analysis of clinically relevant regions of interest showed both a decrease of error (15-62% reduction following registration) in tissue time-intensity curves and improved areas under the curve (AUC60) at early enhancement. Copyright © 2013 The Authors. Published by Elsevier B.V. All rights reserved.

Real-Time Robust Tracking for Motion Blur and Fast Motion via Correlation Filters

PubMed Central

Xu, Lingyun; Luo, Haibo; Hui, Bin; Chang, Zheng

2016-01-01

Visual tracking has extensive applications in intelligent monitoring and guidance systems. Among state-of-the-art tracking algorithms, Correlation Filter methods perform favorably in robustness, accuracy and speed. However, it also has shortcomings when dealing with pervasive target scale variation, motion blur and fast motion. In this paper we proposed a new real-time robust scheme based on Kernelized Correlation Filter (KCF) to significantly improve performance on motion blur and fast motion. By fusing KCF and STC trackers, our algorithm also solve the estimation of scale variation in many scenarios. We theoretically analyze the problem for CFs towards motions and utilize the point sharpness function of the target patch to evaluate the motion state of target. Then we set up an efficient scheme to handle the motion and scale variation without much time consuming. Our algorithm preserves the properties of KCF besides the ability to handle special scenarios. In the end extensive experimental results on benchmark of VOT datasets show our algorithm performs advantageously competed with the top-rank trackers. PMID:27618046

Dense motion estimation using regularization constraints on local parametric models.

PubMed

Patras, Ioannis; Worring, Marcel; van den Boomgaard, Rein

2004-11-01

This paper presents a method for dense optical flow estimation in which the motion field within patches that result from an initial intensity segmentation is parametrized with models of different order. We propose a novel formulation which introduces regularization constraints between the model parameters of neighboring patches. In this way, we provide the additional constraints for very small patches and for patches whose intensity variation cannot sufficiently constrain the estimation of their motion parameters. In order to preserve motion discontinuities, we use robust functions as a regularization mean. We adopt a three-frame approach and control the balance between the backward and forward constraints by a real-valued direction field on which regularization constraints are applied. An iterative deterministic relaxation method is employed in order to solve the corresponding optimization problem. Experimental results show that the proposed method deals successfully with motions large in magnitude, motion discontinuities, and produces accurate piecewise-smooth motion fields.

Spacecraft Stabilization and Control for Capture of Non-Cooperative Space Objects

NASA Technical Reports Server (NTRS)

Joshi, Suresh; Kelkar, Atul G.

2014-01-01

This paper addresses stabilization and control issues in autonomous capture and manipulation of non-cooperative space objects such as asteroids, space debris, and orbital spacecraft in need of servicing. Such objects are characterized by unknown mass-inertia properties, unknown rotational motion, and irregular shapes, which makes it a challenging control problem. The problem is further compounded by the presence of inherent nonlinearities, signi cant elastic modes with low damping, and parameter uncertainties in the spacecraft. Robust dissipativity-based control laws are presented and are shown to provide global asymptotic stability in spite of model uncertainties and nonlinearities. It is shown that robust stabilization can be accomplished via model-independent dissipativity-based controllers using thrusters alone, while stabilization with attitude and position control can be accomplished using thrusters and torque actuators.

A novel control algorithm for interaction between surface waves and a permeable floating structure

NASA Astrophysics Data System (ADS)

Tsai, Pei-Wei; Alsaedi, A.; Hayat, T.; Chen, Cheng-Wu

2016-04-01

An analytical solution is undertaken to describe the wave-induced flow field and the surge motion of a permeable platform structure with fuzzy controllers in an oceanic environment. In the design procedure of the controller, a parallel distributed compensation (PDC) scheme is utilized to construct a global fuzzy logic controller by blending all local state feedback controllers. A stability analysis is carried out for a real structure system by using Lyapunov method. The corresponding boundary value problems are then incorporated into scattering and radiation problems. They are analytically solved, based on separation of variables, to obtain series solutions in terms of the harmonic incident wave motion and surge motion. The dependence of the wave-induced flow field and its resonant frequency on wave characteristics and structure properties including platform width, thickness and mass has been thus drawn with a parametric approach. From which mathematical models are applied for the wave-induced displacement of the surge motion. A nonlinearly inverted pendulum system is employed to demonstrate that the controller tuned by swarm intelligence method can not only stabilize the nonlinear system, but has the robustness against external disturbance.

Preliminary assessment of the robustness of dynamic inversion based flight control laws

NASA Technical Reports Server (NTRS)

Snell, S. A.

1992-01-01

Dynamic-inversion-based flight control laws present an attractive alternative to conventional gain-scheduled designs for high angle-of-attack maneuvering, where nonlinearities dominate the dynamics. Dynamic inversion is easily applied to the aircraft dynamics requiring a knowledge of the nonlinear equations of motion alone, rather than an extensive set of linearizations. However, the robustness properties of the dynamic inversion are questionable especially when considering the uncertainties involved with the aerodynamic database during post-stall flight. This paper presents a simple analysis and some preliminary results of simulations with a perturbed database. It is shown that incorporating integrators into the control loops helps to improve the performance in the presence of these perturbations.

Multi-level manual and autonomous control superposition for intelligent telerobot

NASA Technical Reports Server (NTRS)

Hirai, Shigeoki; Sato, T.

1989-01-01

Space telerobots are recognized to require cooperation with human operators in various ways. Multi-level manual and autonomous control superposition in telerobot task execution is described. The object model, the structured master-slave manipulation system, and the motion understanding system are proposed to realize the concept. The object model offers interfaces for task level and object level human intervention. The structured master-slave manipulation system offers interfaces for motion level human intervention. The motion understanding system maintains the consistency of the knowledge through all the levels which supports the robot autonomy while accepting the human intervention. The superposing execution of the teleoperational task at multi-levels realizes intuitive and robust task execution for wide variety of objects and in changeful environment. The performance of several examples of operating chemical apparatuses is shown.

Observed ground-motion variabilities and implication for source properties

NASA Astrophysics Data System (ADS)

Cotton, F.; Bora, S. S.; Bindi, D.; Specht, S.; Drouet, S.; Derras, B.; Pina-Valdes, J.

2016-12-01

One of the key challenges of seismology is to be able to calibrate and analyse the physical factors that control earthquake and ground-motion variabilities. Within the framework of empirical ground-motion prediction equation (GMPE) developments, ground-motions residuals (differences between recorded ground motions and the values predicted by a GMPE) are computed. The exponential growth of seismological near-field records and modern regression algorithms allow to decompose these residuals into between-event and a within-event residual components. The between-event term quantify all the residual effects of the source (e.g. stress-drops) which are not accounted by magnitude term as the only source parameter of the model. Between-event residuals provide a new and rather robust way to analyse the physical factors that control earthquake source properties and associated variabilities. We first will show the correlation between classical stress-drops and between-event residuals. We will also explain why between-event residuals may be a more robust way (compared to classical stress-drop analysis) to analyse earthquake source-properties. We will finally calibrate between-events variabilities using recent high-quality global accelerometric datasets (NGA-West 2, RESORCE) and datasets from recent earthquakes sequences (Aquila, Iquique, Kunamoto). The obtained between-events variabilities will be used to evaluate the variability of earthquake stress-drops but also the variability of source properties which cannot be explained by a classical Brune stress-drop variations. We will finally use the between-event residual analysis to discuss regional variations of source properties, differences between aftershocks and mainshocks and potential magnitude dependencies of source characteristics.

Pilot Evaluation of Adaptive Control in Motion-Based Flight Simulator

NASA Technical Reports Server (NTRS)

Kaneshige, John T.; Campbell, Stefan Forrest

2009-01-01

The objective of this work is to assess the strengths, weaknesses, and robustness characteristics of several MRAC (Model-Reference Adaptive Control) based adaptive control technologies garnering interest from the community as a whole. To facilitate this, a control study using piloted and unpiloted simulations to evaluate sensitivities and handling qualities was conducted. The adaptive control technologies under consideration were ALR (Adaptive Loop Recovery), BLS (Bounded Linear Stability), Hybrid Adaptive Control, L1, OCM (Optimal Control Modification), PMRAC (Predictor-based MRAC), and traditional MRAC

Robust state preparation in quantum simulations of Dirac dynamics

NASA Astrophysics Data System (ADS)

Song, Xue-Ke; Deng, Fu-Guo; Lamata, Lucas; Muga, J. G.

2017-02-01

A nonrelativistic system such as an ultracold trapped ion may perform a quantum simulation of a Dirac equation dynamics under specific conditions. The resulting Hamiltonian and dynamics are highly controllable, but the coupling between momentum and internal levels poses some difficulties to manipulate the internal states accurately in wave packets. We use invariants of motion to inverse engineer robust population inversion processes with a homogeneous, time-dependent simulated electric field. This exemplifies the usefulness of inverse-engineering techniques to improve the performance of quantum simulation protocols.

Robust hopping based on virtual pendulum posture control.

PubMed

Sharbafi, Maziar A; Maufroy, Christophe; Ahmadabadi, Majid Nili; Yazdanpanah, Mohammad J; Seyfarth, Andre

2013-09-01

A new control approach to achieve robust hopping against perturbations in the sagittal plane is presented in this paper. In perturbed hopping, vertical body alignment has a significant role for stability. Our approach is based on the virtual pendulum concept, recently proposed, based on experimental findings in human and animal locomotion. In this concept, the ground reaction forces are pointed to a virtual support point, named virtual pivot point (VPP), during motion. This concept is employed in designing the controller to balance the trunk during the stance phase. New strategies for leg angle and length adjustment besides the virtual pendulum posture control are proposed as a unified controller. This method is investigated by applying it on an extension of the spring loaded inverted pendulum (SLIP) model. Trunk, leg mass and damping are added to the SLIP model in order to make the model more realistic. The stability is analyzed by Poincaré map analysis. With fixed VPP position, stability, disturbance rejection and moderate robustness are achieved, but with a low convergence speed. To improve the performance and attain higher robustness, an event-based control of the VPP position is introduced, using feedback of the system states at apexes. Discrete linear quartic regulator is used to design the feedback controller. Considerable enhancements with respect to stability, convergence speed and robustness against perturbations and parameter changes are achieved.

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

PubMed

Sun, Liang; Huo, Wei; Jiao, Zongxia

2016-07-01

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

Vestibular signals in primate cortex for self-motion perception.

PubMed

Gu, Yong

2018-04-21

The vestibular peripheral organs in our inner ears detect transient motion of the head in everyday life. This information is sent to the central nervous system for automatic processes such as vestibulo-ocular reflexes, balance and postural control, and higher cognitive functions including perception of self-motion and spatial orientation. Recent neurophysiological studies have discovered a prominent vestibular network in the primate cerebral cortex. Many of the areas involved are multisensory: their neurons are modulated by both vestibular signals and visual optic flow, potentially facilitating more robust heading estimation through cue integration. Combining psychophysics, computation, physiological recording and causal manipulation techniques, recent work has addressed both the encoding and decoding of vestibular signals for self-motion perception. Copyright © 2018. Published by Elsevier Ltd.

Uncertainty Quantification for Robust Control of Wind Turbines using Sliding Mode Observer

NASA Astrophysics Data System (ADS)

Schulte, Horst

2016-09-01

A new quantification method of uncertain models for robust wind turbine control using sliding-mode techniques is presented with the objective to improve active load mitigation. This approach is based on the so-called equivalent output injection signal, which corresponds to the average behavior of the discontinuous switching term, establishing and maintaining a motion on a so-called sliding surface. The injection signal is directly evaluated to obtain estimates of the uncertainty bounds of external disturbances and parameter uncertainties. The applicability of the proposed method is illustrated by the quantification of a four degree-of-freedom model of the NREL 5MW reference turbine containing uncertainties.

An Analysis of Intrinsic and Extrinsic Hand Muscle EMG for Improved Pattern Recognition Control.

PubMed

Adewuyi, Adenike A; Hargrove, Levi J; Kuiken, Todd A

2016-04-01

Pattern recognition control combined with surface electromyography (EMG) from the extrinsic hand muscles has shown great promise for control of multiple prosthetic functions for transradial amputees. There is, however, a need to adapt this control method when implemented for partial-hand amputees, who possess both a functional wrist and information-rich residual intrinsic hand muscles. We demonstrate that combining EMG data from both intrinsic and extrinsic hand muscles to classify hand grasps and finger motions allows up to 19 classes of hand grasps and individual finger motions to be decoded, with an accuracy of 96% for non-amputees and 85% for partial-hand amputees. We evaluated real-time pattern recognition control of three hand motions in seven different wrist positions. We found that a system trained with both intrinsic and extrinsic muscle EMG data, collected while statically and dynamically varying wrist position increased completion rates from 73% to 96% for partial-hand amputees and from 88% to 100% for non-amputees when compared to a system trained with only extrinsic muscle EMG data collected in a neutral wrist position. Our study shows that incorporating intrinsic muscle EMG data and wrist motion can significantly improve the robustness of pattern recognition control for application to partial-hand prosthetic control.

Simultaneous Independent Control of Tool Axial Force and Temperature in Friction Stir Processing

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

Ross, Kenneth A.; Grant, Glenn J.; Darsell, Jens T.

Maintaining consistent tool depth relative to the part surface is a critical requirement for many Friction stir processing (FSP) applications. Force control is often used with the goal of obtaining a constant weld depth. When force control is used, if weld temperature decreases, flow stress increases and the tool is pushed up. If weld temperature increases, flow stress decreases and the tool dives. These variations in tool depth and weld temperature cause various types of weld defects. Robust temperature control for FSP maintains a commanded temperature through control of the spindle axis only. Robust temperature control and force control aremore » completely decoupled in control logic and machine motion. This results in stable temperature, force and tool depth despite the presence of geometric and thermal disturbances. Performance of this control method is presented for various weld paths and alloy systems.« less

Evaluation of the clinical efficacy of the PeTrack motion tracking system for respiratory gating in cardiac PET imaging

NASA Astrophysics Data System (ADS)

Manwell, Spencer; Chamberland, Marc J. P.; Klein, Ran; Xu, Tong; deKemp, Robert

2017-03-01

Respiratory gating is a common technique used to compensate for patient breathing motion and decrease the prevalence of image artifacts that can impact diagnoses. In this study a new data-driven respiratory gating method (PeTrack) was compared with a conventional optical tracking system. The performance of respiratory gating of the two systems was evaluated by comparing the number of respiratory triggers, patient breathing intervals and gross heart motion as measured in the respiratory-gated image reconstructions of rubidium-82 cardiac PET scans in test and control groups consisting of 15 and 8 scans, respectively. We found evidence suggesting that PeTrack is a robust patient motion tracking system that can be used to retrospectively assess patient motion in the event of failure of the conventional optical tracking system.

Robust adaptive antiswing control of underactuated crane systems with two parallel payloads and rail length constraint.

PubMed

Zhang, Zhongcai; Wu, Yuqiang; Huang, Jinming

2016-11-01

The antiswing control and accurate positioning are simultaneously investigated for underactuated crane systems in the presence of two parallel payloads on the trolley and rail length limitation. The equations of motion for the crane system in question are established via the Euler-Lagrange equation. An adaptive control strategy is proposed with the help of system energy function and energy shaping technique. Stability analysis shows that under the designed adaptive controller, the payload swings can be suppressed ultimately and the trolley can be regulated to the destination while not exceeding the pre-specified boundaries. Simulation results are provided to show the satisfactory control performances of the presented control method in terms of working efficiency as well as robustness with respect to external disturbances. Copyright © 2016 ISA. Published by Elsevier Ltd. All rights reserved.

The real-world navigator

NASA Technical Reports Server (NTRS)

Balabanovic, Marko; Becker, Craig; Morse, Sarah K.; Nourbakhsh, Illah R.

1994-01-01

The success of every mobile robot application hinges on the ability to navigate robustly in the real world. The problem of robust navigation is separable from the challenges faced by any particular robot application. We offer the Real-World Navigator as a solution architecture that includes a path planner, a map-based localizer, and a motion control loop that combines reactive avoidance modules with deliberate goal-based motion. Our architecture achieves a high degree of reliability by maintaining and reasoning about an explicit description of positional uncertainty. We provide two implementations of real-world robot systems that incorporate the Real-World Navigator. The Vagabond Project culminated in a robot that successfully navigated a portion of the Stanford University campus. The Scimmer project developed successful entries for the AIAA 1993 Robotics Competition, placing first in one of the two contests entered.

A robust active control system for shimmy damping in the presence of free play and uncertainties

NASA Astrophysics Data System (ADS)

Orlando, Calogero; Alaimo, Andrea

2017-02-01

Shimmy vibration is the oscillatory motion of the fork-wheel assembly about the steering axis. It represents one of the major problem of aircraft landing gear because it can lead to excessive wear, discomfort as well as safety concerns. Based on the nonlinear model of the mechanics of a single wheel nose landing gear (NLG), electromechanical actuator and tire elasticity, a robust active controller capable of damping shimmy vibration is designed and investigated in this study. A novel Decline Population Swarm Optimization (PDSO) procedure is introduced and used to select the optimal parameters for the controller. The PDSO procedure is based on a decline demographic model and shows high global search capability with reduced computational costs. The open and closed loop system behavior is analyzed under different case studies of aeronautical interest and the effects of torsional free play on the nose landing gear response are also studied. Plant parameters probabilistic uncertainties are then taken into account to assess the active controller robustness using a stochastic approach.

Systematic evaluation of four-dimensional hybrid depth scanning for carbon-ion lung therapy

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

Mori, Shinichiro; Furukawa, Takuji; Inaniwa, Taku

2013-03-15

Purpose: Irradiation of a moving target with a scanning beam requires a comprehensive understanding of organ motion as well as a robust dose error mitigation technique. The authors studied the effects of intrafractional respiratory motion for carbon-ion pencil beam scanning with phase-controlled rescanning on dose distributions for lung tumors. To address density variations, they used 4DCT data. Methods: Dose distributions for various rescanning methods, such as simple layer rescanning (LR), volumetric rescanning, and phase-controlled rescanning (PCR), were calculated for a lung phantom and a lung patient studies. To ensure realism, they set the scanning parameters such as scanning velocity andmore » energy variation time to be similar to those used at our institution. Evaluation metrics were determined with regard to clinical relevance, and consisted of (i) phase-controlled rescanning, (ii) sweep direction, (iii) target motion (direction and amplitude), (iv) respiratory cycle, and (v) prescribed dose. Spot weight maps were calculated by using a beam field-specific target volume, which takes account of range variations for respective respiratory phases. To emphasize the impact of intrafractional motion on the dose distribution, respiratory gating was not used. The accumulated dose was calculated by applying a B-spline-based deformable image registration, and the results for phase-controlled layered rescanning (PCR{sub L}) and phase-controlled volumetric rescanning (PCR{sub V}) were compared. Results: For the phantom study, simple LR was unable to improve the dose distributions for an increased number of rescannings. The phase-controlled technique without rescanning (1 Multiplication-Sign PCR{sub L} and 1 Multiplication-Sign PCR{sub V}) degraded dose conformity significantly due to a reduced scan velocity. In contrast, 4 Multiplication-Sign PCR{sub L} or more significantly and consistently improved dose distribution. PCR{sub V} showed interference effects, but in general also improved dose homogeneity with higher numbers of rescannings. Dose distributions with single PCR{sub L}/PCR{sub V} with a sweep direction perpendicular to motion direction showed large hot/cold spots; however, this effect vanished with higher numbers of rescannings for both methods. Similar observations were obtained for the other dose metrics, such as target motion (SI/AP), amplitude (6-22 mm peak-to-peak) and respiratory period (3.0-5.0 s). For four or more rescannings, both methods showed significantly better results, albeit that volumetric PCR was more affected by interference effects, which lead to severe degradation of a few dose distributions. The clinical example showed the same tendencies as the phantom study. Dose assessment metrics (D95, Dmax/Dmin, homogeneity index) were improved with an increasing number of PCR{sub L}/PCR{sub V}, but with PCR{sub L} being more robust. Conclusions: PCR{sub L} requires a longer treatment time than PCR{sub V} for high numbers of rescannings in the NIRS scanning system but is more robust. Although four or more rescans provided good dose homogeneity and conformity, the authors prefer to use more rescannings for clinical cases to further minimize dose degradation effects due to organ motion.« less

Sliding Mode Control of Real-Time PNU Vehicle Driving Simulator and Its Performance Evaluation

NASA Astrophysics Data System (ADS)

Lee, Min Cheol; Park, Min Kyu; Yoo, Wan Suk; Son, Kwon; Han, Myung Chul

This paper introduces an economical and effective full-scale driving simulator for study of human sensibility and development of new vehicle parts and its control. Real-time robust control to accurately reappear a various vehicle motion may be a difficult task because the motion platform is the nonlinear complex system. This study proposes the sliding mode controller with a perturbation compensator using observer-based fuzzy adaptive network (FAN). This control algorithm is designed to solve the chattering problem of a sliding mode control and to select the adequate fuzzy parameters of the perturbation compensator. For evaluating the trajectory control performance of the proposed approach, a tracking control of the developed simulator named PNUVDS is experimentally carried out. And then, the driving performance of the simulator is evaluated by using human perception and sensibility of some drivers in various driving conditions.

A variable structure approach to robust control of VTOL aircraft

NASA Technical Reports Server (NTRS)

Calise, A. J.; Kramer, F.

1982-01-01

This paper examines the application of variable structure control theory to the design of a flight control system for the AV-8A Harrier in a hover mode. The objective in variable structure design is to confine the motion to a subspace of the total state space. The motion in this subspace is insensitive to system parameter variations and external disturbances that lie in the range space of the control. A switching type of control law results from the design procedure. The control system was designed to track a vector velocity command defined in the body frame. For comparison purposes, a proportional controller was designed using optimal linear regulator theory. Both control designs were first evaluated for transient response performance using a linearized model, then a nonlinear simulation study of a hovering approach to landing was conducted. Wind turbulence was modeled using a 1052 destroyer class air wake model.

Improved configuration control for redundant robots

NASA Technical Reports Server (NTRS)

Seraji, H.; Colbaugh, R.

1990-01-01

This article presents a singularity-robust task-prioritized reformulation of the configuration control scheme for redundant robot manipulators. This reformulation suppresses large joint velocities near singularities, at the expense of small task trajectory errors. This is achieved by optimally reducing the joint velocities to induce minimal errors in the task performance by modifying the task trajectories. Furthermore, the same framework provides a means for assignment of priorities between the basic task of end-effector motion and the user-defined additional task for utilizing redundancy. This allows automatic relaxation of the additional task constraints in favor of the desired end-effector motion, when both cannot be achieved exactly. The improved configuration control scheme is illustrated for a variety of additional tasks, and extensive simulation results are presented.

Using the centre of percussion to design a steering controller for an autonomous race car

NASA Astrophysics Data System (ADS)

Kritayakirana, Krisada; Gerdes, J. Christian

2012-01-01

Understanding how a race car driver controls a vehicle at its friction limits can provide insights into the development of vehicle safety systems. In this paper, a race car driver's behaviour inspires the design of an autonomous racing controller. The resulting controller uses the vehicle's centre of percussion (COP) to design feedforward and feedback steering. At the COP, the effects of rotation and translation from the rear tire force cancel each other out; consequently, the feedforward steering command is robust to the disturbances from the rear tire force. Using the COP also simplifies the equations of motion, as the vehicle's lateral motion is decoupled from the vehicle's yaw motion and highlights the challenge of controlling a vehicle when the rear tires are highly saturated. The resulting dynamics can be controlled with a linear state feedback based on a lane-keeping system with additional yaw damping. Utilising Lyapunov theory, the closed-loop system is shown to remain stable even when the rear tires are highly saturated. The experimental results demonstrate that an autonomous vehicle can operate at its limits while maintaining a minimal lateral error.

Quaternion-based adaptive output feedback attitude control of spacecraft using Chebyshev neural networks.

PubMed

Zou, An-Min; Dev Kumar, Krishna; Hou, Zeng-Guang

2010-09-01

This paper investigates the problem of output feedback attitude control of an uncertain spacecraft. Two robust adaptive output feedback controllers based on Chebyshev neural networks (CNN) termed adaptive neural networks (NN) controller-I and adaptive NN controller-II are proposed for the attitude tracking control of spacecraft. The four-parameter representations (quaternion) are employed to describe the spacecraft attitude for global representation without singularities. The nonlinear reduced-order observer is used to estimate the derivative of the spacecraft output, and the CNN is introduced to further improve the control performance through approximating the spacecraft attitude motion. The implementation of the basis functions of the CNN used in the proposed controllers depends only on the desired signals, and the smooth robust compensator using the hyperbolic tangent function is employed to counteract the CNN approximation errors and external disturbances. The adaptive NN controller-II can efficiently avoid the over-estimation problem (i.e., the bound of the CNNs output is much larger than that of the approximated unknown function, and hence, the control input may be very large) existing in the adaptive NN controller-I. Both adaptive output feedback controllers using CNN can guarantee that all signals in the resulting closed-loop system are uniformly ultimately bounded. For performance comparisons, the standard adaptive controller using the linear parameterization of spacecraft attitude motion is also developed. Simulation studies are presented to show the advantages of the proposed CNN-based output feedback approach over the standard adaptive output feedback approach.

Design and experimental evaluation of robust controllers for a two-wheeled robot

NASA Astrophysics Data System (ADS)

Kralev, J.; Slavov, Ts.; Petkov, P.

2016-11-01

The paper presents the design and experimental evaluation of two alternative μ-controllers for robust vertical stabilisation of a two-wheeled self-balancing robot. The controllers design is based on models derived by identification from closed-loop experimental data. In the first design, a signal-based uncertainty representation obtained directly from the identification procedure is used, which leads to a controller of order 29. In the second design the signal uncertainty is approximated by an input multiplicative uncertainty, which leads to a controller of order 50, subsequently reduced to 30. The performance of the two μ-controllers is compared with the performance of a conventional linear quadratic controller with 17th-order Kalman filter. A proportional-integral controller of the rotational motion around the vertical axis is implemented as well. The control code is generated using Simulink® controller models and is embedded in a digital signal processor. Results from the simulation of the closed-loop system as well as experimental results obtained during the real-time implementation of the designed controllers are given. The theoretical investigation and experimental results confirm that the closed-loop system achieves robust performance in respect to the uncertainties related to the identified robot model.

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

NASA Astrophysics Data System (ADS)

Liu, Chun; Li, Zhengning; Zhou, Yuan

2016-06-01

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

An Analysis of Intrinsic and Extrinsic Hand Muscle EMG for Improved Pattern Recognition Control

PubMed Central

Adewuyi, Adenike A.; Hargrove, Levi J.; Kuiken, Todd A.

2015-01-01

Pattern recognition control combined with surface electromyography (EMG) from the extrinsic hand muscles has shown great promise for control of multiple prosthetic functions for transradial amputees. There is, however, a need to adapt this control method when implemented for partial-hand amputees, who possess both a functional wrist and information-rich residual intrinsic hand muscles. We demonstrate that combining EMG data from both intrinsic and extrinsic hand muscles to classify hand grasps and finger motions allows up to 19 classes of hand grasps and individual finger motions to be decoded, with an accuracy of 96% for non-amputees and 85% for partial-hand amputees. We evaluated real-time pattern recognition control of three hand motions in seven different wrist positions. We found that a system trained with both intrinsic and extrinsic muscle EMG data, collected while statically and dynamically varying wrist position increased completion rates from 73% to 96% for partial-hand amputees and from 88% to 100% for non-amputees when compared to a system trained with only extrinsic muscle EMG data collected in a neutral wrist position. Our study shows that incorporating intrinsic muscle EMG data and wrist motion can significantly improve the robustness of pattern recognition control for partial-hand applications. PMID:25955989

Robust cardiac motion estimation using ultrafast ultrasound data: a low-rank topology-preserving approach

NASA Astrophysics Data System (ADS)

Aviles, Angelica I.; Widlak, Thomas; Casals, Alicia; Nillesen, Maartje M.; Ammari, Habib

2017-06-01

Cardiac motion estimation is an important diagnostic tool for detecting heart diseases and it has been explored with modalities such as MRI and conventional ultrasound (US) sequences. US cardiac motion estimation still presents challenges because of complex motion patterns and the presence of noise. In this work, we propose a novel approach to estimate cardiac motion using ultrafast ultrasound data. Our solution is based on a variational formulation characterized by the L 2-regularized class. Displacement is represented by a lattice of b-splines and we ensure robustness, in the sense of eliminating outliers, by applying a maximum likelihood type estimator. While this is an important part of our solution, the main object of this work is to combine low-rank data representation with topology preservation. Low-rank data representation (achieved by finding the k-dominant singular values of a Casorati matrix arranged from the data sequence) speeds up the global solution and achieves noise reduction. On the other hand, topology preservation (achieved by monitoring the Jacobian determinant) allows one to radically rule out distortions while carefully controlling the size of allowed expansions and contractions. Our variational approach is carried out on a realistic dataset as well as on a simulated one. We demonstrate how our proposed variational solution deals with complex deformations through careful numerical experiments. The low-rank constraint speeds up the convergence of the optimization problem while topology preservation ensures a more accurate displacement. Beyond cardiac motion estimation, our approach is promising for the analysis of other organs that exhibit motion.

Robust Stabilization of T-S Fuzzy Stochastic Descriptor Systems via Integral Sliding Modes.

PubMed

Li, Jinghao; Zhang, Qingling; Yan, Xing-Gang; Spurgeon, Sarah K

2017-09-19

This paper addresses the robust stabilization problem for T-S fuzzy stochastic descriptor systems using an integral sliding mode control paradigm. A classical integral sliding mode control scheme and a nonparallel distributed compensation (Non-PDC) integral sliding mode control scheme are presented. It is shown that two restrictive assumptions previously adopted developing sliding mode controllers for Takagi-Sugeno (T-S) fuzzy stochastic systems are not required with the proposed framework. A unified framework for sliding mode control of T-S fuzzy systems is formulated. The proposed Non-PDC integral sliding mode control scheme encompasses existing schemes when the previously imposed assumptions hold. Stability of the sliding motion is analyzed and the sliding mode controller is parameterized in terms of the solutions of a set of linear matrix inequalities which facilitates design. The methodology is applied to an inverted pendulum model to validate the effectiveness of the results presented.

SU-E-T-07: 4DCT Robust Optimization for Esophageal Cancer Using Intensity Modulated Proton Therapy

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

Liao, L; Department of Industrial Engineering, University of Houston, Houston, TX; Yu, J

2015-06-15

Purpose: To develop a 4DCT robust optimization method to reduce the dosimetric impact from respiratory motion in intensity modulated proton therapy (IMPT) for esophageal cancer. Methods: Four esophageal cancer patients were selected for this study. The different phases of CT from a set of 4DCT were incorporated into the worst-case dose distribution robust optimization algorithm. 4DCT robust treatment plans were designed and compared with the conventional non-robust plans. Result doses were calculated on the average and maximum inhale/exhale phases of 4DCT. Dose volume histogram (DVH) band graphic and ΔD95%, ΔD98%, ΔD5%, ΔD2% of CTV between different phases were used tomore » evaluate the robustness of the plans. Results: Compare to the IMPT plans optimized using conventional methods, the 4DCT robust IMPT plans can achieve the same quality in nominal cases, while yield a better robustness to breathing motion. The mean ΔD95%, ΔD98%, ΔD5% and ΔD2% of CTV are 6%, 3.2%, 0.9% and 1% for the robustly optimized plans vs. 16.2%, 11.8%, 1.6% and 3.3% from the conventional non-robust plans. Conclusion: A 4DCT robust optimization method was proposed for esophageal cancer using IMPT. We demonstrate that the 4DCT robust optimization can mitigate the dose deviation caused by the diaphragm motion.« less

Improving robot arm control for safe and robust haptic cooperation in orthopaedic procedures.

PubMed

Cruces, R A Castillo; Wahrburg, J

2007-12-01

This paper presents the ongoing results of an effort to achieve the integration of a navigated cooperative robotic arm into computer-assisted orthopaedic surgery. A seamless integration requires the system acting in direct cooperation with the surgeon instead of replacing him. Two technical issues are discussed to improve the haptic operating modes for interactive robot guidance. The concept of virtual fixtures is used to restrict the range of motion of the robot according to pre-operatively defined constraints, and methodologies to assure a robust and accurate motion through singular arm configurations are investigated. A new method for handling singularities is proposed, which is superior to the commonly used damped-least-squares method. It produces no deviations of the end-effector in relation to the virtually constrained path. A solution to assure a good performance of a hands-on robotic arm at singularity configurations is proposed. (c) 2007 John Wiley & Sons, Ltd.

The effects of SENSE on PROPELLER imaging.

PubMed

Chang, Yuchou; Pipe, James G; Karis, John P; Gibbs, Wende N; Zwart, Nicholas R; Schär, Michael

2015-12-01

To study how sensitivity encoding (SENSE) impacts periodically rotated overlapping parallel lines with enhanced reconstruction (PROPELLER) image quality, including signal-to-noise ratio (SNR), robustness to motion, precision of motion estimation, and image quality. Five volunteers were imaged by three sets of scans. A rapid method for generating the g-factor map was proposed and validated via Monte Carlo simulations. Sensitivity maps were extrapolated to increase the area over which SENSE can be performed and therefore enhance the robustness to head motion. The precision of motion estimation of PROPELLER blades that are unfolded with these sensitivity maps was investigated. An interleaved R-factor PROPELLER sequence was used to acquire data with similar amounts of motion with and without SENSE acceleration. Two neuroradiologists independently and blindly compared 214 image pairs. The proposed method of g-factor calculation was similar to that provided by the Monte Carlo methods. Extrapolation and rotation of the sensitivity maps allowed for continued robustness of SENSE unfolding in the presence of motion. SENSE-widened blades improved the precision of rotation and translation estimation. PROPELLER images with a SENSE factor of 3 outperformed the traditional PROPELLER images when reconstructing the same number of blades. SENSE not only accelerates PROPELLER but can also improve robustness and precision of head motion correction, which improves overall image quality even when SNR is lost due to acceleration. The reduction of SNR, as a penalty of acceleration, is characterized by the proposed g-factor method. © 2014 Wiley Periodicals, Inc.

Sensor fusion IV: Control paradigms and data structures; Proceedings of the Meeting, Boston, MA, Nov. 12-15, 1991

NASA Technical Reports Server (NTRS)

Schenker, Paul S. (Editor)

1992-01-01

Various papers on control paradigms and data structures in sensor fusion are presented. The general topics addressed include: decision models and computational methods, sensor modeling and data representation, active sensing strategies, geometric planning and visualization, task-driven sensing, motion analysis, models motivated biology and psychology, decentralized detection and distributed decision, data fusion architectures, robust estimation of shapes and features, application and implementation. Some of the individual subjects considered are: the Firefly experiment on neural networks for distributed sensor data fusion, manifold traversing as a model for learning control of autonomous robots, choice of coordinate systems for multiple sensor fusion, continuous motion using task-directed stereo vision, interactive and cooperative sensing and control for advanced teleoperation, knowledge-based imaging for terrain analysis, physical and digital simulations for IVA robotics.

Motion robust high resolution 3D free-breathing pulmonary MRI using dynamic 3D image self-navigator.

PubMed

Jiang, Wenwen; Ong, Frank; Johnson, Kevin M; Nagle, Scott K; Hope, Thomas A; Lustig, Michael; Larson, Peder E Z

2018-06-01

To achieve motion robust high resolution 3D free-breathing pulmonary MRI utilizing a novel dynamic 3D image navigator derived directly from imaging data. Five-minute free-breathing scans were acquired with a 3D ultrashort echo time (UTE) sequence with 1.25 mm isotropic resolution. From this data, dynamic 3D self-navigating images were reconstructed under locally low rank (LLR) constraints and used for motion compensation with one of two methods: a soft-gating technique to penalize the respiratory motion induced data inconsistency, and a respiratory motion-resolved technique to provide images of all respiratory motion states. Respiratory motion estimation derived from the proposed dynamic 3D self-navigator of 7.5 mm isotropic reconstruction resolution and a temporal resolution of 300 ms was successful for estimating complex respiratory motion patterns. This estimation improved image quality compared to respiratory belt and DC-based navigators. Respiratory motion compensation with soft-gating and respiratory motion-resolved techniques provided good image quality from highly undersampled data in volunteers and clinical patients. An optimized 3D UTE sequence combined with the proposed reconstruction methods can provide high-resolution motion robust pulmonary MRI. Feasibility was shown in patients who had irregular breathing patterns in which our approach could depict clinically relevant pulmonary pathologies. Magn Reson Med 79:2954-2967, 2018. © 2017 International Society for Magnetic Resonance in Medicine. © 2017 International Society for Magnetic Resonance in Medicine.

An observatory control system for the University of Hawai'i 2.2m Telescope

NASA Astrophysics Data System (ADS)

McKay, Luke; Erickson, Christopher; Mukensnable, Donn; Stearman, Anthony; Straight, Brad

2016-07-01

The University of Hawai'i 2.2m telescope at Maunakea has operated since 1970, and has had several controls upgrades to date. The newest system will operate as a distributed hierarchy of GNU/Linux central server, networked single-board computers, microcontrollers, and a modular motion control processor for the main axes. Rather than just a telescope control system, this new effort is towards a cohesive, modular, and robust whole observatory control system, with design goals of fully robotic unattended operation, high reliability, and ease of maintenance and upgrade.

Discrete Event Supervisory Control and Nonlinear Motion Control for DoD and Industrial Systems

DTIC Science & Technology

2014-03-17

F.L. Lewis, and K . Subbarao , “Sliding Mode Approach to Control Quadrotor Using Dynamic Inversion," Robust Control, Book 3, ed. A. Lazinica, InTech...person shall be subject to any oenalty for failing to comply with a collection of information if it does not display a currently valid 0 M B control...TION OF: 17. LIMITATION OF a REPORT b . ABSTRACT c. THIS PAGE ABSTRACT uu uu uu uu 15. NUMBER OF PAGES 19a NAME OF RESPONSIBLE PERSON Frank Lewis

Multivariable robust adaptive sliding mode control of an industrial boiler-turbine in the presence of modeling imprecisions and external disturbances: A comparison with type-I servo controller.

PubMed

Ghabraei, Soheil; Moradi, Hamed; Vossoughi, Gholamreza

2015-09-01

To guarantee the safety and efficient performance of the power plant, a robust controller for the boiler-turbine unit is needed. In this paper, a robust adaptive sliding mode controller (RASMC) is proposed to control a nonlinear multi-input multi-output (MIMO) model of industrial boiler-turbine unit, in the presence of unknown bounded uncertainties and external disturbances. To overcome the coupled nonlinearities and investigate the zero dynamics, input-output linearization is performed, and then the new decoupled inputs are derived. To tackle the uncertainties and external disturbances, appropriate adaption laws are introduced. For constructing the RASMC, suitable sliding surface is considered. To guarantee the sliding motion occurrence, appropriate control laws are constructed. Then the robustness and stability of the proposed RASMC is proved via Lyapunov stability theory. To compare the performance of the purposed RASMC with traditional control schemes, a type-I servo controller is designed. To evaluate the performance of the proposed control schemes, simulation studies on nonlinear MIMO dynamic system in the presence of high frequency bounded uncertainties and external disturbances are conducted and compared. Comparison of the results reveals the superiority of proposed RASMC over the traditional control schemes. RAMSC acts efficiently in disturbance rejection and keeping the system behavior in desirable tracking objectives, without the existence of unstable quasi-periodic solutions. Copyright © 2015 ISA. Published by Elsevier Ltd. All rights reserved.

Limited Impact of Setup and Range Uncertainties, Breathing Motion, and Interplay Effects in Robustly Optimized Intensity Modulated Proton Therapy for Stage III Non-small Cell Lung Cancer.

PubMed

Inoue, Tatsuya; Widder, Joachim; van Dijk, Lisanne V; Takegawa, Hideki; Koizumi, Masahiko; Takashina, Masaaki; Usui, Keisuke; Kurokawa, Chie; Sugimoto, Satoru; Saito, Anneyuko I; Sasai, Keisuke; Van't Veld, Aart A; Langendijk, Johannes A; Korevaar, Erik W

2016-11-01

To investigate the impact of setup and range uncertainties, breathing motion, and interplay effects using scanning pencil beams in robustly optimized intensity modulated proton therapy (IMPT) for stage III non-small cell lung cancer (NSCLC). Three-field IMPT plans were created using a minimax robust optimization technique for 10 NSCLC patients. The plans accounted for 5- or 7-mm setup errors with ±3% range uncertainties. The robustness of the IMPT nominal plans was evaluated considering (1) isotropic 5-mm setup errors with ±3% range uncertainties; (2) breathing motion; (3) interplay effects; and (4) a combination of items 1 and 2. The plans were calculated using 4-dimensional and average intensity projection computed tomography images. The target coverage (TC, volume receiving 95% of prescribed dose) and homogeneity index (D2 - D98, where D2 and D98 are the least doses received by 2% and 98% of the volume) for the internal clinical target volume, and dose indexes for lung, esophagus, heart and spinal cord were compared with that of clinical volumetric modulated arc therapy plans. The TC and homogeneity index for all plans were within clinical limits when considering the breathing motion and interplay effects independently. The setup and range uncertainties had a larger effect when considering their combined effect. The TC decreased to <98% (clinical threshold) in 3 of 10 patients for robust 5-mm evaluations. However, the TC remained >98% for robust 7-mm evaluations for all patients. The organ at risk dose parameters did not significantly vary between the respective robust 5-mm and robust 7-mm evaluations for the 4 error types. Compared with the volumetric modulated arc therapy plans, the IMPT plans showed better target homogeneity and mean lung and heart dose parameters reduced by about 40% and 60%, respectively. In robustly optimized IMPT for stage III NSCLC, the setup and range uncertainties, breathing motion, and interplay effects have limited impact on target coverage, dose homogeneity, and organ-at-risk dose parameters. Copyright © 2016 Elsevier Inc. All rights reserved.

An improved robust blind motion de-blurring algorithm for remote sensing images

NASA Astrophysics Data System (ADS)

He, Yulong; Liu, Jin; Liang, Yonghui

2016-10-01

Shift-invariant motion blur can be modeled as a convolution of the true latent image and the blur kernel with additive noise. Blind motion de-blurring estimates a sharp image from a motion blurred image without the knowledge of the blur kernel. This paper proposes an improved edge-specific motion de-blurring algorithm which proved to be fit for processing remote sensing images. We find that an inaccurate blur kernel is the main factor to the low-quality restored images. To improve image quality, we do the following contributions. For the robust kernel estimation, first, we adapt the multi-scale scheme to make sure that the edge map could be constructed accurately; second, an effective salient edge selection method based on RTV (Relative Total Variation) is used to extract salient structure from texture; third, an alternative iterative method is introduced to perform kernel optimization, in this step, we adopt l1 and l0 norm as the priors to remove noise and ensure the continuity of blur kernel. For the final latent image reconstruction, an improved adaptive deconvolution algorithm based on TV-l2 model is used to recover the latent image; we control the regularization weight adaptively in different region according to the image local characteristics in order to preserve tiny details and eliminate noise and ringing artifacts. Some synthetic remote sensing images are used to test the proposed algorithm, and results demonstrate that the proposed algorithm obtains accurate blur kernel and achieves better de-blurring results.

Adaptive Strategies for Controls of Flexible Arms. Ph.D. Thesis

NASA Technical Reports Server (NTRS)

Yuan, Bau-San

1989-01-01

An adaptive controller for a modern manipulator has been designed based on asymptotical stability via the Lyapunov criterion with the output error between the system and a reference model used as the actuating control signal. Computer simulations were carried out to test the design. The combination of the adaptive controller and a system vibration and mode shape estimator show that the flexible arm should move along a pre-defined trajectory with high-speed motion and fast vibration setting time. An existing computer-controlled prototype two link manipulator, RALF (Robotic Arm, Large Flexible), with a parallel mechanism driven by hydraulic actuators was used to verify the mathematical analysis. The experimental results illustrate that assumed modes found from finite element techniques can be used to derive the equations of motion with acceptable accuracy. The robust adaptive (modal) control is implemented to compensate for unmodelled modes and nonlinearities and is compared with the joint feedback control in additional experiments. Preliminary results show promise for the experimental control algorithm.

A new fractional-order sliding mode controller via a nonlinear disturbance observer for a class of dynamical systems with mismatched disturbances.

PubMed

Pashaei, Shabnam; Badamchizadeh, Mohammadali

2016-07-01

This paper investigates the stabilization and disturbance rejection for a class of fractional-order nonlinear dynamical systems with mismatched disturbances. To fulfill this purpose a new fractional-order sliding mode control (FOSMC) based on a nonlinear disturbance observer is proposed. In order to design the suitable fractional-order sliding mode controller, a proper switching surface is introduced. Afterward, by using the sliding mode theory and Lyapunov stability theory, a robust fractional-order control law via a nonlinear disturbance observer is proposed to assure the existence of the sliding motion in finite time. The proposed fractional-order sliding mode controller exposes better control performance, ensures fast and robust stability of the closed-loop system, eliminates the disturbances and diminishes the chattering problem. Finally, the effectiveness of the proposed fractional-order controller is depicted via numerical simulation results of practical example and is compared with some other controllers. Copyright © 2016 ISA. Published by Elsevier Ltd. All rights reserved.

Biomechanical Reconstruction Using the Tacit Learning System: Intuitive Control of Prosthetic Hand Rotation.

PubMed

Oyama, Shintaro; Shimoda, Shingo; Alnajjar, Fady S K; Iwatsuki, Katsuyuki; Hoshiyama, Minoru; Tanaka, Hirotaka; Hirata, Hitoshi

2016-01-01

Background: For mechanically reconstructing human biomechanical function, intuitive proportional control, and robustness to unexpected situations are required. Particularly, creating a functional hand prosthesis is a typical challenge in the reconstruction of lost biomechanical function. Nevertheless, currently available control algorithms are in the development phase. The most advanced algorithms for controlling multifunctional prosthesis are machine learning and pattern recognition of myoelectric signals. Despite the increase in computational speed, these methods cannot avoid the requirement of user consciousness and classified separation errors. "Tacit Learning System" is a simple but novel adaptive control strategy that can self-adapt its posture to environment changes. We introduced the strategy in the prosthesis rotation control to achieve compensatory reduction, as well as evaluated the system and its effects on the user. Methods: We conducted a non-randomized study involving eight prosthesis users to perform a bar relocation task with/without Tacit Learning System support. Hand piece and body motions were recorded continuously with goniometers, videos, and a motion-capture system. Findings: Reduction in the participants' upper extremity rotatory compensation motion was monitored during the relocation task in all participants. The estimated profile of total body energy consumption improved in five out of six participants. Interpretation: Our system rapidly accomplished nearly natural motion without unexpected errors. The Tacit Learning System not only adapts human motions but also enhances the human ability to adapt to the system quickly, while the system amplifies compensation generated by the residual limb. The concept can be extended to various situations for reconstructing lost functions that can be compensated.

An intelligent control scheme for precise tip-motion control in atomic force microscopy.

PubMed

Wang, Yanyan; Hu, Xiaodong; Xu, Linyan

2016-01-01

The paper proposes a new intelligent control method to precisely control the tip motion of the atomic force microscopy (AFM). The tip moves up and down at a high rate along the z direction during scanning, requiring the utilization of a rapid feedback controller. The standard proportional-integral (PI) feedback controller is commonly used in commercial AFMs to enable topography measurements. The controller's response performance is determined by the set of the proportional (P) parameter and the integral (I) parameter. However, the two parameters cannot be automatically altered simultaneously according to the scanning speed and the surface topography during continuors scanning, leading to an inaccurate measurement. Thus a new intelligent controller combining the fuzzy controller and the PI controller is put forward in the paper. The new controller automatically selects the most appropriate PI parameters to achieve a fast response rate on basis of the tracking errors. In the experimental setup, the new controller is realized with a digital signal process (DSP) system, implemented in a conventional AFM system. Experiments are carried out by comparing the new method with the standard PI controller. The results demonstrate that the new method is more robust and effective for the precise tip motion control, corresponding to the achievement of a highly qualified image by shortening the response time of the controller. © Wiley Periodicals, Inc.

Improving the Robustness of Real-Time Myoelectric Pattern Recognition against Arm Position Changes in Transradial Amputees

PubMed Central

Geng, Yanjuan; Wei, Yue

2017-01-01

Previous studies have showed that arm position variations would significantly degrade the classification performance of myoelectric pattern-recognition-based prosthetic control, and the cascade classifier (CC) and multiposition classifier (MPC) have been proposed to minimize such degradation in offline scenarios. However, it remains unknown whether these proposed approaches could also perform well in the clinical use of a multifunctional prosthesis control. In this study, the online effect of arm position variation on motion identification was evaluated by using a motion-test environment (MTE) developed to mimic the real-time control of myoelectric prostheses. The performance of different classifier configurations in reducing the impact of arm position variation was investigated using four real-time metrics based on dataset obtained from transradial amputees. The results of this study showed that, compared to the commonly used motion classification method, the CC and MPC configurations improved the real-time performance across seven classes of movements in five different arm positions (8.7% and 12.7% increments of motion completion rate, resp.). The results also indicated that high offline classification accuracy might not ensure good real-time performance under variable arm positions, which necessitated the investigation of the real-time control performance to gain proper insight on the clinical implementation of EMG-pattern-recognition-based controllers for limb amputees. PMID:28523276

Sliding-mode control combined with improved adaptive feedforward for wafer scanner

NASA Astrophysics Data System (ADS)

Li, Xiaojie; Wang, Yiguang

2018-03-01

In this paper, a sliding-mode control method combined with improved adaptive feedforward is proposed for wafer scanner to improve the tracking performance of the closed-loop system. Particularly, In addition to the inverse model, the nonlinear force ripple effect which may degrade the tracking accuracy of permanent magnet linear motor (PMLM) is considered in the proposed method. The dominant position periodicity of force ripple is determined by using the Fast Fourier Transform (FFT) analysis for experimental data and the improved feedforward control is achieved by the online recursive least-squares (RLS) estimation of the inverse model and the force ripple. The improved adaptive feedforward is given in a general form of nth-order model with force ripple effect. This proposed method is motivated by the motion controller design of the long-stroke PMLM and short-stroke voice coil motor for wafer scanner. The stability of the closed-loop control system and the convergence of the motion tracking are guaranteed by the proposed sliding-mode feedback and adaptive feedforward methods theoretically. Comparative experiments on a precision linear motion platform can verify the correctness and effectiveness of the proposed method. The experimental results show that comparing to traditional method the proposed one has better performance of rapidity and robustness, especially for high speed motion trajectory. And, the improvements on both tracking accuracy and settling time can be achieved.

Exploiting Inherent Robustness and Natural Dynamics in the Control of Bipedal Walking Robots

DTIC Science & Technology

2000-06-01

physical models of bipedal walking. The insight gained from these models is used in the development of three planar (motion only in the sagittal plane ...ground is implemented and tested in simulation. The dynamics of the sagittal plane are suffciently decoupled from the dynamics of the frontal and...transverse planes such that control of each can be treated separately. We achieve three-dimensional walking by adding lateral balance to the planar algorithms

Bounded Kalman filter method for motion-robust, non-contact heart rate estimation

PubMed Central

Prakash, Sakthi Kumar Arul; Tucker, Conrad S.

2018-01-01

The authors of this work present a real-time measurement of heart rate across different lighting conditions and motion categories. This is an advancement over existing remote Photo Plethysmography (rPPG) methods that require a static, controlled environment for heart rate detection, making them impractical for real-world scenarios wherein a patient may be in motion, or remotely connected to a healthcare provider through telehealth technologies. The algorithm aims to minimize motion artifacts such as blurring and noise due to head movements (uniform, random) by employing i) a blur identification and denoising algorithm for each frame and ii) a bounded Kalman filter technique for motion estimation and feature tracking. A case study is presented that demonstrates the feasibility of the algorithm in non-contact estimation of the pulse rate of subjects performing everyday head and body movements. The method in this paper outperforms state of the art rPPG methods in heart rate detection, as revealed by the benchmarked results. PMID:29552419

TU-AB-BRB-03: Coverage-Based Treatment Planning to Accommodate Organ Deformable Motions and Contouring Uncertainties for Prostate Treatment

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

Xu, H.

The accepted clinical method to accommodate targeting uncertainties inherent in fractionated external beam radiation therapy is to utilize GTV-to-CTV and CTV-to-PTV margins during the planning process to design a PTV-conformal static dose distribution on the planning image set. Ideally, margins are selected to ensure a high (e.g. >95%) target coverage probability (CP) in spite of inherent inter- and intra-fractional positional variations, tissue motions, and initial contouring uncertainties. Robust optimization techniques, also known as probabilistic treatment planning techniques, explicitly incorporate the dosimetric consequences of targeting uncertainties by including CP evaluation into the planning optimization process along with coverage-based planning objectives. Themore » treatment planner no longer needs to use PTV and/or PRV margins; instead robust optimization utilizes probability distributions of the underlying uncertainties in conjunction with CP-evaluation for the underlying CTVs and OARs to design an optimal treated volume. This symposium will describe CP-evaluation methods as well as various robust planning techniques including use of probability-weighted dose distributions, probability-weighted objective functions, and coverage optimized planning. Methods to compute and display the effect of uncertainties on dose distributions will be presented. The use of robust planning to accommodate inter-fractional setup uncertainties, organ deformation, and contouring uncertainties will be examined as will its use to accommodate intra-fractional organ motion. Clinical examples will be used to inter-compare robust and margin-based planning, highlighting advantages of robust-plans in terms of target and normal tissue coverage. Robust-planning limitations as uncertainties approach zero and as the number of treatment fractions becomes small will be presented, as well as the factors limiting clinical implementation of robust planning. Learning Objectives: To understand robust-planning as a clinical alternative to using margin-based planning. To understand conceptual differences between uncertainty and predictable motion. To understand fundamental limitations of the PTV concept that probabilistic planning can overcome. To understand the major contributing factors to target and normal tissue coverage probability. To understand the similarities and differences of various robust planning techniques To understand the benefits and limitations of robust planning techniques.« less

TU-AB-BRB-02: Stochastic Programming Methods for Handling Uncertainty and Motion in IMRT Planning

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

Unkelbach, J.

The accepted clinical method to accommodate targeting uncertainties inherent in fractionated external beam radiation therapy is to utilize GTV-to-CTV and CTV-to-PTV margins during the planning process to design a PTV-conformal static dose distribution on the planning image set. Ideally, margins are selected to ensure a high (e.g. >95%) target coverage probability (CP) in spite of inherent inter- and intra-fractional positional variations, tissue motions, and initial contouring uncertainties. Robust optimization techniques, also known as probabilistic treatment planning techniques, explicitly incorporate the dosimetric consequences of targeting uncertainties by including CP evaluation into the planning optimization process along with coverage-based planning objectives. Themore » treatment planner no longer needs to use PTV and/or PRV margins; instead robust optimization utilizes probability distributions of the underlying uncertainties in conjunction with CP-evaluation for the underlying CTVs and OARs to design an optimal treated volume. This symposium will describe CP-evaluation methods as well as various robust planning techniques including use of probability-weighted dose distributions, probability-weighted objective functions, and coverage optimized planning. Methods to compute and display the effect of uncertainties on dose distributions will be presented. The use of robust planning to accommodate inter-fractional setup uncertainties, organ deformation, and contouring uncertainties will be examined as will its use to accommodate intra-fractional organ motion. Clinical examples will be used to inter-compare robust and margin-based planning, highlighting advantages of robust-plans in terms of target and normal tissue coverage. Robust-planning limitations as uncertainties approach zero and as the number of treatment fractions becomes small will be presented, as well as the factors limiting clinical implementation of robust planning. Learning Objectives: To understand robust-planning as a clinical alternative to using margin-based planning. To understand conceptual differences between uncertainty and predictable motion. To understand fundamental limitations of the PTV concept that probabilistic planning can overcome. To understand the major contributing factors to target and normal tissue coverage probability. To understand the similarities and differences of various robust planning techniques To understand the benefits and limitations of robust planning techniques.« less

Visual control of flight speed in Drosophila melanogaster.

PubMed

Fry, Steven N; Rohrseitz, Nicola; Straw, Andrew D; Dickinson, Michael H

2009-04-01

Flight control in insects depends on self-induced image motion (optic flow), which the visual system must process to generate appropriate corrective steering maneuvers. Classic experiments in tethered insects applied rigorous system identification techniques for the analysis of turning reactions in the presence of rotating pattern stimuli delivered in open-loop. However, the functional relevance of these measurements for visual free-flight control remains equivocal due to the largely unknown effects of the highly constrained experimental conditions. To perform a systems analysis of the visual flight speed response under free-flight conditions, we implemented a 'one-parameter open-loop' paradigm using 'TrackFly' in a wind tunnel equipped with real-time tracking and virtual reality display technology. Upwind flying flies were stimulated with sine gratings of varying temporal and spatial frequencies, and the resulting speed responses were measured from the resulting flight speed reactions. To control flight speed, the visual system of the fruit fly extracts linear pattern velocity robustly over a broad range of spatio-temporal frequencies. The speed signal is used for a proportional control of flight speed within locomotor limits. The extraction of pattern velocity over a broad spatio-temporal frequency range may require more sophisticated motion processing mechanisms than those identified in flies so far. In Drosophila, the neuromotor pathways underlying flight speed control may be suitably explored by applying advanced genetic techniques, for which our data can serve as a baseline. Finally, the high-level control principles identified in the fly can be meaningfully transferred into a robotic context, such as for the robust and efficient control of autonomous flying micro air vehicles.

A robust H.264/AVC video watermarking scheme with drift compensation.

PubMed

Jiang, Xinghao; Sun, Tanfeng; Zhou, Yue; Wang, Wan; Shi, Yun-Qing

2014-01-01

A robust H.264/AVC video watermarking scheme for copyright protection with self-adaptive drift compensation is proposed. In our scheme, motion vector residuals of macroblocks with the smallest partition size are selected to hide copyright information in order to hold visual impact and distortion drift to a minimum. Drift compensation is also implemented to reduce the influence of watermark to the most extent. Besides, discrete cosine transform (DCT) with energy compact property is applied to the motion vector residual group, which can ensure robustness against intentional attacks. According to the experimental results, this scheme gains excellent imperceptibility and low bit-rate increase. Malicious attacks with different quantization parameters (QPs) or motion estimation algorithms can be resisted efficiently, with 80% accuracy on average after lossy compression.

A Robust H.264/AVC Video Watermarking Scheme with Drift Compensation

PubMed Central

Sun, Tanfeng; Zhou, Yue; Shi, Yun-Qing

2014-01-01

A robust H.264/AVC video watermarking scheme for copyright protection with self-adaptive drift compensation is proposed. In our scheme, motion vector residuals of macroblocks with the smallest partition size are selected to hide copyright information in order to hold visual impact and distortion drift to a minimum. Drift compensation is also implemented to reduce the influence of watermark to the most extent. Besides, discrete cosine transform (DCT) with energy compact property is applied to the motion vector residual group, which can ensure robustness against intentional attacks. According to the experimental results, this scheme gains excellent imperceptibility and low bit-rate increase. Malicious attacks with different quantization parameters (QPs) or motion estimation algorithms can be resisted efficiently, with 80% accuracy on average after lossy compression. PMID:24672376

Success Stories in Control: Nonlinear Dynamic Inversion Control

NASA Technical Reports Server (NTRS)

Bosworth, John T.

2010-01-01

NASA plays an important role in advancing the state of the art in flight control systems. In the case of Nonlinear Dynamic Inversion (NDI) NASA supported initial implementation of the theory in an aircraft and demonstration in a space vehicle. Dr. Dale Enns of Honeywell Aerospace Advanced Technology performed this work in cooperation with NASA and under NASA contract. Honeywell and Lockheed Martin were subsequently contracted by AFRL to create "Design Guidelines for Multivariable Control Theory". This foundational work directly contributed to the advancement of the technology and the credibility of the control law as a design option. As a result Honeywell collaborated with Lockheed Martin to produce a Nonlinear Dynamic Inversion controller for the X-35 and subsequently Lockheed Martin did the same for the production Lockheed Martin F-35 vehicle. The theory behind NDI is to use a systematic generalized approach to controlling a vehicle. Using general aircraft nonlinear equations of motion and onboard aerodynamic, mass properties, and engine models specific to the vehicle, a relationship between control effectors and desired aircraft motion can be formulated. Using this formulation a control combination is used that provides a predictable response to commanded motion. Control loops around this formulation shape the response as desired and provide robustness to modeling errors. Once the control law is designed it can be used on a similar class of vehicle with only an update to the vehicle specific onboard models.

Multisensory integration in early vestibular processing in mice: the encoding of passive vs. active motion

PubMed Central

Medrea, Ioana

2013-01-01

The mouse has become an important model system for studying the cellular basis of learning and coding of heading by the vestibular system. Here we recorded from single neurons in the vestibular nuclei to understand how vestibular pathways encode self-motion under natural conditions, during which proprioceptive and motor-related signals as well as vestibular inputs provide feedback about an animal's movement through the world. We recorded neuronal responses in alert behaving mice focusing on a group of neurons, termed vestibular-only cells, that are known to control posture and project to higher-order centers. We found that the majority (70%, n = 21/30) of neurons were bimodal, in that they responded robustly to passive stimulation of proprioceptors as well as passive stimulation of the vestibular system. Additionally, the linear summation of a given neuron's vestibular and neck sensitivities predicted well its responses when both stimuli were applied simultaneously. In contrast, neuronal responses were suppressed when the same motion was actively generated, with the one striking exception that the activity of bimodal neurons similarly and robustly encoded head on body position in all conditions. Our results show that proprioceptive and motor-related signals are combined with vestibular information at the first central stage of vestibular processing in mice. We suggest that these results have important implications for understanding the multisensory integration underlying accurate postural control and the neural representation of directional heading in the head direction cell network of mice. PMID:24089394

Limb Position Tolerant Pattern Recognition for Myoelectric Prosthesis Control with Adaptive Sparse Representations From Extreme Learning.

PubMed

Betthauser, Joseph L; Hunt, Christopher L; Osborn, Luke E; Masters, Matthew R; Levay, Gyorgy; Kaliki, Rahul R; Thakor, Nitish V

2018-04-01

Myoelectric signals can be used to predict the intended movements of an amputee for prosthesis control. However, untrained effects like limb position changes influence myoelectric signal characteristics, hindering the ability of pattern recognition algorithms to discriminate among motion classes. Despite frequent and long training sessions, these deleterious conditional influences may result in poor performance and device abandonment. We present a robust sparsity-based adaptive classification method that is significantly less sensitive to signal deviations resulting from untrained conditions. We compare this approach in the offline and online contexts of untrained upper-limb positions for amputee and able-bodied subjects to demonstrate its robustness compared against other myoelectric classification methods. We report significant performance improvements () in untrained limb positions across all subject groups. The robustness of our suggested approach helps to ensure better untrained condition performance from fewer training conditions. This method of prosthesis control has the potential to deliver real-world clinical benefits to amputees: better condition-tolerant performance, reduced training burden in terms of frequency and duration, and increased adoption of myoelectric prostheses.

Limited Impact of Setup and Range Uncertainties, Breathing Motion, and Interplay Effects in Robustly Optimized Intensity Modulated Proton Therapy for Stage III Non-small Cell Lung Cancer

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

Inoue, Tatsuya; Widder, Joachim; Dijk, Lisanne V. van

2016-11-01

Purpose: To investigate the impact of setup and range uncertainties, breathing motion, and interplay effects using scanning pencil beams in robustly optimized intensity modulated proton therapy (IMPT) for stage III non-small cell lung cancer (NSCLC). Methods and Materials: Three-field IMPT plans were created using a minimax robust optimization technique for 10 NSCLC patients. The plans accounted for 5- or 7-mm setup errors with ±3% range uncertainties. The robustness of the IMPT nominal plans was evaluated considering (1) isotropic 5-mm setup errors with ±3% range uncertainties; (2) breathing motion; (3) interplay effects; and (4) a combination of items 1 and 2.more » The plans were calculated using 4-dimensional and average intensity projection computed tomography images. The target coverage (TC, volume receiving 95% of prescribed dose) and homogeneity index (D{sub 2} − D{sub 98}, where D{sub 2} and D{sub 98} are the least doses received by 2% and 98% of the volume) for the internal clinical target volume, and dose indexes for lung, esophagus, heart and spinal cord were compared with that of clinical volumetric modulated arc therapy plans. Results: The TC and homogeneity index for all plans were within clinical limits when considering the breathing motion and interplay effects independently. The setup and range uncertainties had a larger effect when considering their combined effect. The TC decreased to <98% (clinical threshold) in 3 of 10 patients for robust 5-mm evaluations. However, the TC remained >98% for robust 7-mm evaluations for all patients. The organ at risk dose parameters did not significantly vary between the respective robust 5-mm and robust 7-mm evaluations for the 4 error types. Compared with the volumetric modulated arc therapy plans, the IMPT plans showed better target homogeneity and mean lung and heart dose parameters reduced by about 40% and 60%, respectively. Conclusions: In robustly optimized IMPT for stage III NSCLC, the setup and range uncertainties, breathing motion, and interplay effects have limited impact on target coverage, dose homogeneity, and organ-at-risk dose parameters.« less

Robot body self-modeling algorithm: a collision-free motion planning approach for humanoids.

PubMed

Leylavi Shoushtari, Ali

2016-01-01

Motion planning for humanoid robots is one of the critical issues due to the high redundancy and theoretical and technical considerations e.g. stability, motion feasibility and collision avoidance. The strategies which central nervous system employs to plan, signal and control the human movements are a source of inspiration to deal with the mentioned problems. Self-modeling is a concept inspired by body self-awareness in human. In this research it is integrated in an optimal motion planning framework in order to detect and avoid collision of the manipulated object with the humanoid body during performing a dynamic task. Twelve parametric functions are designed as self-models to determine the boundary of humanoid's body. Later, the boundaries which mathematically defined by the self-models are employed to calculate the safe region for box to avoid the collision with the robot. Four different objective functions are employed in motion simulation to validate the robustness of algorithm under different dynamics. The results also confirm the collision avoidance, reality and stability of the predicted motion.

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.

Removal of proprioception by BCI raises a stronger body ownership illusion in control of a humanlike robot.

PubMed

Alimardani, Maryam; Nishio, Shuichi; Ishiguro, Hiroshi

2016-09-22

Body ownership illusions provide evidence that our sense of self is not coherent and can be extended to non-body objects. Studying about these illusions gives us practical tools to understand the brain mechanisms that underlie body recognition and the experience of self. We previously introduced an illusion of body ownership transfer (BOT) for operators of a very humanlike robot. This sensation of owning the robot's body was confirmed when operators controlled the robot either by performing the desired motion with their body (motion-control) or by employing a brain-computer interface (BCI) that translated motor imagery commands to robot movement (BCI-control). The interesting observation during BCI-control was that the illusion could be induced even with a noticeable delay in the BCI system. Temporal discrepancy has always shown critical weakening effects on body ownership illusions. However the delay-robustness of BOT during BCI-control raised a question about the interaction between the proprioceptive inputs and delayed visual feedback in agency-driven illusions. In this work, we compared the intensity of BOT illusion for operators in two conditions; motion-control and BCI-control. Our results revealed a significantly stronger BOT illusion for the case of BCI-control. This finding highlights BCI's potential in inducing stronger agency-driven illusions by building a direct communication between the brain and controlled body, and therefore removing awareness from the subject's own body.

Robust object tracking techniques for vision-based 3D motion analysis applications

NASA Astrophysics Data System (ADS)

Knyaz, Vladimir A.; Zheltov, Sergey Y.; Vishnyakov, Boris V.

2016-04-01

Automated and accurate spatial motion capturing of an object is necessary for a wide variety of applications including industry and science, virtual reality and movie, medicine and sports. For the most part of applications a reliability and an accuracy of the data obtained as well as convenience for a user are the main characteristics defining the quality of the motion capture system. Among the existing systems for 3D data acquisition, based on different physical principles (accelerometry, magnetometry, time-of-flight, vision-based), optical motion capture systems have a set of advantages such as high speed of acquisition, potential for high accuracy and automation based on advanced image processing algorithms. For vision-based motion capture accurate and robust object features detecting and tracking through the video sequence are the key elements along with a level of automation of capturing process. So for providing high accuracy of obtained spatial data the developed vision-based motion capture system "Mosca" is based on photogrammetric principles of 3D measurements and supports high speed image acquisition in synchronized mode. It includes from 2 to 4 technical vision cameras for capturing video sequences of object motion. The original camera calibration and external orientation procedures provide the basis for high accuracy of 3D measurements. A set of algorithms as for detecting, identifying and tracking of similar targets, so for marker-less object motion capture is developed and tested. The results of algorithms' evaluation show high robustness and high reliability for various motion analysis tasks in technical and biomechanics applications.

Humanlike agents with posture planning ability

NASA Astrophysics Data System (ADS)

Jung, Moon R.; Badler, Norman I.

1992-11-01

Human body models are geometric structures which may be ultimately controlled by kinematically manipulating their joints, but for animation, it is desirable to control them in terms of task-level goals. We address a fundamental problem in achieving task-level postural goals: controlling massively redundant degrees of freedom. We reduce the degrees of freedom by introducing significant control points and vectors, e.g., pelvis forward vector, palm up vector, and torso up vector, etc. This reduced set of parameters are used to enumerate primitive motions and motion dependencies among them, and thus to select from a small set of alternative postures (e.g., bend versus squat to lower shoulder height). A plan for a given goal is found by incrementally constructing a goal/constraint set based on the given goal, motion dependencies, collision avoidance requirements, and discovered failures. Global postures satisfying a given goal/constraint set are determined with the help of incremental mental simulation which uses a robust inverse kinematics algorithm. The contributions of the present work are: (1) There is no need to specify beforehand the final goal configuration, which is unrealistic for the human body, and (2) the degrees of freedom problem becomes easier by representing body configurations in terms of `lumped' control parameters, that is, control points and vectors.

Human-like agents with posture planning ability

NASA Technical Reports Server (NTRS)

Jung, Moon R.; Badler, Norman

1992-01-01

Human body models are geometric structures which may be ultimately controlled by kinematically manipulating their joints, but for animation, it is desirable to control them in terms of task-level goals. We address a fundamental problem in achieving task-level postural goals: controlling massively redundant degrees of freedom. We reduce the degrees of freedom by introducing significant control points and vectors, e.g., pelvis forward vector, palm up vector, and torso up vector, etc. This reduced set of parameters are used to enumerate primitive motions and motion dependencies among them, and thus to select from a small set of alternative postures (e.g., bend vs. squat to lower shoulder height). A plan for a given goal is found by incrementally constructing a goal/constraint set based on the given goal, motion dependencies, collision avoidance requirements, and discovered failures. Global postures satisfying a given goal/constraint set are determined with the help of incremental mental simulation which uses a robust inverse kinematics algorithm. The contributions of the present work are: (1) There is no need to specify beforehand the final goal configuration, which is unrealistic for the human body, and (2) the degrees of freedom problem becomes easier by representing body configurations in terms of 'lumped' control parameters, that is, control points and vectors.

Research on Robot Pose Control Technology Based on Kinematics Analysis Model

NASA Astrophysics Data System (ADS)

Liu, Dalong; Xu, Lijuan

2018-01-01

In order to improve the attitude stability of the robot, proposes an attitude control method of robot based on kinematics analysis model, solve the robot walking posture transformation, grasping and controlling the motion planning problem of robot kinematics. In Cartesian space analytical model, using three axis accelerometer, magnetometer and the three axis gyroscope for the combination of attitude measurement, the gyroscope data from Calman filter, using the four element method for robot attitude angle, according to the centroid of the moving parts of the robot corresponding to obtain stability inertia parameters, using random sampling RRT motion planning method, accurate operation to any position control of space robot, to ensure the end effector along a prescribed trajectory the implementation of attitude control. The accurate positioning of the experiment is taken using MT-R robot as the research object, the test robot. The simulation results show that the proposed method has better robustness, and higher positioning accuracy, and it improves the reliability and safety of robot operation.

Intelligent nonsingular terminal sliding-mode control using MIMO Elman neural network for piezo-flexural nanopositioning stage.

PubMed

Lin, Faa-Jeng; Lee, Shih-Yang; Chou, Po-Huan

2012-12-01

The objective of this study is to develop an intelligent nonsingular terminal sliding-mode control (INTSMC) system using an Elman neural network (ENN) for the threedimensional motion control of a piezo-flexural nanopositioning stage (PFNS). First, the dynamic model of the PFNS is derived in detail. Then, to achieve robust, accurate trajectory-tracking performance, a nonsingular terminal sliding-mode control (NTSMC) system is proposed for the tracking of the reference contours. The steady-state response of the control system can be improved effectively because of the addition of the nonsingularity in the NTSMC. Moreover, to relax the requirements of the bounds and discard the switching function in NTSMC, an INTSMC system using a multi-input-multioutput (MIMO) ENN estimator is proposed to improve the control performance and robustness of the PFNS. The ENN estimator is proposed to estimate the hysteresis phenomenon and lumped uncertainty, including the system parameters and external disturbance of the PFNS online. Furthermore, the adaptive learning algorithms for the training of the parameters of the ENN online are derived using the Lyapunov stability theorem. In addition, two robust compensators are proposed to confront the minimum reconstructed errors in INTSMC. Finally, some experimental results for the tracking of various contours are given to demonstrate the validity of the proposed INTSMC system for PFNS.

Fuzzy Behavior-Based Navigation for Planetary

NASA Technical Reports Server (NTRS)

Tunstel, Edward; Danny, Harrison; Lippincott, Tanya; Jamshidi, Mo

1997-01-01

Adaptive behavioral capabilities are necessary for robust rover navigation in unstructured and partially-mapped environments. A control approach is described which exploits the approximate reasoning capability of fuzzy logic to produce adaptive motion behavior. In particular, a behavior-based architecture for hierarchical fuzzy control of microrovers is presented. Its structure is described, as well as mechanisms of control decision-making which give rise to adaptive behavior. Control decisions for local navigation result from a consensus of recommendations offered only by behaviors that are applicable to current situations. Simulation predicts the navigation performance on a microrover in simplified Mars-analog terrain.

WE-G-213CD-06: Implementation of Real-Time Tumor Tracking Using Robotic Couch.

PubMed

Buzurovic, I; Yu, Y; Podder, T

2012-06-01

The purpose of this study was to present a novel method for real- time tumor tracking using a commercially available robotic treatment couch, and to evaluate tumor tracking accuracy. Commercially available robotic couches are capable of positioning patients with high level of accuracy; however, currently there is no provision for compensating tumor motion using these systems. Elekta's existing commercial couch (PreciseTM Table) was used without changing its design. To establish the real-time couch motion for tracking, a novel control system was developed and implemented. The tabletop could be moved in horizontal plane (laterally and longitudinally) using two Maxon-24V motors with gearbox combination. Vertical motion was obtained using robust 70V-Rockwell Automation motor. For vertical motor position sensing, we used Model 755A-Accu- Coder encoder. Two Baumer-ITD_01_4mm shaft encoders were used for the lateral and longitudinal motions of the couch. Motors were connected to the Advance Motion Controls (AMC) amplifiers: for the vertical motion, motor AMC-20A20-INV amplifier was used, and two AMC-Z6A8 amplifiers were applied for the lateral and longitudinal couch motions. The Galil DMC-4133 controller was connected to standard PC computer using USB port. The system had two independent power supplies: Galil PSR-12- 24-12A, 24vdc power supply with diodes for controller and 24vdc motors and amplifiers, and Galil-PS300W72 72vdc power supply for vertical motion. Control algorithms were developed for position and velocity adjustment. The system was tested for real-time tracking in the range of 50mm in all 3 directions (superior-inferior, lateral, anterior- posterior). Accuracies were 0.15, 0.20, and 0.18mm, respectively. Repeatability of the desired motion was within ± 0.2mm. Experimental results of couch tracking show feasibility of real-time tumor tracking with high level of accuracy (within sub-millimeter range). This tracking technique potentially offers a simple and effective method to minimize healthy tissues irradiation.Acknowledgement: Study supported by Elekta,Ltd. Study supported by Elekta, Ltd. © 2012 American Association of Physicists in Medicine.

Motion-artifact-robust, polarization-resolved second-harmonic-generation microscopy based on rapid polarization switching with electro-optic Pockells cell and its application to in vivo visualization of collagen fiber orientation in human facial skin

PubMed Central

Tanaka, Yuji; Hase, Eiji; Fukushima, Shuichiro; Ogura, Yuki; Yamashita, Toyonobu; Hirao, Tetsuji; Araki, Tsutomu; Yasui, Takeshi

2014-01-01

Polarization-resolved second-harmonic-generation (PR-SHG) microscopy is a powerful tool for investigating collagen fiber orientation quantitatively with low invasiveness. However, the waiting time for the mechanical polarization rotation makes it too sensitive to motion artifacts and hence has hampered its use in various applications in vivo. In the work described in this article, we constructed a motion-artifact-robust, PR-SHG microscope based on rapid polarization switching at every pixel with an electro-optic Pockells cell (PC) in synchronization with step-wise raster scanning of the focus spot and alternate data acquisition of a vertical-polarization-resolved SHG signal and a horizontal-polarization-resolved one. The constructed PC-based PR-SHG microscope enabled us to visualize orientation mapping of dermal collagen fiber in human facial skin in vivo without the influence of motion artifacts. Furthermore, it implied the location and/or age dependence of the collagen fiber orientation in human facial skin. The robustness to motion artifacts in the collagen orientation measurement will expand the application scope of SHG microscopy in dermatology and collagen-related fields. PMID:24761292

Optimizing 4-Dimensional Magnetic Resonance Imaging Data Sampling for Respiratory Motion Analysis of Pancreatic Tumors

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

Stemkens, Bjorn, E-mail: b.stemkens@umcutrecht.nl; Tijssen, Rob H.N.; Senneville, Baudouin D. de

2015-03-01

Purpose: To determine the optimum sampling strategy for retrospective reconstruction of 4-dimensional (4D) MR data for nonrigid motion characterization of tumor and organs at risk for radiation therapy purposes. Methods and Materials: For optimization, we compared 2 surrogate signals (external respiratory bellows and internal MRI navigators) and 2 MR sampling strategies (Cartesian and radial) in terms of image quality and robustness. Using the optimized protocol, 6 pancreatic cancer patients were scanned to calculate the 4D motion. Region of interest analysis was performed to characterize the respiratory-induced motion of the tumor and organs at risk simultaneously. Results: The MRI navigator was foundmore » to be a more reliable surrogate for pancreatic motion than the respiratory bellows signal. Radial sampling is most benign for undersampling artifacts and intraview motion. Motion characterization revealed interorgan and interpatient variation, as well as heterogeneity within the tumor. Conclusions: A robust 4D-MRI method, based on clinically available protocols, is presented and successfully applied to characterize the abdominal motion in a small number of pancreatic cancer patients.« less

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

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

Li, Yupeng; Niemela, Perttu; Siljamaki, Sami

2015-08-15

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

Robust model predictive control for multi-step short range spacecraft rendezvous

NASA Astrophysics Data System (ADS)

Zhu, Shuyi; Sun, Ran; Wang, Jiaolong; Wang, Jihe; Shao, Xiaowei

2018-07-01

This work presents a robust model predictive control (MPC) approach for the multi-step short range spacecraft rendezvous problem. During the specific short range phase concerned, the chaser is supposed to be initially outside the line-of-sight (LOS) cone. Therefore, the rendezvous process naturally includes two steps: the first step is to transfer the chaser into the LOS cone and the second step is to transfer the chaser into the aimed region with its motion confined within the LOS cone. A novel MPC framework named after Mixed MPC (M-MPC) is proposed, which is the combination of the Variable-Horizon MPC (VH-MPC) framework and the Fixed-Instant MPC (FI-MPC) framework. The M-MPC framework enables the optimization for the two steps to be implemented jointly rather than to be separated factitiously, and its computation workload is acceptable for the usually low-power processors onboard spacecraft. Then considering that disturbances including modeling error, sensor noise and thrust uncertainty may induce undesired constraint violations, a robust technique is developed and it is attached to the above M-MPC framework to form a robust M-MPC approach. The robust technique is based on the chance-constrained idea, which ensures that constraints can be satisfied with a prescribed probability. It improves the robust technique proposed by Gavilan et al., because it eliminates the unnecessary conservativeness by explicitly incorporating known statistical properties of the navigation uncertainty. The efficacy of the robust M-MPC approach is shown in a simulation study.

Impact of respiratory motion on worst-case scenario optimized intensity modulated proton therapy for lung cancers.

PubMed

Liu, Wei; Liao, Zhongxing; Schild, Steven E; Liu, Zhong; Li, Heng; Li, Yupeng; Park, Peter C; Li, Xiaoqiang; Stoker, Joshua; Shen, Jiajian; Keole, Sameer; Anand, Aman; Fatyga, Mirek; Dong, Lei; Sahoo, Narayan; Vora, Sujay; Wong, William; Zhu, X Ronald; Bues, Martin; Mohan, Radhe

2015-01-01

We compared conventionally optimized intensity modulated proton therapy (IMPT) treatment plans against worst-case scenario optimized treatment plans for lung cancer. The comparison of the 2 IMPT optimization strategies focused on the resulting plans' ability to retain dose objectives under the influence of patient setup, inherent proton range uncertainty, and dose perturbation caused by respiratory motion. For each of the 9 lung cancer cases, 2 treatment plans were created that accounted for treatment uncertainties in 2 different ways. The first used the conventional method: delivery of prescribed dose to the planning target volume that is geometrically expanded from the internal target volume (ITV). The second used a worst-case scenario optimization scheme that addressed setup and range uncertainties through beamlet optimization. The plan optimality and plan robustness were calculated and compared. Furthermore, the effects on dose distributions of changes in patient anatomy attributable to respiratory motion were investigated for both strategies by comparing the corresponding plan evaluation metrics at the end-inspiration and end-expiration phase and absolute differences between these phases. The mean plan evaluation metrics of the 2 groups were compared with 2-sided paired Student t tests. Without respiratory motion considered, we affirmed that worst-case scenario optimization is superior to planning target volume-based conventional optimization in terms of plan robustness and optimality. With respiratory motion considered, worst-case scenario optimization still achieved more robust dose distributions to respiratory motion for targets and comparable or even better plan optimality (D95% ITV, 96.6% vs 96.1% [P = .26]; D5%- D95% ITV, 10.0% vs 12.3% [P = .082]; D1% spinal cord, 31.8% vs 36.5% [P = .035]). Worst-case scenario optimization led to superior solutions for lung IMPT. Despite the fact that worst-case scenario optimization did not explicitly account for respiratory motion, it produced motion-resistant treatment plans. However, further research is needed to incorporate respiratory motion into IMPT robust optimization. Copyright © 2015 American Society for Radiation Oncology. Published by Elsevier Inc. All rights reserved.

Motion Field Estimation for a Dynamic Scene Using a 3D LiDAR

PubMed Central

Li, Qingquan; Zhang, Liang; Mao, Qingzhou; Zou, Qin; Zhang, Pin; Feng, Shaojun; Ochieng, Washington

2014-01-01

This paper proposes a novel motion field estimation method based on a 3D light detection and ranging (LiDAR) sensor for motion sensing for intelligent driverless vehicles and active collision avoidance systems. Unlike multiple target tracking methods, which estimate the motion state of detected targets, such as cars and pedestrians, motion field estimation regards the whole scene as a motion field in which each little element has its own motion state. Compared to multiple target tracking, segmentation errors and data association errors have much less significance in motion field estimation, making it more accurate and robust. This paper presents an intact 3D LiDAR-based motion field estimation method, including pre-processing, a theoretical framework for the motion field estimation problem and practical solutions. The 3D LiDAR measurements are first projected to small-scale polar grids, and then, after data association and Kalman filtering, the motion state of every moving grid is estimated. To reduce computing time, a fast data association algorithm is proposed. Furthermore, considering the spatial correlation of motion among neighboring grids, a novel spatial-smoothing algorithm is also presented to optimize the motion field. The experimental results using several data sets captured in different cities indicate that the proposed motion field estimation is able to run in real-time and performs robustly and effectively. PMID:25207868

Motion field estimation for a dynamic scene using a 3D LiDAR.

PubMed

Li, Qingquan; Zhang, Liang; Mao, Qingzhou; Zou, Qin; Zhang, Pin; Feng, Shaojun; Ochieng, Washington

2014-09-09

This paper proposes a novel motion field estimation method based on a 3D light detection and ranging (LiDAR) sensor for motion sensing for intelligent driverless vehicles and active collision avoidance systems. Unlike multiple target tracking methods, which estimate the motion state of detected targets, such as cars and pedestrians, motion field estimation regards the whole scene as a motion field in which each little element has its own motion state. Compared to multiple target tracking, segmentation errors and data association errors have much less significance in motion field estimation, making it more accurate and robust. This paper presents an intact 3D LiDAR-based motion field estimation method, including pre-processing, a theoretical framework for the motion field estimation problem and practical solutions. The 3D LiDAR measurements are first projected to small-scale polar grids, and then, after data association and Kalman filtering, the motion state of every moving grid is estimated. To reduce computing time, a fast data association algorithm is proposed. Furthermore, considering the spatial correlation of motion among neighboring grids, a novel spatial-smoothing algorithm is also presented to optimize the motion field. The experimental results using several data sets captured in different cities indicate that the proposed motion field estimation is able to run in real-time and performs robustly and effectively.

Multimodal Integration of Self-Motion Cues in the Vestibular System: Active versus Passive Translations

PubMed Central

Carriot, Jerome; Brooks, Jessica X.

2013-01-01

The ability to keep track of where we are going as we navigate through our environment requires knowledge of our ongoing location and orientation. In response to passively applied motion, the otolith organs of the vestibular system encode changes in the velocity and direction of linear self-motion (i.e., heading). When self-motion is voluntarily generated, proprioceptive and motor efference copy information is also available to contribute to the brain's internal representation of current heading direction and speed. However to date, how the brain integrates these extra-vestibular cues with otolith signals during active linear self-motion remains unknown. Here, to address this question, we compared the responses of macaque vestibular neurons during active and passive translations. Single-unit recordings were made from a subgroup of neurons at the first central stage of sensory processing in the vestibular pathways involved in postural control and the computation of self-motion perception. Neurons responded far less robustly to otolith stimulation during self-generated than passive head translations. Yet, the mechanism underlying the marked cancellation of otolith signals did not affect other characteristics of neuronal responses (i.e., baseline firing rate, tuning ratio, orientation of maximal sensitivity vector). Transiently applied perturbations during active motion further established that an otolith cancellation signal was only gated in conditions where proprioceptive sensory feedback matched the motor-based expectation. Together our results have important implications for understanding the brain's ability to ensure accurate postural and motor control, as well as perceptual stability, during active self-motion. PMID:24336720

Development of a robust and cost-effective 3D respiratory motion monitoring system using the kinect device: Accuracy comparison with the conventional stereovision navigation system.

PubMed

Bae, Myungsoo; Lee, Sangmin; Kim, Namkug

2018-07-01

To develop and validate a robust and cost-effective 3D respiratory monitoring system based on a Kinect device with a custom-made simple marker. A 3D respiratory monitoring system comprising the simple marker and the Microsoft Kinect v2 device was developed. The marker was designed for simple and robust detection, and the tracking algorithm was developed using the depth, RGB, and infra-red images acquired from the Kinect sensor. A Kalman filter was used to suppress movement noises. The major movements of the marker attached to the four different locations of body surface were determined from the initially collected tracking points of the marker while breathing. The signal level of respiratory motion with the tracking point was estimated along the major direction vector. The accuracy of the results was evaluated through a comparison with those of the conventional stereovision navigation system (NDI Polaris Spectra). Sixteen normal volunteers were enrolled to evaluate the accuracy of this system. The correlation coefficients between the respiratory motion signal from the Kinect device and conventional navigation system ranged from 0.970 to 0.999 and from 0.837 to 0.995 at the abdominal and thoracic surfaces, respectively. The respiratory motion signal from this system was obtained at 27-30 frames/s. This system with the Kinect v2 device and simple marker could be used for cost-effective, robust and accurate 3D respiratory motion monitoring. In addition, this system is as reliable for respiratory motion signal generation and as practically useful as the conventional stereovision navigation system and is less sensitive to patient posture. Copyright © 2018 Elsevier B.V. All rights reserved.

Marker optimization for facial motion acquisition and deformation.

PubMed

Le, Binh H; Zhu, Mingyang; Deng, Zhigang

2013-11-01

A long-standing problem in marker-based facial motion capture is what are the optimal facial mocap marker layouts. Despite its wide range of potential applications, this problem has not yet been systematically explored to date. This paper describes an approach to compute optimized marker layouts for facial motion acquisition as optimization of characteristic control points from a set of high-resolution, ground-truth facial mesh sequences. Specifically, the thin-shell linear deformation model is imposed onto the example pose reconstruction process via optional hard constraints such as symmetry and multiresolution constraints. Through our experiments and comparisons, we validate the effectiveness, robustness, and accuracy of our approach. Besides guiding minimal yet effective placement of facial mocap markers, we also describe and demonstrate its two selected applications: marker-based facial mesh skinning and multiresolution facial performance capture.

Adaptive relative pose control of spacecraft with model couplings and uncertainties

NASA Astrophysics Data System (ADS)

Sun, Liang; Zheng, Zewei

2018-02-01

The spacecraft pose tracking control problem for an uncertain pursuer approaching to a space target is researched in this paper. After modeling the nonlinearly coupled dynamics for relative translational and rotational motions between two spacecraft, position tracking and attitude synchronization controllers are developed independently by using a robust adaptive control approach. The unknown kinematic couplings, parametric uncertainties, and bounded external disturbances are handled with adaptive updating laws. It is proved via Lyapunov method that the pose tracking errors converge to zero asymptotically. Spacecraft close-range rendezvous and proximity operations are introduced as an example to validate the effectiveness of the proposed control approach.

A Robust Method for Ego-Motion Estimation in Urban Environment Using Stereo Camera.

PubMed

Ci, Wenyan; Huang, Yingping

2016-10-17

Visual odometry estimates the ego-motion of an agent (e.g., vehicle and robot) using image information and is a key component for autonomous vehicles and robotics. This paper proposes a robust and precise method for estimating the 6-DoF ego-motion, using a stereo rig with optical flow analysis. An objective function fitted with a set of feature points is created by establishing the mathematical relationship between optical flow, depth and camera ego-motion parameters through the camera's 3-dimensional motion and planar imaging model. Accordingly, the six motion parameters are computed by minimizing the objective function, using the iterative Levenberg-Marquard method. One of key points for visual odometry is that the feature points selected for the computation should contain inliers as much as possible. In this work, the feature points and their optical flows are initially detected by using the Kanade-Lucas-Tomasi (KLT) algorithm. A circle matching is followed to remove the outliers caused by the mismatching of the KLT algorithm. A space position constraint is imposed to filter out the moving points from the point set detected by the KLT algorithm. The Random Sample Consensus (RANSAC) algorithm is employed to further refine the feature point set, i.e., to eliminate the effects of outliers. The remaining points are tracked to estimate the ego-motion parameters in the subsequent frames. The approach presented here is tested on real traffic videos and the results prove the robustness and precision of the method.

A Robust Method for Ego-Motion Estimation in Urban Environment Using Stereo Camera

PubMed Central

Ci, Wenyan; Huang, Yingping

2016-01-01

Visual odometry estimates the ego-motion of an agent (e.g., vehicle and robot) using image information and is a key component for autonomous vehicles and robotics. This paper proposes a robust and precise method for estimating the 6-DoF ego-motion, using a stereo rig with optical flow analysis. An objective function fitted with a set of feature points is created by establishing the mathematical relationship between optical flow, depth and camera ego-motion parameters through the camera’s 3-dimensional motion and planar imaging model. Accordingly, the six motion parameters are computed by minimizing the objective function, using the iterative Levenberg–Marquard method. One of key points for visual odometry is that the feature points selected for the computation should contain inliers as much as possible. In this work, the feature points and their optical flows are initially detected by using the Kanade–Lucas–Tomasi (KLT) algorithm. A circle matching is followed to remove the outliers caused by the mismatching of the KLT algorithm. A space position constraint is imposed to filter out the moving points from the point set detected by the KLT algorithm. The Random Sample Consensus (RANSAC) algorithm is employed to further refine the feature point set, i.e., to eliminate the effects of outliers. The remaining points are tracked to estimate the ego-motion parameters in the subsequent frames. The approach presented here is tested on real traffic videos and the results prove the robustness and precision of the method. PMID:27763508

Attitude and vibration control of a large flexible space-based antenna

NASA Technical Reports Server (NTRS)

Joshi, S. M.

1982-01-01

Control systems synthesis is considered for controlling the rigid body attitude and elastic motion of a large deployable space-based antenna. Two methods for control systems synthesis are considered. The first method utilizes the stability and robustness properties of the controller consisting of torque actuators and collocated attitude and rate sensors. The second method is based on the linear-quadratic-Gaussian control theory. A combination of the two methods, which results in a two level hierarchical control system, is also briefly discussed. The performance of the controllers is analyzed by computing the variances of pointing errors, feed misalignment errors and surface contour errors in the presence of sensor and actuator noise.

A robust motion estimation system for minimal invasive laparoscopy

NASA Astrophysics Data System (ADS)

Marcinczak, Jan Marek; von Öhsen, Udo; Grigat, Rolf-Rainer

2012-02-01

Laparoscopy is a reliable imaging method to examine the liver. However, due to the limited field of view, a lot of experience is required from the surgeon to interpret the observed anatomy. Reconstruction of organ surfaces provide valuable additional information to the surgeon for a reliable diagnosis. Without an additional external tracking system the structure can be recovered from feature correspondences between different frames. In laparoscopic images blurred frames, specular reflections and inhomogeneous illumination make feature tracking a challenging task. We propose an ego-motion estimation system for minimal invasive laparoscopy that can cope with specular reflection, inhomogeneous illumination and blurred frames. To obtain robust feature correspondence, the approach combines SIFT and specular reflection segmentation with a multi-frame tracking scheme. The calibrated five-point algorithm is used with the MSAC robust estimator to compute the motion of the endoscope from multi-frame correspondence. The algorithm is evaluated using endoscopic videos of a phantom. The small incisions and the rigid endoscope limit the motion in minimal invasive laparoscopy. These limitations are considered in our evaluation and are used to analyze the accuracy of pose estimation that can be achieved by our approach. The endoscope is moved by a robotic system and the ground truth motion is recorded. The evaluation on typical endoscopic motion gives precise results and demonstrates the practicability of the proposed pose estimation system.

The constrained discrete-time state-dependent Riccati equation technique for uncertain nonlinear systems

NASA Astrophysics Data System (ADS)

Chang, Insu

The objective of the thesis is to introduce a relatively general nonlinear controller/estimator synthesis framework using a special type of the state-dependent Riccati equation technique. The continuous time state-dependent Riccati equation (SDRE) technique is extended to discrete-time under input and state constraints, yielding constrained (C) discrete-time (D) SDRE, referred to as CD-SDRE. For the latter, stability analysis and calculation of a region of attraction are carried out. The derivation of the D-SDRE under state-dependent weights is provided. Stability of the D-SDRE feedback system is established using Lyapunov stability approach. Receding horizon strategy is used to take into account the constraints on D-SDRE controller. Stability condition of the CD-SDRE controller is analyzed by using a switched system. The use of CD-SDRE scheme in the presence of constraints is then systematically demonstrated by applying this scheme to problems of spacecraft formation orbit reconfiguration under limited performance on thrusters. Simulation results demonstrate the efficacy and reliability of the proposed CD-SDRE. The CD-SDRE technique is further investigated in a case where there are uncertainties in nonlinear systems to be controlled. First, the system stability under each of the controllers in the robust CD-SDRE technique is separately established. The stability of the closed-loop system under the robust CD-SDRE controller is then proven based on the stability of each control system comprising switching configuration. A high fidelity dynamical model of spacecraft attitude motion in 3-dimensional space is derived with a partially filled fuel tank, assumed to have the first fuel slosh mode. The proposed robust CD-SDRE controller is then applied to the spacecraft attitude control system to stabilize its motion in the presence of uncertainties characterized by the first fuel slosh mode. The performance of the robust CD-SDRE technique is discussed. Subsequently, filtering techniques are investigated by using the D-SDRE technique. Detailed derivation of the D-SDRE-based filter (D-SDREF) is provided under the assumption of Gaussian noises and the stability condition of the error signal between the measured signal and the estimated signals is proven to be input-to-state stable. For the non-Gaussian distributed noises, we propose a filter by combining the D-SDREF and the particle filter (PF), named the combined D-SDRE/PF. Two algorithms for the filtering techniques are provided. Several filtering techniques are compared with challenging numerical examples to show the reliability and efficacy of the proposed D-SDREF and the combined D-SDRE/PF.

Design and Test of an Attitude Determination and Control System for a 6U CubeSat using AFIT’s CubeSat Testbed

DTIC Science & Technology

2015-03-01

θ2 is 90 o or 270o a singularity occurs. This is the major drawback to implementing Euler angles θ into satellite hardware. To achieve a robust control...thought of as a damping term that reduces overshoot caused by large gain values of Kp and Ki. Derivative control, like the other gains, has drawbacks ...With statically neutral behavior, there is a pendulum motion about the x- and y-axes due to a difference in height of the center of mass and center of

ANYmal - A Highly Mobile and Dynamic Quadrupedal Robot

DTIC Science & Technology

2016-10-09

ANYmal - A Highly Mobile and Dynamic Quadrupedal Robot * Marco Hutter1, Christian Gehring2, Dominic Jud1, Andreas Lauber1, C. Dario Bellicoso1...Abstract— This paper introduces ANYmal, a quadrupedal robot that features outstanding mobility and dynamic motion capability. Thanks to novel...compliant joint modules with integrated electronics, the 30 kg, 0.5 m tall robotic dog is torque controllable and very robust against impulsive loads during

Removal of proprioception by BCI raises a stronger body ownership illusion in control of a humanlike robot

PubMed Central

Alimardani, Maryam; Nishio, Shuichi; Ishiguro, Hiroshi

2016-01-01

Body ownership illusions provide evidence that our sense of self is not coherent and can be extended to non-body objects. Studying about these illusions gives us practical tools to understand the brain mechanisms that underlie body recognition and the experience of self. We previously introduced an illusion of body ownership transfer (BOT) for operators of a very humanlike robot. This sensation of owning the robot’s body was confirmed when operators controlled the robot either by performing the desired motion with their body (motion-control) or by employing a brain-computer interface (BCI) that translated motor imagery commands to robot movement (BCI-control). The interesting observation during BCI-control was that the illusion could be induced even with a noticeable delay in the BCI system. Temporal discrepancy has always shown critical weakening effects on body ownership illusions. However the delay-robustness of BOT during BCI-control raised a question about the interaction between the proprioceptive inputs and delayed visual feedback in agency-driven illusions. In this work, we compared the intensity of BOT illusion for operators in two conditions; motion-control and BCI-control. Our results revealed a significantly stronger BOT illusion for the case of BCI-control. This finding highlights BCI’s potential in inducing stronger agency-driven illusions by building a direct communication between the brain and controlled body, and therefore removing awareness from the subject’s own body. PMID:27654174

Applications of fuzzy logic to control and decision making

NASA Technical Reports Server (NTRS)

Lea, Robert N.; Jani, Yashvant

1991-01-01

Long range space missions will require high operational efficiency as well as autonomy to enhance the effectivity of performance. Fuzzy logic technology has been shown to be powerful and robust in interpreting imprecise measurements and generating appropriate control decisions for many space operations. Several applications are underway, studying the fuzzy logic approach to solving control and decision making problems. Fuzzy logic algorithms for relative motion and attitude control have been developed and demonstrated for proximity operations. Based on this experience, motion control algorithms that include obstacle avoidance were developed for a Mars Rover prototype for maneuvering during the sample collection process. A concept of an intelligent sensor system that can identify objects and track them continuously and learn from its environment is under development to support traffic management and proximity operations around the Space Station Freedom. For safe and reliable operation of Lunar/Mars based crew quarters, high speed controllers with ability to combine imprecise measurements from several sensors is required. A fuzzy logic approach that uses high speed fuzzy hardware chips is being studied.

Motion adaptive Kalman filter for super-resolution

NASA Astrophysics Data System (ADS)

Richter, Martin; Nasse, Fabian; Schröder, Hartmut

2011-01-01

Superresolution is a sophisticated strategy to enhance image quality of both low and high resolution video, performing tasks like artifact reduction, scaling and sharpness enhancement in one algorithm, all of them reconstructing high frequency components (above Nyquist frequency) in some way. Especially recursive superresolution algorithms can fulfill high quality aspects because they control the video output using a feed-back loop and adapt the result in the next iteration. In addition to excellent output quality, temporal recursive methods are very hardware efficient and therefore even attractive for real-time video processing. A very promising approach is the utilization of Kalman filters as proposed by Farsiu et al. Reliable motion estimation is crucial for the performance of superresolution. Therefore, robust global motion models are mainly used, but this also limits the application of superresolution algorithm. Thus, handling sequences with complex object motion is essential for a wider field of application. Hence, this paper proposes improvements by extending the Kalman filter approach using motion adaptive variance estimation and segmentation techniques. Experiments confirm the potential of our proposal for ideal and real video sequences with complex motion and further compare its performance to state-of-the-art methods like trainable filters.

High speed, precision motion strategies for lightweight structures

NASA Technical Reports Server (NTRS)

Book, Wayne J.

1989-01-01

Research on space telerobotics is summarized. Adaptive control experiments on the Robotic Arm, Large and Flexible (RALF) were preformed and are documented, along with a joint controller design for the Small Articulated Manipulator (SAM), which is mounted on the RALF. A control algorithm is described as a robust decentralized adaptive control based on a bounded uncertainty approach. Dynamic interactions between SAM and RALF are examined. Unstability of the manipulator is studied from the perspective that the inertial forces generated could actually be used to more rapidly damp out the flexible manipulator's vibration. Currently being studied is the modeling of the constrained dynamics of flexible arms.

Combined input shaping and feedback control for double-pendulum systems

NASA Astrophysics Data System (ADS)

Mar, Robert; Goyal, Anurag; Nguyen, Vinh; Yang, Tianle; Singhose, William

2017-02-01

A control system combining input shaping and feedback is developed for double-pendulum systems subjected to external disturbances. The proposed control method achieves fast point-to-point response similar to open-loop input-shaping control. It also minimizes transient deflections during the motion of the system, and disturbance-induced residual swing using the feedback control. Effects of parameter variations such as the mass ratio of the double pendulum, the suspension length ratio, and the move distance were studied via numerical simulation. The most important results were also verified with experiments on a small-scale crane. The controller effectively suppresses the disturbances and is robust to modelling uncertainties and task variations.

A control method for bilateral teleoperating systems

NASA Astrophysics Data System (ADS)

Strassberg, Yesayahu

1992-01-01

The thesis focuses on control of bilateral master-slave teleoperators. The bilateral control issue of teleoperators is studied and a new scheme that overcomes basic unsolved problems is proposed. A performance measure, based on the multiport modeling method, is introduced in order to evaluate and understand the limitations of earlier published bilateral control laws. Based on the study evaluating the different methods, the objective of the thesis is stated. The proposed control law is then introduced, its ideal performance is demonstrated, and conditions for stability and robustness are derived. It is shown that stability, desired performance, and robustness can be obtained under the assumption that the deviation of the model from the actual system satisfies certain norm inequalities and the measurement uncertainties are bounded. The proposed scheme is validated by numerical simulation. The simulated system is based on the configuration of the RAL (Robotics and Automation Laboratory) telerobot. From the simulation results it is shown that good tracking performance can be obtained. In order to verify the performance of the proposed scheme when applied to a real hardware system, an experimental setup of a three degree of freedom master-slave teleoperator (i.e. three degree of freedom master and three degree of freedom slave robot) was built. Three basic experiments were conducted to verify the performance of the proposed control scheme. The first experiment verified the master control law and its contribution to the robustness and performance of the entire system. The second experiment demonstrated the actual performance of the system while performing a free motion teleoperating task. From the experimental results, it is shown that the control law has good performance and is robust to uncertainties in the models of the master and slave.

Magnetic-field-mediated coupling and control in hybrid atomic-nanomechanical systems

NASA Astrophysics Data System (ADS)

Tretiakov, A.; LeBlanc, L. J.

2016-10-01

Magnetically coupled hybrid quantum systems enable robust quantum state control through Landau-Zener transitions. Here, we show that an ultracold atomic sample magnetically coupled to a nanomechanical resonator can be used to cool the resonator's mechanical motion, to measure the mechanical temperature, and to enable entanglement of more than one of these mesoscopic objects. We calculate the expected coupling for both permanent-magnet and current-conducting nanostring resonators and describe how this hybridization is attainable using recently developed fabrication techniques, including SiN nanostrings and atom chips.

Design and Simulation of a PID Controller for Motion Control Systems

NASA Astrophysics Data System (ADS)

Hassan Abdullahi, Zakariyya; Danzomo, Bashir Ahmed; Suleiman Abdullahi, Zainab

2018-04-01

Motion control system plays important role in many industrial applications among which are in robot system, missile launching, positioning systems etc. However, the performance requirement for these applications in terms of high accuracy, high speed, insignificant or no overshoot and robustness have generated continuous challenges in the field of motion control system design and implementation. To compensate this challenge, a PID controller was design using mathematical model of a DC motor based on classical root-locus approach. The reason for adopting root locus design is to remodel the closed-loop response by putting the closed-loop poles of the system at desired points. Adding poles and zeros to the initial open-loop transfer function through the controller provide a way to transform the root locus in order to place the closed-loop poles at the required points. This process can also be used for discrete-time models. The Advantages of root locus over other methods is that, it gives the better way of pinpointing the parameters and can easily predict the fulfilment of the whole system. The controller performance was simulated using MATLAB code and a reasonable degree of accuracy was obtained. Implementation of the proposed model was conducted using-Simulink and the result obtained shows that the PID controller met the transient performance specifications with both settling time and overshoot less than 0.1s and 5% respectively. In terms of steady state error, the PID controller gave good response for both step input and ramp.

Precise Aperture-Dependent Motion Compensation with Frequency Domain Fast Back-Projection Algorithm.

PubMed

Zhang, Man; Wang, Guanyong; Zhang, Lei

2017-10-26

Precise azimuth-variant motion compensation (MOCO) is an essential and difficult task for high-resolution synthetic aperture radar (SAR) imagery. In conventional post-filtering approaches, residual azimuth-variant motion errors are generally compensated through a set of spatial post-filters, where the coarse-focused image is segmented into overlapped blocks concerning the azimuth-dependent residual errors. However, image domain post-filtering approaches, such as precise topography- and aperture-dependent motion compensation algorithm (PTA), have difficulty of robustness in declining, when strong motion errors are involved in the coarse-focused image. In this case, in order to capture the complete motion blurring function within each image block, both the block size and the overlapped part need necessary extension leading to degeneration of efficiency and robustness inevitably. Herein, a frequency domain fast back-projection algorithm (FDFBPA) is introduced to deal with strong azimuth-variant motion errors. FDFBPA disposes of the azimuth-variant motion errors based on a precise azimuth spectrum expression in the azimuth wavenumber domain. First, a wavenumber domain sub-aperture processing strategy is introduced to accelerate computation. After that, the azimuth wavenumber spectrum is partitioned into a set of wavenumber blocks, and each block is formed into a sub-aperture coarse resolution image via the back-projection integral. Then, the sub-aperture images are straightforwardly fused together in azimuth wavenumber domain to obtain a full resolution image. Moreover, chirp-Z transform (CZT) is also introduced to implement the sub-aperture back-projection integral, increasing the efficiency of the algorithm. By disusing the image domain post-filtering strategy, robustness of the proposed algorithm is improved. Both simulation and real-measured data experiments demonstrate the effectiveness and superiority of the proposal.

Development of a universal measure of quadrupedal forelimb-hindlimb coordination using digital motion capture and computerised analysis.

PubMed

Hamilton, Lindsay; Franklin, Robin J M; Jeffery, Nick D

2007-09-18

Clinical spinal cord injury in domestic dogs provides a model population in which to test the efficacy of putative therapeutic interventions for human spinal cord injury. To achieve this potential a robust method of functional analysis is required so that statistical comparison of numerical data derived from treated and control animals can be achieved. In this study we describe the use of digital motion capture equipment combined with mathematical analysis to derive a simple quantitative parameter - 'the mean diagonal coupling interval' - to describe coordination between forelimb and hindlimb movement. In normal dogs this parameter is independent of size, conformation, speed of walking or gait pattern. We show here that mean diagonal coupling interval is highly sensitive to alterations in forelimb-hindlimb coordination in dogs that have suffered spinal cord injury, and can be accurately quantified, but is unaffected by orthopaedic perturbations of gait. Mean diagonal coupling interval is an easily derived, highly robust measurement that provides an ideal method to compare the functional effect of therapeutic interventions after spinal cord injury in quadrupeds.

Global motion compensated visual attention-based video watermarking

NASA Astrophysics Data System (ADS)

Oakes, Matthew; Bhowmik, Deepayan; Abhayaratne, Charith

2016-11-01

Imperceptibility and robustness are two key but complementary requirements of any watermarking algorithm. Low-strength watermarking yields high imperceptibility but exhibits poor robustness. High-strength watermarking schemes achieve good robustness but often suffer from embedding distortions resulting in poor visual quality in host media. This paper proposes a unique video watermarking algorithm that offers a fine balance between imperceptibility and robustness using motion compensated wavelet-based visual attention model (VAM). The proposed VAM includes spatial cues for visual saliency as well as temporal cues. The spatial modeling uses the spatial wavelet coefficients while the temporal modeling accounts for both local and global motion to arrive at the spatiotemporal VAM for video. The model is then used to develop a video watermarking algorithm, where a two-level watermarking weighting parameter map is generated from the VAM saliency maps using the saliency model and data are embedded into the host image according to the visual attentiveness of each region. By avoiding higher strength watermarking in the visually attentive region, the resulting watermarked video achieves high perceived visual quality while preserving high robustness. The proposed VAM outperforms the state-of-the-art video visual attention methods in joint saliency detection and low computational complexity performance. For the same embedding distortion, the proposed visual attention-based watermarking achieves up to 39% (nonblind) and 22% (blind) improvement in robustness against H.264/AVC compression, compared to existing watermarking methodology that does not use the VAM. The proposed visual attention-based video watermarking results in visual quality similar to that of low-strength watermarking and a robustness similar to those of high-strength watermarking.

Variability and robustness of scatterers in HRR/ISAR ground target data and its influence on the ATR performance

NASA Astrophysics Data System (ADS)

Schumacher, R.; Schimpf, H.; Schiller, J.

2011-06-01

The most challenging problem of Automatic Target Recognition (ATR) is the extraction of robust and independent target features which describe the target unambiguously. These features have to be robust and invariant in different senses: in time, between aspect views (azimuth and elevation angle), between target motion (translation and rotation) and between different target variants. Especially for ground moving targets in military applications an irregular target motion is typical, so that a strong variation of the backscattered radar signal with azimuth and elevation angle makes the extraction of stable and robust features most difficult. For ATR based on High Range Resolution (HRR) profiles and / or Inverse Synthetic Aperture Radar (ISAR) images it is crucial that the reference dataset consists of stable and robust features, which, among others, will depend on the target aspect and depression angle amongst others. Here it is important to find an adequate data grid for an efficient data coverage in the reference dataset for ATR. In this paper the variability of the backscattered radar signals of target scattering centers is analyzed for different HRR profiles and ISAR images from measured turntable datasets of ground targets under controlled conditions. Especially the dependency of the features on the elevation angle is analyzed regarding to the ATR of large strip SAR data with a large range of depression angles by using available (I)SAR datasets as reference. In this work the robustness of these scattering centers is analyzed by extracting their amplitude, phase and position. Therefore turntable measurements under controlled conditions were performed targeting an artificial military reference object called STANDCAM. Measures referring to variability, similarity, robustness and separability regarding the scattering centers are defined. The dependency of the scattering behaviour with respect to azimuth and elevation variations is analyzed. Additionally generic types of features (geometrical, statistical), which can be derived especially from (I)SAR images, are applied to the ATR-task. Therefore subsequently the dependence of individual feature values as well as the feature statistics on aspect (i.e. azimuth and elevation) are presented. The Kolmogorov-Smirnov distance will be used to show how the feature statistics is influenced by varying elevation angles. Finally, confusion matrices are computed between the STANDCAM target at all eleven elevation angles. This helps to assess the robustness of ATR performance under the influence of aspect angle deviations between training set and test set.

MER-DIMES : a planetary landing application of computer vision

NASA Technical Reports Server (NTRS)

Cheng, Yang; Johnson, Andrew; Matthies, Larry

2005-01-01

During the Mars Exploration Rovers (MER) landings, the Descent Image Motion Estimation System (DIMES) was used for horizontal velocity estimation. The DIMES algorithm combines measurements from a descent camera, a radar altimeter and an inertial measurement unit. To deal with large changes in scale and orientation between descent images, the algorithm uses altitude and attitude measurements to rectify image data to level ground plane. Feature selection and tracking is employed in the rectified data to compute the horizontal motion between images. Differences of motion estimates are then compared to inertial measurements to verify correct feature tracking. DIMES combines sensor data from multiple sources in a novel way to create a low-cost, robust and computationally efficient velocity estimation solution, and DIMES is the first use of computer vision to control a spacecraft during planetary landing. In this paper, the detailed implementation of the DIMES algorithm and the results from the two landings on Mars are presented.

A system for learning statistical motion patterns.

PubMed

Hu, Weiming; Xiao, Xuejuan; Fu, Zhouyu; Xie, Dan; Tan, Tieniu; Maybank, Steve

2006-09-01

Analysis of motion patterns is an effective approach for anomaly detection and behavior prediction. Current approaches for the analysis of motion patterns depend on known scenes, where objects move in predefined ways. It is highly desirable to automatically construct object motion patterns which reflect the knowledge of the scene. In this paper, we present a system for automatically learning motion patterns for anomaly detection and behavior prediction based on a proposed algorithm for robustly tracking multiple objects. In the tracking algorithm, foreground pixels are clustered using a fast accurate fuzzy K-means algorithm. Growing and prediction of the cluster centroids of foreground pixels ensure that each cluster centroid is associated with a moving object in the scene. In the algorithm for learning motion patterns, trajectories are clustered hierarchically using spatial and temporal information and then each motion pattern is represented with a chain of Gaussian distributions. Based on the learned statistical motion patterns, statistical methods are used to detect anomalies and predict behaviors. Our system is tested using image sequences acquired, respectively, from a crowded real traffic scene and a model traffic scene. Experimental results show the robustness of the tracking algorithm, the efficiency of the algorithm for learning motion patterns, and the encouraging performance of algorithms for anomaly detection and behavior prediction.

Correction of contaminated yaw rate signal and estimation of sensor bias for an electric vehicle under normal driving conditions

NASA Astrophysics Data System (ADS)

Zhang, Guoguang; Yu, Zitian; Wang, Junmin

2017-03-01

Yaw rate is a crucial signal for the motion control systems of ground vehicles. Yet it may be contaminated by sensor bias. In order to correct the contaminated yaw rate signal and estimate the sensor bias, a robust gain-scheduling observer is proposed in this paper. First of all, a two-degree-of-freedom (2DOF) vehicle lateral and yaw dynamic model is presented, and then a Luenberger-like observer is proposed. To make the observer more applicable to real vehicle driving operations, a 2DOF vehicle model with uncertainties on the coefficients of tire cornering stiffness is employed. Further, a gain-scheduling approach and a robustness enhancement are introduced, leading to a robust gain-scheduling observer. Sensor bias detection mechanism is also designed. Case studies are conducted using an electric ground vehicle to assess the performance of signal correction and sensor bias estimation under difference scenarios.

Adaptive attitude control and momentum management for large-angle spacecraft maneuvers

NASA Technical Reports Server (NTRS)

Parlos, Alexander G.; Sunkel, John W.

1992-01-01

The fully coupled equations of motion are systematically linearized around an equilibrium point of a gravity gradient stabilized spacecraft, controlled by momentum exchange devices. These equations are then used for attitude control system design of an early Space Station Freedom flight configuration, demonstrating the errors caused by the improper approximation of the spacecraft dynamics. A full state feedback controller, incorporating gain-scheduled adaptation of the attitude gains, is developed for use during spacecraft on-orbit assembly or operations characterized by significant mass properties variations. The feasibility of the gain adaptation is demonstrated via a Space Station Freedom assembly sequence case study. The attitude controller stability robustness and transient performance during gain adaptation appear satisfactory.

Robustness of Thirty Meter Telescope primary mirror control

NASA Astrophysics Data System (ADS)

Macmynowski, Douglas G.; Thompson, Peter M.; Shelton, Chris; Roberts, Lewis C., Jr.

2010-07-01

The primary mirror control system for the Thirty Meter Telescope (TMT) maintains the alignment of the 492 segments in the presence of both quasi-static (gravity and thermal) and dynamic disturbances due to unsteady wind loads. The latter results in a desired control bandwidth of 1Hz at high spatial frequencies. The achievable bandwidth is limited by robustness to (i) uncertain telescope structural dynamics (control-structure interaction) and (ii) small perturbations in the ill-conditioned influence matrix that relates segment edge sensor response to actuator commands. Both of these effects are considered herein using models of TMT. The former is explored through multivariable sensitivity analysis on a reduced-order Zernike-basis representation of the structural dynamics. The interaction matrix ("A-matrix") uncertainty has been analyzed theoretically elsewhere, and is examined here for realistic amplitude perturbations due to segment and sensor installation errors, and gravity and thermal induced segment motion. The primary influence of A-matrix uncertainty is on the control of "focusmode"; this is the least observable mode, measurable only through the edge-sensor (gap-dependent) sensitivity to the dihedral angle between segments. Accurately estimating focus-mode will require updating the A-matrix as a function of the measured gap. A-matrix uncertainty also results in a higher gain-margin requirement for focus-mode, and hence the A-matrix and CSI robustness need to be understood simultaneously. Based on the robustness analysis, the desired 1 Hz bandwidth is achievable in the presence of uncertainty for all except the lowest spatial-frequency response patterns of the primary mirror.

Real time eye tracking using Kalman extended spatio-temporal context learning

NASA Astrophysics Data System (ADS)

Munir, Farzeen; Minhas, Fayyaz ul Amir Asfar; Jalil, Abdul; Jeon, Moongu

2017-06-01

Real time eye tracking has numerous applications in human computer interaction such as a mouse cursor control in a computer system. It is useful for persons with muscular or motion impairments. However, tracking the movement of the eye is complicated by occlusion due to blinking, head movement, screen glare, rapid eye movements, etc. In this work, we present the algorithmic and construction details of a real time eye tracking system. Our proposed system is an extension of Spatio-Temporal context learning through Kalman Filtering. Spatio-Temporal Context Learning offers state of the art accuracy in general object tracking but its performance suffers due to object occlusion. Addition of the Kalman filter allows the proposed method to model the dynamics of the motion of the eye and provide robust eye tracking in cases of occlusion. We demonstrate the effectiveness of this tracking technique by controlling the computer cursor in real time by eye movements.

Squeezed cooling of mechanical motion beyond the resolved-sideband limit

NASA Astrophysics Data System (ADS)

Yang, Cheng; Zhang, Lin; Zhang, Weiping

2018-04-01

Cavity optomechanics provides a unique platform for controlling micromechanical systems by means of optical fields that cross the classical-quantum boundary to achieve solid foundations for quantum technologies. Currently, optomechanical resonators have become promising candidates for the development of precisely controlled nano-motors, ultrasensitive sensors and robust quantum information processors. For all these applications, a crucial requirement is to cool the mechanical resonators down to their quantum ground states. In this paper, we present a novel cooling scheme to further cool a micromechanical resonator via the noise squeezing effect. One quadrature in such a resonator can be squeezed to induce enhanced fluctuations in the other, “heated” quadrature, which can then be used to cool the mechanical motion via conventional optomechanical coupling. Our theoretical analysis and numerical calculations demonstrate that this squeeze-and-cool mechanism offers a quick technique for deeply cooling a macroscopic mechanical resonator to an unprecedented temperature region below the zero-point fluctuations.

Reentry Vehicle Flight Controls Design Guidelines: Dynamic Inversion

NASA Technical Reports Server (NTRS)

Ito, Daigoro; Georgie, Jennifer; Valasek, John; Ward, Donald T.

2002-01-01

This report addresses issues in developing a flight control design for vehicles operating across a broad flight regime and with highly nonlinear physical descriptions of motion. Specifically it addresses the need for reentry vehicles that could operate through reentry from space to controlled touchdown on Earth. The latter part of controlled descent is achieved by parachute or paraglider - or by all automatic or a human-controlled landing similar to that of the Orbiter. Since this report addresses the specific needs of human-carrying (not necessarily piloted) reentry vehicles, it deals with highly nonlinear equations of motion, and then-generated control systems must be robust across a very wide range of physics. Thus, this report deals almost exclusively with some form of dynamic inversion (DI). Two vital aspects of control theory - noninteracting control laws and the transformation of nonlinear systems into equivalent linear systems - are embodied in DI. Though there is no doubt that the mathematical tools and underlying theory are widely available, there are open issues as to the practicality of using DI as the only or primary design approach for reentry articles. This report provides a set of guidelines that can be used to determine the practical usefulness of the technique.

A fuzzy neural network sliding mode controller for vibration suppression in robotically assisted minimally invasive surgery.

PubMed

Sang, Hongqiang; Yang, Chenghao; Liu, Fen; Yun, Jintian; Jin, Guoguang

2016-12-01

It is very important for robotically assisted minimally invasive surgery to achieve a high-precision and smooth motion control. However, the surgical instrument tip will exhibit vibration caused by nonlinear friction and unmodeled dynamics, especially when the surgical robot system is attempting low-speed, fine motion. A fuzzy neural network sliding mode controller (FNNSMC) is proposed to suppress vibration of the surgical robotic system. Nonlinear friction and modeling uncertainties are compensated by a Stribeck model, a radial basis function (RBF) neural network and a fuzzy system, respectively. Simulations and experiments were performed on a 3 degree-of-freedom (DOF) minimally invasive surgical robot. The results demonstrate that the FNNSMC is effective and can suppress vibrations at the surgical instrument tip. The proposed FNNSMC can provide a robust performance and suppress the vibrations at the surgical instrument tip, which can enhance the quality and security of surgical procedures. Copyright © 2016 John Wiley & Sons, Ltd.

Robustly stable adaptive control of a tandem of master-slave robotic manipulators with force reflection by using a multiestimation scheme.

PubMed

Ibeas, Asier; de la Sen, Manuel

2006-10-01

The problem of controlling a tandem of robotic manipulators composing a teleoperation system with force reflection is addressed in this paper. The final objective of this paper is twofold: 1) to design a robust control law capable of ensuring closed-loop stability for robots with uncertainties and 2) to use the so-obtained control law to improve the tracking of each robot to its corresponding reference model in comparison with previously existing controllers when the slave is interacting with the obstacle. In this way, a multiestimation-based adaptive controller is proposed. Thus, the master robot is able to follow more accurately the constrained motion defined by the slave when interacting with an obstacle than when a single-estimation-based controller is used, improving the transparency property of the teleoperation scheme. The closed-loop stability is guaranteed if a minimum residence time, which might be updated online when unknown, between different controller parameterizations is respected. Furthermore, the analysis of the teleoperation and stability capabilities of the overall scheme is carried out. Finally, some simulation examples showing the working of the multiestimation scheme complete this paper.

Human Age Estimation Method Robust to Camera Sensor and/or Face Movement

PubMed Central

Nguyen, Dat Tien; Cho, So Ra; Pham, Tuyen Danh; Park, Kang Ryoung

2015-01-01

Human age can be employed in many useful real-life applications, such as customer service systems, automatic vending machines, entertainment, etc. In order to obtain age information, image-based age estimation systems have been developed using information from the human face. However, limitations exist for current age estimation systems because of the various factors of camera motion and optical blurring, facial expressions, gender, etc. Motion blurring can usually be presented on face images by the movement of the camera sensor and/or the movement of the face during image acquisition. Therefore, the facial feature in captured images can be transformed according to the amount of motion, which causes performance degradation of age estimation systems. In this paper, the problem caused by motion blurring is addressed and its solution is proposed in order to make age estimation systems robust to the effects of motion blurring. Experiment results show that our method is more efficient for enhancing age estimation performance compared with systems that do not employ our method. PMID:26334282

Motion compensation for cone-beam CT using Fourier consistency conditions

NASA Astrophysics Data System (ADS)

Berger, M.; Xia, Y.; Aichinger, W.; Mentl, K.; Unberath, M.; Aichert, A.; Riess, C.; Hornegger, J.; Fahrig, R.; Maier, A.

2017-09-01

In cone-beam CT, involuntary patient motion and inaccurate or irreproducible scanner motion substantially degrades image quality. To avoid artifacts this motion needs to be estimated and compensated during image reconstruction. In previous work we showed that Fourier consistency conditions (FCC) can be used in fan-beam CT to estimate motion in the sinogram domain. This work extends the FCC to 3\\text{D} cone-beam CT. We derive an efficient cost function to compensate for 3\\text{D} motion using 2\\text{D} detector translations. The extended FCC method have been tested with five translational motion patterns, using a challenging numerical phantom. We evaluated the root-mean-square-error and the structural-similarity-index between motion corrected and motion-free reconstructions. Additionally, we computed the mean-absolute-difference (MAD) between the estimated and the ground-truth motion. The practical applicability of the method is demonstrated by application to respiratory motion estimation in rotational angiography, but also to motion correction for weight-bearing imaging of knees. Where the latter makes use of a specifically modified FCC version which is robust to axial truncation. The results show a great reduction of motion artifacts. Accurate estimation results were achieved with a maximum MAD value of 708 μm and 1184 μm for motion along the vertical and horizontal detector direction, respectively. The image quality of reconstructions obtained with the proposed method is close to that of motion corrected reconstructions based on the ground-truth motion. Simulations using noise-free and noisy data demonstrate that FCC are robust to noise. Even high-frequency motion was accurately estimated leading to a considerable reduction of streaking artifacts. The method is purely image-based and therefore independent of any auxiliary data.

Full drive-by-wire dynamic control for four-wheel-steer all-wheel-drive vehicles

NASA Astrophysics Data System (ADS)

Fahimi, Farbod

2013-03-01

Most of the controllers introduced for four-wheel-steer (4WS) vehicles are derived with the assumption that the longitudinal speed of the vehicle is constant. However, in real applications, the longitudinal speed varies, and the longitudinal, lateral, and yaw dynamics are coupled. In this paper, the longitudinal dynamics of the vehicle as well as its lateral and yaw motions are controlled simultaneously. This way, the effect of driving/braking forces of the tires on the lateral and yaw motions of the vehicle are automatically included in the control laws. To address the dynamic parameter uncertainty of the vehicle, a chatter-free variable structure controller is introduced. Elimination of chatter is achieved by introducing a dynamically adaptive boundary layer thickness. It is shown via simulations that the proposed control approach performs more robustly than the controllers developed based on dynamic models, in which longitudinal speed is assumed to be constant, and only lateral speed and yaw rate are used as system states. Furthermore, this approach supports all-wheel-drive vehicles. Front-wheel-drive or rear-wheel-drive vehicles are also supported as special cases of an all-wheel-drive vehicle.

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

PubMed

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

2017-05-09

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

Sliding Mode Control of a Slewing Flexible Beam

NASA Technical Reports Server (NTRS)

Wilson, David G.; Parker, Gordon G.; Starr, Gregory P.; Robinett, Rush D., III

1997-01-01

An output feedback sliding mode controller (SMC) is proposed to minimize the effects of vibrations of slewing flexible manipulators. A spline trajectory is used to generate ideal position and velocity commands. Constrained nonlinear optimization techniques are used to both calibrate nonlinear models and determine optimized gains to produce a rest-to-rest, residual vibration-free maneuver. Vibration-free maneuvers are important for current and future NASA space missions. This study required the development of the nonlinear dynamic system equations of motion; robust control law design; numerical implementation; system identification; and verification using the Sandia National Laboratories flexible robot testbed. Results are shown for a slewing flexible beam.

A novel continuous fractional sliding mode control

NASA Astrophysics Data System (ADS)

Muñoz-Vázquez, A. J.; Parra-Vega, V.; Sánchez-Orta, A.

2017-10-01

A new fractional-order controller is proposed, whose novelty is twofold: (i) it withstands a class of continuous but not necessarily differentiable disturbances as well as uncertainties and unmodelled dynamics, and (ii) based on a principle of dynamic memory resetting of the differintegral operator, it is enforced an invariant sliding mode in finite time. Both (i) and (ii) account for exponential convergence of tracking errors, where such principle is instrumental to demonstrate the closed-loop stability, robustness and a sustained sliding motion, as well as that high frequencies are filtered out from the control signal. The proposed methodology is illustrated with a representative simulation study.

Simulation-Based Rule Generation Considering Readability

PubMed Central

Yahagi, H.; Shimizu, S.; Ogata, T.; Hara, T.; Ota, J.

2015-01-01

Rule generation method is proposed for an aircraft control problem in an airport. Designing appropriate rules for motion coordination of taxiing aircraft in the airport is important, which is conducted by ground control. However, previous studies did not consider readability of rules, which is important because it should be operated and maintained by humans. Therefore, in this study, using the indicator of readability, we propose a method of rule generation based on parallel algorithm discovery and orchestration (PADO). By applying our proposed method to the aircraft control problem, the proposed algorithm can generate more readable and more robust rules and is found to be superior to previous methods. PMID:27347501

Spikes alone do not behavior make: Why neuroscience needs biomechanics

PubMed Central

Tytell, E.D.; Holmes, P.; Cohen, A.H.

2011-01-01

Neural circuits do not function in isolation; they interact with the physical world, accepting sensory inputs and producing outputs via muscles. Since both these pathways are constrained by physics, the activity of neural circuits can only be understood by considering biomechanics of muscles, bodies, and the exterior world. We discuss how animal bodies have natural stable motions that require relatively little activation or control from the nervous system. The nervous system can substantially alter these motions, by subtly changing mechanical properties such as leg sti ness. Mechanics can also provide robustness to perturbations without sensory reflexes. By considering a complete neuromechanical system, neuroscientists and biomechanicians together can provide a more integrated view of neural circuitry and behavior. PMID:21683575

Funnel Libraries for Real-Time Robust Feedback Motion Planning

DTIC Science & Technology

2016-07-21

motion plans for a robot that are guaranteed to suc- ceed despite uncertainty in the environment, parametric model uncertainty, and disturbances...resulting funnel library is then used to sequentially compose motion plans at runtime while ensuring the safety of the robot . A major advantage of...the work presented here is that by explicitly taking into account the effect of uncertainty, the robot can evaluate motion plans based on how vulnerable

Real-Time Motion Tracking for Mobile Augmented/Virtual Reality Using Adaptive Visual-Inertial Fusion

PubMed Central

Fang, Wei; Zheng, Lianyu; Deng, Huanjun; Zhang, Hongbo

2017-01-01

In mobile augmented/virtual reality (AR/VR), real-time 6-Degree of Freedom (DoF) motion tracking is essential for the registration between virtual scenes and the real world. However, due to the limited computational capacity of mobile terminals today, the latency between consecutive arriving poses would damage the user experience in mobile AR/VR. Thus, a visual-inertial based real-time motion tracking for mobile AR/VR is proposed in this paper. By means of high frequency and passive outputs from the inertial sensor, the real-time performance of arriving poses for mobile AR/VR is achieved. In addition, to alleviate the jitter phenomenon during the visual-inertial fusion, an adaptive filter framework is established to cope with different motion situations automatically, enabling the real-time 6-DoF motion tracking by balancing the jitter and latency. Besides, the robustness of the traditional visual-only based motion tracking is enhanced, giving rise to a better mobile AR/VR performance when motion blur is encountered. Finally, experiments are carried out to demonstrate the proposed method, and the results show that this work is capable of providing a smooth and robust 6-DoF motion tracking for mobile AR/VR in real-time. PMID:28475145

Real-Time Motion Tracking for Mobile Augmented/Virtual Reality Using Adaptive Visual-Inertial Fusion.

PubMed

Fang, Wei; Zheng, Lianyu; Deng, Huanjun; Zhang, Hongbo

2017-05-05

In mobile augmented/virtual reality (AR/VR), real-time 6-Degree of Freedom (DoF) motion tracking is essential for the registration between virtual scenes and the real world. However, due to the limited computational capacity of mobile terminals today, the latency between consecutive arriving poses would damage the user experience in mobile AR/VR. Thus, a visual-inertial based real-time motion tracking for mobile AR/VR is proposed in this paper. By means of high frequency and passive outputs from the inertial sensor, the real-time performance of arriving poses for mobile AR/VR is achieved. In addition, to alleviate the jitter phenomenon during the visual-inertial fusion, an adaptive filter framework is established to cope with different motion situations automatically, enabling the real-time 6-DoF motion tracking by balancing the jitter and latency. Besides, the robustness of the traditional visual-only based motion tracking is enhanced, giving rise to a better mobile AR/VR performance when motion blur is encountered. Finally, experiments are carried out to demonstrate the proposed method, and the results show that this work is capable of providing a smooth and robust 6-DoF motion tracking for mobile AR/VR in real-time.

Robust optimization methods for cardiac sparing in tangential breast IMRT

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

Mahmoudzadeh, Houra, E-mail: houra@mie.utoronto.ca; Lee, Jenny; Chan, Timothy C. Y.

Purpose: In left-sided tangential breast intensity modulated radiation therapy (IMRT), the heart may enter the radiation field and receive excessive radiation while the patient is breathing. The patient’s breathing pattern is often irregular and unpredictable. We verify the clinical applicability of a heart-sparing robust optimization approach for breast IMRT. We compare robust optimized plans with clinical plans at free-breathing and clinical plans at deep inspiration breath-hold (DIBH) using active breathing control (ABC). Methods: Eight patients were included in the study with each patient simulated using 4D-CT. The 4D-CT image acquisition generated ten breathing phase datasets. An average scan was constructedmore » using all the phase datasets. Two of the eight patients were also imaged at breath-hold using ABC. The 4D-CT datasets were used to calculate the accumulated dose for robust optimized and clinical plans based on deformable registration. We generated a set of simulated breathing probability mass functions, which represent the fraction of time patients spend in different breathing phases. The robust optimization method was applied to each patient using a set of dose-influence matrices extracted from the 4D-CT data and a model of the breathing motion uncertainty. The goal of the optimization models was to minimize the dose to the heart while ensuring dose constraints on the target were achieved under breathing motion uncertainty. Results: Robust optimized plans were improved or equivalent to the clinical plans in terms of heart sparing for all patients studied. The robust method reduced the accumulated heart dose (D10cc) by up to 801 cGy compared to the clinical method while also improving the coverage of the accumulated whole breast target volume. On average, the robust method reduced the heart dose (D10cc) by 364 cGy and improved the optBreast dose (D99%) by 477 cGy. In addition, the robust method had smaller deviations from the planned dose to the accumulated dose. The deviation of the accumulated dose from the planned dose for the optBreast (D99%) was 12 cGy for robust versus 445 cGy for clinical. The deviation for the heart (D10cc) was 41 cGy for robust and 320 cGy for clinical. Conclusions: The robust optimization approach can reduce heart dose compared to the clinical method at free-breathing and can potentially reduce the need for breath-hold techniques.« less

Expendable launch vehicle studies

NASA Technical Reports Server (NTRS)

Bainum, Peter M.; Reiss, Robert

1995-01-01

Analytical support studies of expendable launch vehicles concentrate on the stability of the dynamics during launch especially during or near the region of maximum dynamic pressure. The in-plane dynamic equations of a generic launch vehicle with multiple flexible bending and fuel sloshing modes are developed and linearized. The information from LeRC about the grids, masses, and modes is incorporated into the model. The eigenvalues of the plant are analyzed for several modeling factors: utilizing diagonal mass matrix, uniform beam assumption, inclusion of aerodynamics, and the interaction between the aerodynamics and the flexible bending motion. Preliminary PID, LQR, and LQG control designs with sensor and actuator dynamics for this system and simulations are also conducted. The initial analysis for comparison of PD (proportional-derivative) and full state feedback LQR Linear quadratic regulator) shows that the split weighted LQR controller has better performance than that of the PD. In order to meet both the performance and robustness requirements, the H(sub infinity) robust controller for the expendable launch vehicle is developed. The simulation indicates that both the performance and robustness of the H(sub infinity) controller are better than that for the PID and LQG controllers. The modelling and analysis support studies team has continued development of methodology, using eigensensitivity analysis, to solve three classes of discrete eigenvalue equations. In the first class, the matrix elements are non-linear functions of the eigenvector. All non-linear periodic motion can be cast in this form. Here the eigenvector is comprised of the coefficients of complete basis functions spanning the response space and the eigenvalue is the frequency. The second class of eigenvalue problems studied is the quadratic eigenvalue problem. Solutions for linear viscously damped structures or viscoelastic structures can be reduced to this form. Particular attention is paid to Maxwell and Kelvin models. The third class of problems consists of linear eigenvalue problems in which the elements of the mass and stiffness matrices are stochastic. dynamic structural response for which the parameters are given by probabilistic distribution functions, rather than deterministic values, can be cast in this form. Solutions for several problems in each class will be presented.

TU-AB-BRB-01: Coverage Evaluation and Probabilistic Treatment Planning as a Margin Alternative

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

Siebers, J.

The accepted clinical method to accommodate targeting uncertainties inherent in fractionated external beam radiation therapy is to utilize GTV-to-CTV and CTV-to-PTV margins during the planning process to design a PTV-conformal static dose distribution on the planning image set. Ideally, margins are selected to ensure a high (e.g. >95%) target coverage probability (CP) in spite of inherent inter- and intra-fractional positional variations, tissue motions, and initial contouring uncertainties. Robust optimization techniques, also known as probabilistic treatment planning techniques, explicitly incorporate the dosimetric consequences of targeting uncertainties by including CP evaluation into the planning optimization process along with coverage-based planning objectives. Themore » treatment planner no longer needs to use PTV and/or PRV margins; instead robust optimization utilizes probability distributions of the underlying uncertainties in conjunction with CP-evaluation for the underlying CTVs and OARs to design an optimal treated volume. This symposium will describe CP-evaluation methods as well as various robust planning techniques including use of probability-weighted dose distributions, probability-weighted objective functions, and coverage optimized planning. Methods to compute and display the effect of uncertainties on dose distributions will be presented. The use of robust planning to accommodate inter-fractional setup uncertainties, organ deformation, and contouring uncertainties will be examined as will its use to accommodate intra-fractional organ motion. Clinical examples will be used to inter-compare robust and margin-based planning, highlighting advantages of robust-plans in terms of target and normal tissue coverage. Robust-planning limitations as uncertainties approach zero and as the number of treatment fractions becomes small will be presented, as well as the factors limiting clinical implementation of robust planning. Learning Objectives: To understand robust-planning as a clinical alternative to using margin-based planning. To understand conceptual differences between uncertainty and predictable motion. To understand fundamental limitations of the PTV concept that probabilistic planning can overcome. To understand the major contributing factors to target and normal tissue coverage probability. To understand the similarities and differences of various robust planning techniques To understand the benefits and limitations of robust planning techniques.« less

TU-AB-BRB-00: New Methods to Ensure Target Coverage

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

NONE

2015-06-15

The accepted clinical method to accommodate targeting uncertainties inherent in fractionated external beam radiation therapy is to utilize GTV-to-CTV and CTV-to-PTV margins during the planning process to design a PTV-conformal static dose distribution on the planning image set. Ideally, margins are selected to ensure a high (e.g. >95%) target coverage probability (CP) in spite of inherent inter- and intra-fractional positional variations, tissue motions, and initial contouring uncertainties. Robust optimization techniques, also known as probabilistic treatment planning techniques, explicitly incorporate the dosimetric consequences of targeting uncertainties by including CP evaluation into the planning optimization process along with coverage-based planning objectives. Themore » treatment planner no longer needs to use PTV and/or PRV margins; instead robust optimization utilizes probability distributions of the underlying uncertainties in conjunction with CP-evaluation for the underlying CTVs and OARs to design an optimal treated volume. This symposium will describe CP-evaluation methods as well as various robust planning techniques including use of probability-weighted dose distributions, probability-weighted objective functions, and coverage optimized planning. Methods to compute and display the effect of uncertainties on dose distributions will be presented. The use of robust planning to accommodate inter-fractional setup uncertainties, organ deformation, and contouring uncertainties will be examined as will its use to accommodate intra-fractional organ motion. Clinical examples will be used to inter-compare robust and margin-based planning, highlighting advantages of robust-plans in terms of target and normal tissue coverage. Robust-planning limitations as uncertainties approach zero and as the number of treatment fractions becomes small will be presented, as well as the factors limiting clinical implementation of robust planning. Learning Objectives: To understand robust-planning as a clinical alternative to using margin-based planning. To understand conceptual differences between uncertainty and predictable motion. To understand fundamental limitations of the PTV concept that probabilistic planning can overcome. To understand the major contributing factors to target and normal tissue coverage probability. To understand the similarities and differences of various robust planning techniques To understand the benefits and limitations of robust planning techniques.« less

Robustness of external/internal correlation models for real-time tumor tracking to breathing motion variations

NASA Astrophysics Data System (ADS)

Seregni, M.; Cerveri, P.; Riboldi, M.; Pella, A.; Baroni, G.

2012-11-01

In radiotherapy, organ motion mitigation by means of dynamic tumor tracking requires continuous information about the internal tumor position, which can be estimated relying on external/internal correlation models as a function of external surface surrogates. In this work, we propose a validation of a time-independent artificial neural networks-based tumor tracking method in the presence of changes in the breathing pattern, evaluating the performance on two datasets. First, simulated breathing motion traces were specifically generated to include gradually increasing respiratory irregularities. Then, seven publically available human liver motion traces were analyzed for the assessment of tracking accuracy, whose sensitivity with respect to the structural parameters of the model was also investigated. Results on simulated data showed that the proposed method was not affected by hysteretic target trajectories and it was able to cope with different respiratory irregularities, such as baseline drift and internal/external phase shift. The analysis of the liver motion traces reported an average RMS error equal to 1.10 mm, with five out of seven cases below 1 mm. In conclusion, this validation study proved that the proposed method is able to deal with respiratory irregularities both in controlled and real conditions.

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

Luo, Shaohua; School of Automation, Chongqing University, Chongqing 400044; Sun, Quanping

This paper addresses chaos control of the micro-electro- mechanical resonator by using adaptive dynamic surface technology with extended state observer. To reveal the mechanism of the micro- electro-mechanical resonator, the phase diagrams and corresponding time histories are given to research the nonlinear dynamics and chaotic behavior, and Homoclinic and heteroclinic chaos which relate closely with the appearance of chaos are presented based on the potential function. To eliminate the effect of chaos, an adaptive dynamic surface control scheme with extended state observer is designed to convert random motion into regular motion without precise system model parameters and measured variables. Puttingmore » tracking differentiator into chaos controller solves the ‘explosion of complexity’ of backstepping and poor precision of the first-order filters. Meanwhile, to obtain high performance, a neural network with adaptive law is employed to approximate unknown nonlinear function in the process of controller design. The boundedness of all the signals of the closed-loop system is proved in theoretical analysis. Finally, numerical simulations are executed and extensive results illustrate effectiveness and robustness of the proposed scheme.« less

Least square based sliding mode control for a quad-rotor helicopter and energy saving by chattering reduction

NASA Astrophysics Data System (ADS)

Sumantri, Bambang; Uchiyama, Naoki; Sano, Shigenori

2016-01-01

In this paper, a new control structure for a quad-rotor helicopter that employs the least squares method is introduced. This proposed algorithm solves the overdetermined problem of the control input for the translational motion of a quad-rotor helicopter. The algorithm allows all six degrees of freedom to be considered to calculate the control input. The sliding mode controller is applied to achieve robust tracking and stabilization. A saturation function is designed around a boundary layer to reduce the chattering phenomenon that is a common problem in sliding mode control. In order to improve the tracking performance, an integral sliding surface is designed. An energy saving effect because of chattering reduction is also evaluated. First, the dynamics of the quad-rotor helicopter is derived by the Newton-Euler formulation for a rigid body. Second, a constant plus proportional reaching law is introduced to increase the reaching rate of the sliding mode controller. Global stability of the proposed control strategy is guaranteed based on the Lyapunov's stability theory. Finally, the robustness and effectiveness of the proposed control system are demonstrated experimentally under wind gusts, and are compared with a regular sliding mode controller, a proportional-differential controller, and a proportional-integral-differential controller.

Extended state observer based robust adaptive control on SE(3) for coupled spacecraft tracking maneuver with actuator saturation and misalignment

NASA Astrophysics Data System (ADS)

Zhang, Jianqiao; Ye, Dong; Sun, Zhaowei; Liu, Chuang

2018-02-01

This paper presents a robust adaptive controller integrated with an extended state observer (ESO) to solve coupled spacecraft tracking maneuver in the presence of model uncertainties, external disturbances, actuator uncertainties including magnitude deviation and misalignment, and even actuator saturation. More specifically, employing the exponential coordinates on the Lie group SE(3) to describe configuration tracking errors, the coupled six-degrees-of-freedom (6-DOF) dynamics are developed for spacecraft relative motion, in which a generic fully actuated thruster distribution is considered and the lumped disturbances are reconstructed by using anti-windup technique. Then, a novel ESO, developed via second order sliding mode (SOSM) technique and adding linear correction terms to improve the performance, is designed firstly to estimate the disturbances in finite time. Based on the estimated information, an adaptive fast terminal sliding mode (AFTSM) controller is developed to guarantee the almost global asymptotic stability of the resulting closed-loop system such that the trajectory can be tracked with all the aforementioned drawbacks addressed simultaneously. Finally, the effectiveness of the controller is illustrated through numerical examples.

A robust vision-based sensor fusion approach for real-time pose estimation.

PubMed

Assa, Akbar; Janabi-Sharifi, Farrokh

2014-02-01

Object pose estimation is of great importance to many applications, such as augmented reality, localization and mapping, motion capture, and visual servoing. Although many approaches based on a monocular camera have been proposed, only a few works have concentrated on applying multicamera sensor fusion techniques to pose estimation. Higher accuracy and enhanced robustness toward sensor defects or failures are some of the advantages of these schemes. This paper presents a new Kalman-based sensor fusion approach for pose estimation that offers higher accuracy and precision, and is robust to camera motion and image occlusion, compared to its predecessors. Extensive experiments are conducted to validate the superiority of this fusion method over currently employed vision-based pose estimation algorithms.

Robust path planning for flexible needle insertion using Markov decision processes.

PubMed

Tan, Xiaoyu; Yu, Pengqian; Lim, Kah-Bin; Chui, Chee-Kong

2018-05-11

Flexible needle has the potential to accurately navigate to a treatment region in the least invasive manner. We propose a new planning method using Markov decision processes (MDPs) for flexible needle navigation that can perform robust path planning and steering under the circumstance of complex tissue-needle interactions. This method enhances the robustness of flexible needle steering from three different perspectives. First, the method considers the problem caused by soft tissue deformation. The method then resolves the common needle penetration failure caused by patterns of targets, while the last solution addresses the uncertainty issues in flexible needle motion due to complex and unpredictable tissue-needle interaction. Computer simulation and phantom experimental results show that the proposed method can perform robust planning and generate a secure control policy for flexible needle steering. Compared with a traditional method using MDPs, the proposed method achieves higher accuracy and probability of success in avoiding obstacles under complicated and uncertain tissue-needle interactions. Future work will involve experiment with biological tissue in vivo. The proposed robust path planning method can securely steer flexible needle within soft phantom tissues and achieve high adaptability in computer simulation.

Automatic generation of smart earthquake-resistant building system: Hybrid system of base-isolation and building-connection.

PubMed

Kasagi, M; Fujita, K; Tsuji, M; Takewaki, I

2016-02-01

A base-isolated building may sometimes exhibit an undesirable large response to a long-duration, long-period earthquake ground motion and a connected building system without base-isolation may show a large response to a near-fault (rather high-frequency) earthquake ground motion. To overcome both deficiencies, a new hybrid control system of base-isolation and building-connection is proposed and investigated. In this new hybrid building system, a base-isolated building is connected to a stiffer free wall with oil dampers. It has been demonstrated in a preliminary research that the proposed hybrid system is effective both for near-fault (rather high-frequency) and long-duration, long-period earthquake ground motions and has sufficient redundancy and robustness for a broad range of earthquake ground motions.An automatic generation algorithm of this kind of smart structures of base-isolation and building-connection hybrid systems is presented in this paper. It is shown that, while the proposed algorithm does not work well in a building without the connecting-damper system, it works well in the proposed smart hybrid system with the connecting damper system.

Squirming motion of baby skyrmions in nematic fluids.

PubMed

Ackerman, Paul J; Boyle, Timothy; Smalyukh, Ivan I

2017-09-22

Skyrmions are topologically protected continuous field configurations that cannot be smoothly transformed to a uniform state. They behave like particles and give origins to the field of skyrmionics that promises racetrack memory and other technological applications. Unraveling the non-equilibrium behavior of such topological solitons is a challenge. We realize skyrmions in a chiral liquid crystal and, using numerical modeling and polarized video microscopy, demonstrate electrically driven squirming motion. We reveal the intricate details of non-equilibrium topology-preserving textural changes driving this behavior. Direction of the skyrmion's motion is robustly controlled in a plane orthogonal to the applied field and can be reversed by varying frequency. Our findings may spur a paradigm of soliton dynamics in soft matter, with a rich interplay between topology, chirality, and orientational viscoelasticity.A skyrmion is a topological object originally introduced to model elementary particles and a baby skyrmion is its two-dimensional counterpart which can be realized as a defect in liquid crystals. Here the authors show that an electric field can drive uniform motion of baby skyrmions in liquid crystals.

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

NASA Astrophysics Data System (ADS)

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

2016-04-01

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

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

Edmunds, D; Donovan, E

Purpose: To determine whether the Microsoft Kinect Version 2 (Kinect v2), a commercial off-the-shelf (COTS) depth sensors designed for entertainment purposes, were robust to the radiotherapy treatment environment and could be suitable for monitoring of voluntary breath-hold compliance. This could complement current visual monitoring techniques, and be useful for heart sparing left breast radiotherapy. Methods: In-house software to control Kinect v2 sensors, and capture output information, was developed using the free Microsoft software development kit, and the Cinder creative coding C++ library. Each sensor was used with a 12m USB 3.0 active cable. A solid water block was used asmore » the object. The depth accuracy and precision of the sensors was evaluated by comparing Kinect reported distance to the object with a precision laser measurement across a distance range of 0.6m to 2.0 m. The object was positioned on a high-precision programmable motion platform and moved in two programmed motion patterns and Kinect reported distance logged. Robustness to the radiation environment was tested by repeating all measurements with a linear accelerator operating over a range of pulse repetition frequencies (6Hz to 400Hz) and dose rates 50 to 1500 monitor units (MU) per minute. Results: The complex, consistent relationship between true and measured distance was unaffected by the radiation environment, as was the ability to detect motion. Sensor precision was < 1 mm and the accuracy between 1.3 mm and 1.8 mm when a distance correction was applied. Both motion patterns were tracked successfully with a root mean squared error (RMSE) of 1.4 and 1.1 mm respectively. Conclusion: Kinect v2 sensors are capable of tracking pre-programmed motion patterns with an accuracy <2 mm and appear robust to the radiotherapy treatment environment. A clinical trial using Kinect v2 sensor for monitoring voluntary breath hold has ethical approval and is open to recruitment. The authors are supported by a National Institute of Health Research (NIHR) Career Development Fellowship (CDF-2013-06-005). Microsoft Corporation donated three sensors. The views expressed in this publication are those of the author(s) and not necessarily those of the NHS, the National Institute for Health Research or the Department of Health.« less

Evaluating a robust contour tracker on echocardiographic sequences.

PubMed

Jacob, G; Noble, J A; Mulet-Parada, M; Blake, A

1999-03-01

In this paper we present an evaluation of a robust visual image tracker on echocardiographic image sequences. We show how the tracking framework can be customized to define an appropriate shape space that describes heart shape deformations that can be learnt from a training data set. We also investigate energy-based temporal boundary enhancement methods to improve image feature measurement. Results are presented demonstrating real-time tracking on real normal heart motion data sequences and abnormal synthesized and real heart motion data sequences. We conclude by discussing some of our current research efforts.

Nonlinear dynamics of mini-satellite respinup by weak internal controllable torques

NASA Astrophysics Data System (ADS)

Somov, Yevgeny

2014-12-01

Contemporary space engineering advanced new problem before theoretical mechanics and motion control theory: a spacecraft directed respinup by the weak restricted control internal forces. The paper presents some results on this problem, which is very actual for energy supply of information mini-satellites (for communication, geodesy, radio- and opto-electronic observation of the Earth et al.) with electro-reaction plasma thrusters and gyro moment cluster based on the reaction wheels or the control moment gyros. The solution achieved is based on the methods for synthesis of nonlinear robust control and on rigorous analytical proof for the required spacecraft rotation stability by Lyapunov function method. These results were verified by a computer simulation of strongly nonlinear oscillatory processes at respinuping of a flexible spacecraft.

A Robust Random Forest-Based Approach for Heart Rate Monitoring Using Photoplethysmography Signal Contaminated by Intense Motion Artifacts.

PubMed

Ye, Yalan; He, Wenwen; Cheng, Yunfei; Huang, Wenxia; Zhang, Zhilin

2017-02-16

The estimation of heart rate (HR) based on wearable devices is of interest in fitness. Photoplethysmography (PPG) is a promising approach to estimate HR due to low cost; however, it is easily corrupted by motion artifacts (MA). In this work, a robust approach based on random forest is proposed for accurately estimating HR from the photoplethysmography signal contaminated by intense motion artifacts, consisting of two stages. Stage 1 proposes a hybrid method to effectively remove MA with a low computation complexity, where two MA removal algorithms are combined by an accurate binary decision algorithm whose aim is to decide whether or not to adopt the second MA removal algorithm. Stage 2 proposes a random forest-based spectral peak-tracking algorithm, whose aim is to locate the spectral peak corresponding to HR, formulating the problem of spectral peak tracking into a pattern classification problem. Experiments on the PPG datasets including 22 subjects used in the 2015 IEEE Signal Processing Cup showed that the proposed approach achieved the average absolute error of 1.65 beats per minute (BPM) on the 22 PPG datasets. Compared to state-of-the-art approaches, the proposed approach has better accuracy and robustness to intense motion artifacts, indicating its potential use in wearable sensors for health monitoring and fitness tracking.

Decoherence of Topological Qubit in Linear Motions: Decoherence Impedance, Anti-Unruh and Information Backflow

NASA Astrophysics Data System (ADS)

Liu, Pei-Hua; Lin, Feng-Li

2017-08-01

In this work we study the decoherence of topological qubits in linear motions. The topological qubit is made of two spatially-separated Majorana zero modes which are the edge excitations of Kitaev chain [1]. In a previous work [2], it was shown by one of us and his collaborators that the decoherence of topological qubit is exactly solvable, moreover, topological qubit is robust against decoherence in the super-Ohmic environments. We extend the setup of [2] to consider the effect of motions on the decoherence of the topological qubits. Our results show the thermalization as expected by Unruh effect. Besides, we also find the so-called “anti-Unruh” phenomena which shows the rate of decoherence is anti-correlated with the acceleration in short-time scale. Moreover, we modulate the motion patterns of each Majorana modes and find information backflow and the preservation of coherence even with nonzero accelerations. This is the characteristics of the underlying non-Markovian reduced dynamics. We conclude that he topological qubit is in general more robust against decoherence than the usual qubits, and can be take into serious consideration for realistic implementation to have robust quantum computation and communication. This talk is based on our work in [3].

Effective Use of Weigh-in-Motion Data : The Netherlands Case Study

DOT National Transportation Integrated Search

2007-10-01

Transportation and law enforcement agencies in the Netherlands have developed a robust weigh-in-motion (WIM) data management system that supports a broad array of vehicle weight regulation and enforcement activities, as well as long-term planning and...

Robust Sliding Mode Control Based on GA Optimization and CMAC Compensation for Lower Limb Exoskeleton

PubMed Central

Long, Yi; Du, Zhi-jiang; Wang, Wei-dong; Dong, Wei

2016-01-01

A lower limb assistive exoskeleton is designed to help operators walk or carry payloads. The exoskeleton is required to shadow human motion intent accurately and compliantly to prevent incoordination. If the user's intention is estimated accurately, a precise position control strategy will improve collaboration between the user and the exoskeleton. In this paper, a hybrid position control scheme, combining sliding mode control (SMC) with a cerebellar model articulation controller (CMAC) neural network, is proposed to control the exoskeleton to react appropriately to human motion intent. A genetic algorithm (GA) is utilized to determine the optimal sliding surface and the sliding control law to improve performance of SMC. The proposed control strategy (SMC_GA_CMAC) is compared with three other types of approaches, that is, conventional SMC without optimization, optimal SMC with GA (SMC_GA), and SMC with CMAC compensation (SMC_CMAC), all of which are employed to track the desired joint angular position which is deduced from Clinical Gait Analysis (CGA) data. Position tracking performance is investigated with cosimulation using ADAMS and MATLAB/SIMULINK in two cases, of which the first case is without disturbances while the second case is with a bounded disturbance. The cosimulation results show the effectiveness of the proposed control strategy which can be employed in similar exoskeleton systems. PMID:27069353

Robust Sliding Mode Control Based on GA Optimization and CMAC Compensation for Lower Limb Exoskeleton.

PubMed

Long, Yi; Du, Zhi-Jiang; Wang, Wei-Dong; Dong, Wei

2016-01-01

A lower limb assistive exoskeleton is designed to help operators walk or carry payloads. The exoskeleton is required to shadow human motion intent accurately and compliantly to prevent incoordination. If the user's intention is estimated accurately, a precise position control strategy will improve collaboration between the user and the exoskeleton. In this paper, a hybrid position control scheme, combining sliding mode control (SMC) with a cerebellar model articulation controller (CMAC) neural network, is proposed to control the exoskeleton to react appropriately to human motion intent. A genetic algorithm (GA) is utilized to determine the optimal sliding surface and the sliding control law to improve performance of SMC. The proposed control strategy (SMC_GA_CMAC) is compared with three other types of approaches, that is, conventional SMC without optimization, optimal SMC with GA (SMC_GA), and SMC with CMAC compensation (SMC_CMAC), all of which are employed to track the desired joint angular position which is deduced from Clinical Gait Analysis (CGA) data. Position tracking performance is investigated with cosimulation using ADAMS and MATLAB/SIMULINK in two cases, of which the first case is without disturbances while the second case is with a bounded disturbance. The cosimulation results show the effectiveness of the proposed control strategy which can be employed in similar exoskeleton systems.

Periodic reference tracking control approach for smart material actuators with complex hysteretic characteristics

NASA Astrophysics Data System (ADS)

Sun, Zhiyong; Hao, Lina; Song, Bo; Yang, Ruiguo; Cao, Ruimin; Cheng, Yu

2016-10-01

Micro/nano positioning technologies have been attractive for decades for their various applications in both industrial and scientific fields. The actuators employed in these technologies are typically smart material actuators, which possess inherent hysteresis that may cause systems behave unexpectedly. Periodic reference tracking capability is fundamental for apparatuses such as scanning probe microscope, which employs smart material actuators to generate periodic scanning motion. However, traditional controller such as PID method cannot guarantee accurate fast periodic scanning motion. To tackle this problem and to conduct practical implementation in digital devices, this paper proposes a novel control method named discrete extended unparallel Prandtl-Ishlinskii model based internal model (d-EUPI-IM) control approach. To tackle modeling uncertainties, the robust d-EUPI-IM control approach is investigated, and the associated sufficient stabilizing conditions are derived. The advantages of the proposed controller are: it is designed and represented in discrete form, thus practical for digital devices implementation; the extended unparallel Prandtl-Ishlinskii model can precisely represent forward/inverse complex hysteretic characteristics, thus can reduce modeling uncertainties and benefits controllers design; in addition, the internal model principle based control module can be utilized as a natural oscillator for tackling periodic references tracking problem. The proposed controller was verified through comparative experiments on a piezoelectric actuator platform, and convincing results have been achieved.

Motion estimation of magnetic resonance cardiac images using the Wigner-Ville and hough transforms

NASA Astrophysics Data System (ADS)

Carranza, N.; Cristóbal, G.; Bayerl, P.; Neumann, H.

2007-12-01

Myocardial motion analysis and quantification is of utmost importance for analyzing contractile heart abnormalities and it can be a symptom of a coronary artery disease. A fundamental problem in processing sequences of images is the computation of the optical flow, which is an approximation of the real image motion. This paper presents a new algorithm for optical flow estimation based on a spatiotemporal-frequency (STF) approach. More specifically it relies on the computation of the Wigner-Ville distribution (WVD) and the Hough Transform (HT) of the motion sequences. The latter is a well-known line and shape detection method that is highly robust against incomplete data and noise. The rationale of using the HT in this context is that it provides a value of the displacement field from the STF representation. In addition, a probabilistic approach based on Gaussian mixtures has been implemented in order to improve the accuracy of the motion detection. Experimental results in the case of synthetic sequences are compared with an implementation of the variational technique for local and global motion estimation, where it is shown that the results are accurate and robust to noise degradations. Results obtained with real cardiac magnetic resonance images are presented.

A hybrid spatiotemporal and Hough-based motion estimation approach applied to magnetic resonance cardiac images

NASA Astrophysics Data System (ADS)

Carranza, N.; Cristóbal, G.; Sroubek, F.; Ledesma-Carbayo, M. J.; Santos, A.

2006-08-01

Myocardial motion analysis and quantification is of utmost importance for analyzing contractile heart abnormalities and it can be a symptom of a coronary artery disease. A fundamental problem in processing sequences of images is the computation of the optical flow, which is an approximation to the real image motion. This paper presents a new algorithm for optical flow estimation based on a spatiotemporal-frequency (STF) approach, more specifically on the computation of the Wigner-Ville distribution (WVD) and the Hough Transform (HT) of the motion sequences. The later is a well-known line and shape detection method very robust against incomplete data and noise. The rationale of using the HT in this context is because it provides a value of the displacement field from the STF representation. In addition, a probabilistic approach based on Gaussian mixtures has been implemented in order to improve the accuracy of the motion detection. Experimental results with synthetic sequences are compared against an implementation of the variational technique for local and global motion estimation, where it is shown that the results obtained here are accurate and robust to noise degradations. Real cardiac magnetic resonance images have been tested and evaluated with the current method.

Turboprop IDEAL: a motion-resistant fat-water separation technique.

PubMed

Huo, Donglai; Li, Zhiqiang; Aboussouan, Eric; Karis, John P; Pipe, James G

2009-01-01

Suppression of the fat signal in MRI is very important for many clinical applications. Multi-point water-fat separation methods, such as IDEAL (Iterative Decomposition of water and fat with Echo Asymmetry and Least-squares estimation), can robustly separate water and fat signal, but inevitably increase scan time, making separated images more easily affected by patient motions. PROPELLER (Periodically Rotated Overlapping ParallEL Lines with Enhanced Reconstruction) and Turboprop techniques offer an effective approach to correct for motion artifacts. By combining these techniques together, we demonstrate that the new TP-IDEAL method can provide reliable water-fat separation with robust motion correction. The Turboprop sequence was modified to acquire source images, and motion correction algorithms were adjusted to assure the registration between different echo images. Theoretical calculations were performed to predict the optimal shift and spacing of the gradient echoes. Phantom images were acquired, and results were compared with regular FSE-IDEAL. Both T1- and T2-weighted images of the human brain were used to demonstrate the effectiveness of motion correction. TP-IDEAL images were also acquired for pelvis, knee, and foot, showing great potential of this technique for general clinical applications.

Psychophysical and neuroimaging responses to moving stimuli in a patient with the Riddoch phenomenon due to bilateral visual cortex lesions.

PubMed

Arcaro, Michael J; Thaler, Lore; Quinlan, Derek J; Monaco, Simona; Khan, Sarah; Valyear, Kenneth F; Goebel, Rainer; Dutton, Gordon N; Goodale, Melvyn A; Kastner, Sabine; Culham, Jody C

2018-05-09

Patients with injury to early visual cortex or its inputs can display the Riddoch phenomenon: preserved awareness for moving but not stationary stimuli. We provide a detailed case report of a patient with the Riddoch phenomenon, MC. MC has extensive bilateral lesions to occipitotemporal cortex that include most early visual cortex and complete blindness in visual field perimetry testing with static targets. Nevertheless, she shows a remarkably robust preserved ability to perceive motion, enabling her to navigate through cluttered environments and perform actions like catching moving balls. Comparisons of MC's structural magnetic resonance imaging (MRI) data to a probabilistic atlas based on controls reveals that MC's lesions encompass the posterior, lateral, and ventral early visual cortex bilaterally (V1, V2, V3A/B, LO1/2, TO1/2, hV4 and VO1 in both hemispheres) as well as more extensive damage to right parietal (inferior parietal lobule) and left ventral occipitotemporal cortex (VO1, PHC1/2). She shows some sparing of anterior occipital cortex, which may account for her ability to see moving targets beyond ~15 degrees eccentricity during perimetry. Most strikingly, functional and structural MRI revealed robust and reliable spared functionality of the middle temporal motion complex (MT+) bilaterally. Moreover, consistent with her preserved ability to discriminate motion direction in psychophysical testing, MC also shows direction-selective adaptation in MT+. A variety of tests did not enable us to discern whether input to MT+ was driven by her spared anterior occipital cortex or subcortical inputs. Nevertheless, MC shows rich motion perception despite profoundly impaired static and form vision, combined with clear preservation of activation in MT+, thus supporting the role of MT+ in the Riddoch phenomenon. Copyright © 2018 Elsevier Ltd. All rights reserved.

Image-guided positioning and tracking.

PubMed

Ruan, Dan; Kupelian, Patrick; Low, Daniel A

2011-01-01

Radiation therapy aims at maximizing tumor control while minimizing normal tissue complication. The introduction of stereotactic treatment explores the volume effect and achieves dose escalation to tumor target with small margins. The use of ablative irradiation dose and sharp dose gradients requires accurate tumor definition and alignment between patient and treatment geometry. Patient geometry variation during treatment may significantly compromise the conformality of delivered dose and must be managed properly. Setup error and interfraction/intrafraction motion are incorporated in the target definition process by expanding the clinical target volume to planning target volume, whereas the alignment between patient and treatment geometry is obtained with an adaptive control process, by taking immediate actions in response to closely monitored patient geometry. This article focuses on the monitoring and adaptive response aspect of the problem. The term "image" in "image guidance" will be used in a most general sense, to be inclusive of some important point-based monitoring systems that can be considered as degenerate cases of imaging. Image-guided motion adaptive control, as a comprehensive system, involves a hierarchy of decisions, each of which balances simplicity versus flexibility and accuracy versus robustness. Patient specifics and machine specifics at the treatment facility also need to be incorporated into the decision-making process. Identifying operation bottlenecks from a system perspective and making informed compromises are crucial in the proper selection of image-guidance modality, the motion management mechanism, and the respective operation modes. Not intended as an exhaustive exposition, this article focuses on discussing the major issues and development principles for image-guided motion management systems. We hope these information and methodologies will facilitate conscientious practitioners to adopt image-guided motion management systems accounting for patient and institute specifics and to embrace advances in knowledge and new technologies subsequent to the publication of this article.

Robust Notion Vision For A Vehicle Moving On A Plane

NASA Astrophysics Data System (ADS)

Moni, Shankar; Weldon, E. J.

1987-05-01

A vehicle equipped with a cemputer vision system moves on a plane. We show that subject to certain constraints, the system can determine the motion of the vehicle (one rotational and two translational degrees of freedom) and the depth of the scene in front of the vehicle. The constraints include limits on the speed of the vehicle, presence of texture on the plane and absence of pitch and roll in the vehicular motion. It is possible to decouple the problems of finding the vehicle's motion and the depth of the scene in front of the vehicle by using two rigidly connected cameras. One views a field with known depth (i.e. the ground plane) and estimates the motion parameters and the other determines the depth map knowing the motion parameters. The motion is constrained to be planar to increase robustness. We use a least squares method of fitting the vehicle motion to observer brightness gradients. With this method, no correspondence between image points needs to be established and information fran the entire image is used in calculating notion. The algorithm performs very reliably on real image sequences and these results have been included. The results compare favourably to the performance of the algorithm of Negandaripour and Horn [2] where six degrees of freedom are assumed.

WiFi-Based Real-Time Calibration-Free Passive Human Motion Detection.

PubMed

Gong, Liangyi; Yang, Wu; Man, Dapeng; Dong, Guozhong; Yu, Miao; Lv, Jiguang

2015-12-21

With the rapid development of WLAN technology, wireless device-free passive human detection becomes a newly-developing technique and holds more potential to worldwide and ubiquitous smart applications. Recently, indoor fine-grained device-free passive human motion detection based on the PHY layer information is rapidly developed. Previous wireless device-free passive human detection systems either rely on deploying specialized systems with dense transmitter-receiver links or elaborate off-line training process, which blocks rapid deployment and weakens system robustness. In the paper, we explore to research a novel fine-grained real-time calibration-free device-free passive human motion via physical layer information, which is independent of indoor scenarios and needs no prior-calibration and normal profile. We investigate sensitivities of amplitude and phase to human motion, and discover that phase feature is more sensitive to human motion, especially to slow human motion. Aiming at lightweight and robust device-free passive human motion detection, we develop two novel and practical schemes: short-term averaged variance ratio (SVR) and long-term averaged variance ratio (LVR). We realize system design with commercial WiFi devices and evaluate it in typical multipath-rich indoor scenarios. As demonstrated in the experiments, our approach can achieve a high detection rate and low false positive rate.

WiFi-Based Real-Time Calibration-Free Passive Human Motion Detection †

PubMed Central

Gong, Liangyi; Yang, Wu; Man, Dapeng; Dong, Guozhong; Yu, Miao; Lv, Jiguang

2015-01-01

With the rapid development of WLAN technology, wireless device-free passive human detection becomes a newly-developing technique and holds more potential to worldwide and ubiquitous smart applications. Recently, indoor fine-grained device-free passive human motion detection based on the PHY layer information is rapidly developed. Previous wireless device-free passive human detection systems either rely on deploying specialized systems with dense transmitter-receiver links or elaborate off-line training process, which blocks rapid deployment and weakens system robustness. In the paper, we explore to research a novel fine-grained real-time calibration-free device-free passive human motion via physical layer information, which is independent of indoor scenarios and needs no prior-calibration and normal profile. We investigate sensitivities of amplitude and phase to human motion, and discover that phase feature is more sensitive to human motion, especially to slow human motion. Aiming at lightweight and robust device-free passive human motion detection, we develop two novel and practical schemes: short-term averaged variance ratio (SVR) and long-term averaged variance ratio (LVR). We realize system design with commercial WiFi devices and evaluate it in typical multipath-rich indoor scenarios. As demonstrated in the experiments, our approach can achieve a high detection rate and low false positive rate. PMID:26703612

Free-breathing volumetric fat/water separation by combining radial sampling, compressed sensing, and parallel imaging.

PubMed

Benkert, Thomas; Feng, Li; Sodickson, Daniel K; Chandarana, Hersh; Block, Kai Tobias

2017-08-01

Conventional fat/water separation techniques require that patients hold breath during abdominal acquisitions, which often fails and limits the achievable spatial resolution and anatomic coverage. This work presents a novel approach for free-breathing volumetric fat/water separation. Multiecho data are acquired using a motion-robust radial stack-of-stars three-dimensional GRE sequence with bipolar readout. To obtain fat/water maps, a model-based reconstruction is used that accounts for the off-resonant blurring of fat and integrates both compressed sensing and parallel imaging. The approach additionally enables generation of respiration-resolved fat/water maps by detecting motion from k-space data and reconstructing different respiration states. Furthermore, an extension is described for dynamic contrast-enhanced fat-water-separated measurements. Uniform and robust fat/water separation is demonstrated in several clinical applications, including free-breathing noncontrast abdominal examination of adults and a pediatric subject with both motion-averaged and motion-resolved reconstructions, as well as in a noncontrast breast exam. Furthermore, dynamic contrast-enhanced fat/water imaging with high temporal resolution is demonstrated in the abdomen and breast. The described framework provides a viable approach for motion-robust fat/water separation and promises particular value for clinical applications that are currently limited by the breath-holding capacity or cooperation of patients. Magn Reson Med 78:565-576, 2017. © 2016 International Society for Magnetic Resonance in Medicine. © 2016 International Society for Magnetic Resonance in Medicine.

IECON '87: Industrial applications of control and simulation; Proceedings of the 1987 International Conference on Industrial Electronics, Control, and Instrumentation, Cambridge, MA, Nov. 3, 4, 1987

NASA Technical Reports Server (NTRS)

Hartley, Tom T. (Editor)

1987-01-01

Recent advances in control-system design and simulation are discussed in reviews and reports. Among the topics considered are fast algorithms for generating near-optimal binary decision programs, trajectory control of robot manipulators with compensation of load effects via a six-axis force sensor, matrix integrators for real-time simulation, a high-level control language for an autonomous land vehicle, and a practical engineering design method for stable model-reference adaptive systems. Also addressed are the identification and control of flexible-limb robots with unknown loads, adaptive control and robust adaptive control for manipulators with feedforward compensation, adaptive pole-placement controllers with predictive action, variable-structure strategies for motion control, and digital signal-processor-based variable-structure controls.

a Robust Method for Stereo Visual Odometry Based on Multiple Euclidean Distance Constraint and Ransac Algorithm

NASA Astrophysics Data System (ADS)

Zhou, Q.; Tong, X.; Liu, S.; Lu, X.; Liu, S.; Chen, P.; Jin, Y.; Xie, H.

2017-07-01

Visual Odometry (VO) is a critical component for planetary robot navigation and safety. It estimates the ego-motion using stereo images frame by frame. Feature points extraction and matching is one of the key steps for robotic motion estimation which largely influences the precision and robustness. In this work, we choose the Oriented FAST and Rotated BRIEF (ORB) features by considering both accuracy and speed issues. For more robustness in challenging environment e.g., rough terrain or planetary surface, this paper presents a robust outliers elimination method based on Euclidean Distance Constraint (EDC) and Random Sample Consensus (RANSAC) algorithm. In the matching process, a set of ORB feature points are extracted from the current left and right synchronous images and the Brute Force (BF) matcher is used to find the correspondences between the two images for the Space Intersection. Then the EDC and RANSAC algorithms are carried out to eliminate mismatches whose distances are beyond a predefined threshold. Similarly, when the left image of the next time matches the feature points with the current left images, the EDC and RANSAC are iteratively performed. After the above mentioned, there are exceptional remaining mismatched points in some cases, for which the third time RANSAC is applied to eliminate the effects of those outliers in the estimation of the ego-motion parameters (Interior Orientation and Exterior Orientation). The proposed approach has been tested on a real-world vehicle dataset and the result benefits from its high robustness.

Improved motion correction in PROPELLER by using grouped blades as reference.

PubMed

Liu, Zhe; Zhang, Zhe; Ying, Kui; Yuan, Chun; Guo, Hua

2014-03-01

To develop a robust reference generation method for improving PROPELLER (Periodically Rotated Overlapping ParallEL Lines with Enhanced Reconstruction) reconstruction. A new reference generation method, grouped-blade reference (GBR), is proposed for calculating rotation angle and translation shift in PROPELLER. Instead of using a single-blade reference (SBR) or combined-blade reference (CBR), our method classifies blades by their relative correlations and groups similar blades together as the reference to prevent inconsistent data from interfering the correction process. Numerical simulations and in vivo experiments were used to evaluate the performance of GBR for PROPELLER, which was further compared with SBR and CBR in terms of error level and computation cost. Both simulation and in vivo experiments demonstrate that GBR-based PROPELLER provides better correction for random motion or bipolar motion comparing with SBR or CBR. It not only produces images with lower error level but also needs less iteration steps to converge. A grouped-blade for reference selection was investigated for PROPELLER MRI. It helps to improve the accuracy and robustness of motion correction for various motion patterns. Copyright © 2013 Wiley Periodicals, Inc.

Motion Evaluation for Rehabilitation Training of the Disabled

NASA Astrophysics Data System (ADS)

Kim, Tae-Young; Park, Jun; Lim, Cheol-Su

In this paper, a motion evaluation technique for rehabilitation training is introduced. Motion recognition technologies have been developed for determining matching motions in the training set. However, we need to measure how well and how much of the motion has been followed for training motion evaluation. We employed a Finite State Machine as a framework of motion evaluation. For similarity analysis, we used weighted angular value differences although any template matching algorithm may be used. For robustness under illumination changes, IR LED's and cameras with IR-pass filter were used. Developed technique was successfully used for rehabilitation training of the disabled. Therapists appraised the system as practically useful.

Adaptive correlation filter-based video stabilization without accumulative global motion estimation

NASA Astrophysics Data System (ADS)

Koh, Eunjin; Lee, Chanyong; Jeong, Dong Gil

2014-12-01

We present a digital video stabilization approach that provides both robustness and efficiency for practical applications. In this approach, we adopt a stabilization model that maintains spatio-temporal information of past input frames efficiently and can track original stabilization position. Because of the stabilization model, the proposed method does not need accumulative global motion estimation and can recover the original position even if there is a failure in interframe motion estimation. It can also intelligently overcome the situation of damaged or interrupted video sequences. Moreover, because it is simple and suitable to parallel scheme, we implement it on a commercial field programmable gate array and a graphics processing unit board with compute unified device architecture in a breeze. Experimental results show that the proposed approach is both fast and robust.

Robust Control Techniques Enabling Duty Cycle Experiments Utilizing a 6-DOF Crewstation Motion Base, a Full Scale Combat Hybrid Electric Power System, and Long Distance Internet Communications

DTIC Science & Technology

2006-11-10

Electric Power System, and Long Distance Internet Communications Marc Compere , Jarrett Goodell, Miguel Simon, Wilford Smith Science Applications...System, and Long Distance Internet Communication 5a. CONTRACT NUMBER 5b. GRANT NUMBER 5c. PROGRAM ELEMENT NUMBER 6. AUTHOR(S) Marc Compere ...Systems Symposium, NDIA, Traverse City, MI, June 2006. 3. Miguel Simon, Marc Compere , Thomas Connolly, Charles Lars, Wilford Smith, Mark Brudnak, "Hybrid

Image Understanding Workshop. Proceedings of a Workshop (22nd) Held in Washington, D.C. on April 18-21, 1993

DTIC Science & Technology

1993-04-01

the use of thus seems more natural . It eliminates the parameter a symbolic manipulation program. Their robustness is 790 questionable. variance and...and learning (UMd/GMU), IU and reasoning (ISI/USC), IU and natural language (SUNY Buffalo), and IU and neural nets (new BAA; contracts to be awarded...visual navigation is defined as different natures . Among these are theoretical questions, the process of motion control based on an analysis of im

A computational procedure for large rotational motions in multibody dynamics

NASA Technical Reports Server (NTRS)

Park, K. C.; Chiou, J. C.

1987-01-01

A computational procedure suitable for the solution of equations of motion for multibody systems is presented. The present procedure adopts a differential partitioning of the translational motions and the rotational motions. The translational equations of motion are then treated by either a conventional explicit or an implicit direct integration method. A principle feature of this procedure is a nonlinearly implicit algorithm for updating rotations via the Euler four-parameter representation. This procedure is applied to the rolling of a sphere through a specific trajectory, which shows that it yields robust solutions.

INS integrated motion analysis for autonomous vehicle navigation

NASA Technical Reports Server (NTRS)

Roberts, Barry; Bazakos, Mike

1991-01-01

The use of inertial navigation system (INS) measurements to enhance the quality and robustness of motion analysis techniques used for obstacle detection is discussed with particular reference to autonomous vehicle navigation. The approach to obstacle detection used here employs motion analysis of imagery generated by a passive sensor. Motion analysis of imagery obtained during vehicle travel is used to generate range measurements to points within the field of view of the sensor, which can then be used to provide obstacle detection. Results obtained with an INS integrated motion analysis approach are reviewed.

Curved Microneedle Array-Based sEMG Electrode for Robust Long-Term Measurements and High Selectivity

PubMed Central

Kim, Minjae; Kim, Taewan; Kim, Dong Sung; Chung, Wan Kyun

2015-01-01

Surface electromyography is widely used in many fields to infer human intention. However, conventional electrodes are not appropriate for long-term measurements and are easily influenced by the environment, so the range of applications of sEMG is limited. In this paper, we propose a flexible band-integrated, curved microneedle array electrode for robust long-term measurements, high selectivity, and easy applicability. Signal quality, in terms of long-term usability and sensitivity to perspiration, was investigated. Its motion-discriminating performance was also evaluated. The results show that the proposed electrode is robust to perspiration and can maintain a high-quality measuring ability for over 8 h. The proposed electrode also has high selectivity for motion compared with a commercial wet electrode and dry electrode. PMID:26153773

Effect of motor dynamics on nonlinear feedback robot arm control

NASA Technical Reports Server (NTRS)

Tarn, Tzyh-Jong; Li, Zuofeng; Bejczy, Antal K.; Yun, Xiaoping

1991-01-01

A nonlinear feedback robot controller that incorporates the robot manipulator dynamics and the robot joint motor dynamics is proposed. The manipulator dynamics and the motor dynamics are coupled to obtain a third-order-dynamic model, and differential geometric control theory is applied to produce a linearized and decoupled robot controller. The derived robot controller operates in the robot task space, thus eliminating the need for decomposition of motion commands into robot joint space commands. Computer simulations are performed to verify the feasibility of the proposed robot controller. The controller is further experimentally evaluated on the PUMA 560 robot arm. The experiments show that the proposed controller produces good trajectory tracking performances and is robust in the presence of model inaccuracies. Compared with a nonlinear feedback robot controller based on the manipulator dynamics only, the proposed robot controller yields conspicuously improved performance.

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.

Motion control of musculoskeletal systems with redundancy.

PubMed

Park, Hyunjoo; Durand, Dominique M

2008-12-01

Motion control of musculoskeletal systems for functional electrical stimulation (FES) is a challenging problem due to the inherent complexity of the systems. These include being highly nonlinear, strongly coupled, time-varying, time-delayed, and redundant. The redundancy in particular makes it difficult to find an inverse model of the system for control purposes. We have developed a control system for multiple input multiple output (MIMO) redundant musculoskeletal systems with little prior information. The proposed method separates the steady-state properties from the dynamic properties. The dynamic control uses a steady-state inverse model and is implemented with both a PID controller for disturbance rejection and an artificial neural network (ANN) feedforward controller for fast trajectory tracking. A mechanism to control the sum of the muscle excitation levels is also included. To test the performance of the proposed control system, a two degree of freedom ankle-subtalar joint model with eight muscles was used. The simulation results show that separation of steady-state and dynamic control allow small output tracking errors for different reference trajectories such as pseudo-step, sinusoidal and filtered random signals. The proposed control method also demonstrated robustness against system parameter and controller parameter variations. A possible application of this control algorithm is FES control using multiple contact cuff electrodes where mathematical modeling is not feasible and the redundancy makes the control of dynamic movement difficult.

Stability and optimised H∞ control of tripped and untripped vehicle rollover

NASA Astrophysics Data System (ADS)

Jin, Zhilin; Zhang, Lei; Zhang, Jiale; Khajepour, Amir

2016-10-01

Vehicle rollover is a serious traffic accident. In order to accurately evaluate the possibility of untripped and some special tripped vehicle rollovers, and to prevent vehicle rollover under unpredictable variations of parameters and harsh driving conditions, a new rollover index and an anti-roll control strategy are proposed in this paper. Taking deflections of steering and suspension induced by the roll at the axles into consideration, a six degrees of freedom dynamic model is established, including lateral, yaw, roll, and vertical motions of sprung and unsprung masses. From the vehicle dynamics theory, a new rollover index is developed to predict vehicle rollover risk under both untripped and special tripped situations. This new rollover index is validated by Carsim simulations. In addition, an H-infinity controller with electro hydraulic brake system is optimised by genetic algorithm to improve the anti-rollover performance of the vehicle. The stability and robustness of the active rollover prevention control system are analysed by some numerical simulations. The results show that the control system can improve the critical speed of vehicle rollover obviously, and has a good robustness for variations in the number of passengers and longitude position of the centre of gravity.

Active disturbance rejection control based robust output feedback autopilot design for airbreathing hypersonic vehicles.

PubMed

Tian, Jiayi; Zhang, Shifeng; Zhang, Yinhui; Li, Tong

2018-03-01

Since motion control plant (y (n) =f(⋅)+d) was repeatedly used to exemplify how active disturbance rejection control (ADRC) works when it was proposed, the integral chain system subject to matched disturbances is always regarded as a canonical form and even misconstrued as the only form that ADRC is applicable to. In this paper, a systematic approach is first presented to apply ADRC to a generic nonlinear uncertain system with mismatched disturbances and a robust output feedback autopilot for an airbreathing hypersonic vehicle (AHV) is devised based on that. The key idea is to employ the feedback linearization (FL) and equivalent input disturbance (EID) technique to decouple nonlinear uncertain system into several subsystems in canonical form, thus it would be much easy to directly design classical/improved linear/nonlinear ADRC controller for each subsystem. It is noticed that all disturbances are taken into account when implementing FL rather than just omitting that in previous research, which greatly enhances controllers' robustness against external disturbances. For autopilot design, ADRC strategy enables precise tracking for velocity and altitude reference command in the presence of severe parametric perturbations and atmospheric disturbances only using measurable output information. Bounded-input-bounded-output (BIBO) stable is analyzed for closed-loop system. To illustrate the feasibility and superiority of this novel design, a series of comparative simulations with some prominent and representative methods are carried out on a benchmark longitudinal AHV model. Copyright © 2018 ISA. Published by Elsevier Ltd. All rights reserved.

Micro pumping with cardiomyocyte-polymer hybrid.

PubMed

Park, Jungyul; Kim, Il Chaek; Baek, Jeongeun; Cha, Misun; Kim, Jinseok; Park, Sukho; Lee, Junghoon; Kim, Byungkyu

2007-10-01

This paper presents a hybrid micropump actuated by the up-down motion of a dome shaped cell-polymer membrane composite. The contractile force induced from self-beating cardiomyocytes cultured on the membrane causes shrinkage and relaxation of a microchamber, leading to a flow in a microchannel. Flow direction is controlled by the geometry of diffuser/nozzle in the microchannel. The fabrication process is noninvasive to cells, thus, cardiomyocytes can robustly maintain their activity for a long time. The fluid motion in the microchannel was monitored by tracking 2 microm polystyrene beads. A net flow rate of 0.226 nl min(-1) was obtained in our microscale device. Our device demonstrates a unique performance of a cell-microdevice hybrid lab-on-a-chip that does not require any external power source, preventing electrical or heat shock to analytes.

A class of stabilizing controllers for flexible multibody systems

NASA Technical Reports Server (NTRS)

Joshi, Suresh M.; Kelkar, Atul G.; Maghami, Peiman G.

1995-01-01

The problem of controlling a class of nonlinear multibody flexible space systems consisting of a flexible central body to which a number of articulated appendages are attached is considered. Collocated actuators and sensors are assumed, and global asymptotic stability of such systems is established under a nonlinear dissipative control law. The stability is shown to be robust to unmodeled dynamics and parametric uncertainties. For a special case in which the attitude motion of the central body is small, the system, although still nonlinear, is shown to be stabilized by linear dissipative control laws. Two types of linear controllers are considered: static dissipative (constant gain) and dynamic dissipative. The static dissipative control law is also shown to provide robust stability in the presence of certain classes of actuator and sensor nonlinearities and actuator dynamics. The results obtained for this special case can also be readily applied for controlling single-body linear flexible space structures. For this case, a synthesis technique for the design of a suboptimal dynamic dissipative controller is also presented. The results obtained in this paper are applicable to a broad class of multibody and single-body systems such as flexible multilink manipulators, multipayload space platforms, and space antennas. The stability proofs use the Lyapunov approach and exploit the inherent passivity of such systems.

Optimized pulse shaping for trapped ion quantum computing

NASA Astrophysics Data System (ADS)

Manning, T.; Debnath, Shantanu; Choi, Taeyoung; Figgatt, Caroline; Monroe, Chris

2013-05-01

We perform entangling phase gates between pairs of qubits in a chain of trapped atomic ytterbium ions. Beat notes between frequency comb lines of a pulsed laser coherently drive Raman transitions that couple the hyperfine qubits to multiple collective transverse modes of motion. By optimizing the phase and amplitude of segmented laser pulses, we demonstrate a five-segment scheme to entangle two qubits with high fidelity over a range of detunings. We compare this special case of full control of spin-motion entanglement to a traditional single-segment gate. We extend this scheme to selectively entangle pairs of qubits in larger chains using individual optical addressing, where we couple to all the motional modes. We show how these robust gates can achieve high fidelities for practical gate times in an approach that scales realistically to much larger numbers of qubits. This work is supported by grants from the U.S. Army Research Office with funding from the DARPA OLE program, IARPA, and the MURI program; and the NSF Physics Frontier Center at JQI.

Feedback from video for virtual reality Navigation

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

Tsap, L V

2000-10-27

Important preconditions for wide acceptance of virtual reality (VR) systems include their comfort, ease and naturalness to use. Most existing trackers super from discomfort-related issues. For example, body-based trackers (hand controllers, joysticks, helmet attachments, etc.) restrict spontaneity and naturalness of motion, while ground-based devices (e.g., hand controllers) limit the workspace by literally binding an operator to the ground. There are similar problems with controls. This paper describes using real-time video with registered depth information (from a commercially available camera) for virtual reality navigation. Camera-based setup can replace cumbersome trackers. The method includes selective depth processing for increased speed, and amore » robust skin-color segmentation for accounting illumination variations.« less

Steering law design for redundant single-gimbal control moment gyroscopes. [for spacecraft attitude control

NASA Technical Reports Server (NTRS)

Bedrossian, Nazareth S.; Paradiso, Joseph; Bergmann, Edward V.; Rowell, Derek

1990-01-01

Two steering laws are presented for single-gimbal control moment gyroscopes. An approach using the Moore-Penrose pseudoinverse with a nondirectional null-motion algorithm is shown by example to avoid internal singularities for unidirectional torque commands, for which existing algorithms fail. Because this is still a tangent-based approach, however, singularity avoidance cannot be guaranteed. The singularity robust inverse is introduced as an alternative to the pseudoinverse for computing torque-producing gimbal rates near singular states. This approach, coupled with the nondirectional null algorithm, is shown by example to provide better steering law performance by allowing torque errors to be produced in the vicinity of singular states.

Modeling and advanced sliding mode controls of crawler cranes considering wire rope elasticity and complicated operations

NASA Astrophysics Data System (ADS)

Tuan, Le Anh; Lee, Soon-Geul

2018-03-01

In this study, a new mathematical model of crawler cranes is developed for heavy working conditions, with payload-lifting and boom-hoisting motions simultaneously activated. The system model is built with full consideration of wind disturbances, geometrical nonlinearities, and cable elasticities of cargo lifting and boom luffing. On the basis of this dynamic model, three versions of sliding mode control are analyzed and designed to control five system outputs with only two inputs. When used in complicated operations, the effectiveness of the controllers is analyzed using analytical investigation and numerical simulation. Results indicate the effectiveness of the control algorithms and the proposed dynamic model. The control algorithms asymptotically stabilize the system with finite-time convergences, remaining robust amid disturbances and parametric uncertainties.

Shortcuts to adiabaticity by counterdiabatic driving for trapped-ion displacement in phase space

PubMed Central

An, Shuoming; Lv, Dingshun; del Campo, Adolfo; Kim, Kihwan

2016-01-01

The application of adiabatic protocols in quantum technologies is severely limited by environmental sources of noise and decoherence. Shortcuts to adiabaticity by counterdiabatic driving constitute a powerful alternative that speed up time-evolution while mimicking adiabatic dynamics. Here we report the experimental implementation of counterdiabatic driving in a continuous variable system, a shortcut to the adiabatic transport of a trapped ion in phase space. The resulting dynamics is equivalent to a ‘fast-motion video' of the adiabatic trajectory. The robustness of this protocol is shown to surpass that of competing schemes based on classical local controls and Fourier optimization methods. Our results demonstrate that shortcuts to adiabaticity provide a robust speedup of quantum protocols of wide applicability in quantum technologies. PMID:27669897

Robust myoelectric signal detection based on stochastic resonance using multiple-surface-electrode array made of carbon nanotube composite paper

NASA Astrophysics Data System (ADS)

Shirata, Kento; Inden, Yuki; Kasai, Seiya; Oya, Takahide; Hagiwara, Yosuke; Kaeriyama, Shunichi; Nakamura, Hideyuki

2016-04-01

We investigated the robust detection of surface electromyogram (EMG) signals based on the stochastic resonance (SR) phenomenon, in which the response to weak signals is optimized by adding noise, combined with multiple surface electrodes. Flexible carbon nanotube composite paper (CNT-cp) was applied to the surface electrode, which showed good performance that is comparable to that of conventional Ag/AgCl electrodes. The SR-based EMG signal system integrating an 8-Schmitt-trigger network and the multiple-CNT-cp-electrode array successfully detected weak EMG signals even when the subject’s body is in the motion, which was difficult to achieve using the conventional technique. The feasibility of the SR-based EMG detection technique was confirmed by demonstrating its applicability to robot hand control.

Musical Interfaces: Visualization and Reconstruction of Music with a Microfluidic Two-Phase Flow

PubMed Central

Mak, Sze Yi; Li, Zida; Frere, Arnaud; Chan, Tat Chuen; Shum, Ho Cheung

2014-01-01

Detection of sound wave in fluids can hardly be realized because of the lack of approaches to visualize the very minute sound-induced fluid motion. In this paper, we demonstrate the first direct visualization of music in the form of ripples at a microfluidic aqueous-aqueous interface with an ultra-low interfacial tension. The interfaces respond to sound of different frequency and amplitude robustly with sufficiently precise time resolution for the recording of musical notes and even subsequent reconstruction with high fidelity. Our work shows the possibility of sensing and transmitting vibrations as tiny as those induced by sound. This robust control of the interfacial dynamics enables a platform for investigating the mechanical properties of microstructures and for studying frequency-dependent phenomena, for example, in biological systems. PMID:25327509

Robust plan optimization for electromagnetic transponder guided hypo-fractionated prostate treatment using volumetric modulated arc therapy

NASA Astrophysics Data System (ADS)

Zhang, Pengpeng; Hunt, Margie; Happersett, Laura; Yang, Jie; Zelefsky, Michael; Mageras, Gig

2013-11-01

To develop an optimization algorithm for volumetric modulated arc therapy which incorporates an electromagnetic tracking (EMT) guided gating strategy and is robust to residual intra-fractional motion uncertainties. In a computer simulation, intra-fractional motion traces from prior treatments with EMT were converted to a probability distribution function (PDF), truncated using a patient specific action volume that encloses allowed deviations from the planned position, and renormalized to yield a new PDF with EMT-gated interventions. In lieu of a conventional planning target volume (PTV), multiple instances of clinical target volume (CTV) and organs at risk (OARs) were replicated and displaced to extreme positions inside the action volume representing possible delivery scenarios. When optimizing the volumetric modulated arc therapy plan, doses to the CTV and OARs were calculated as a sum of doses to the replicas weighted by the PDF to account for motion. A treatment plan meeting the clinical constraints was produced and compared to the counterpart conventional margin (PTV) plan. EMT traces from a separate testing database served to simulate motion during gated delivery. Dosimetric end points extracted from dose accumulations for each motion trace were utilized to evaluate potential clinical benefit. Five prostate cases from a hypofractionated protocol (42.5 Gy in 5 fractions) were retrospectively investigated. The patient specific gating window resulted in tight anterior and inferior action levels (∼1 mm) to protect rectal wall and bladder wall, and resulted in an average of four beam interruptions per fraction in the simulation. The robust-optimized plans achieved the same average CTV D95 coverage of 40.5 Gy as the PTV-optimized plans, but with reduced patient-averaged rectum wall D1cc by 2.2 Gy (range 0.7 to 4.7 Gy) and bladder wall mean dose by 2.9 Gy (range 2.0 to 3.4 Gy). Integration of an intra-fractional motion management strategy into the robust optimization process is feasible and may yield improved OAR sparing compared to the standard margin approach.

Robust plan optimization for electromagnetic transponder guided hypo-fractionated prostate treatment using volumetric modulated arc therapy.

PubMed

Zhang, Pengpeng; Hunt, Margie; Happersett, Laura; Yang, Jie; Zelefsky, Michael; Mageras, Gig

2013-11-07

To develop an optimization algorithm for volumetric modulated arc therapy which incorporates an electromagnetic tracking (EMT) guided gating strategy and is robust to residual intra-fractional motion uncertainties. In a computer simulation, intra-fractional motion traces from prior treatments with EMT were converted to a probability distribution function (PDF), truncated using a patient specific action volume that encloses allowed deviations from the planned position, and renormalized to yield a new PDF with EMT-gated interventions. In lieu of a conventional planning target volume (PTV), multiple instances of clinical target volume (CTV) and organs at risk (OARs) were replicated and displaced to extreme positions inside the action volume representing possible delivery scenarios. When optimizing the volumetric modulated arc therapy plan, doses to the CTV and OARs were calculated as a sum of doses to the replicas weighted by the PDF to account for motion. A treatment plan meeting the clinical constraints was produced and compared to the counterpart conventional margin (PTV) plan. EMT traces from a separate testing database served to simulate motion during gated delivery. Dosimetric end points extracted from dose accumulations for each motion trace were utilized to evaluate potential clinical benefit. Five prostate cases from a hypofractionated protocol (42.5 Gy in 5 fractions) were retrospectively investigated. The patient specific gating window resulted in tight anterior and inferior action levels (~1 mm) to protect rectal wall and bladder wall, and resulted in an average of four beam interruptions per fraction in the simulation. The robust-optimized plans achieved the same average CTV D95 coverage of 40.5 Gy as the PTV-optimized plans, but with reduced patient-averaged rectum wall D1cc by 2.2 Gy (range 0.7 to 4.7 Gy) and bladder wall mean dose by 2.9 Gy (range 2.0 to 3.4 Gy). Integration of an intra-fractional motion management strategy into the robust optimization process is feasible and may yield improved OAR sparing compared to the standard margin approach.

Moving Faces

ERIC Educational Resources Information Center

Journal of College Science Teaching, 2005

2005-01-01

A recent study by Zara Ambadar and Jeffrey F. Cohn of the University of Pittsburgh and Jonathan W. Schooler of the University of British Columbia, examined how motion affects people's judgment of subtle facial expressions. Two experiments demonstrated robust effects of motion in facilitating the perception of subtle facial expressions depicting…

Performance analysis of visual tracking algorithms for motion-based user interfaces on mobile devices

NASA Astrophysics Data System (ADS)

Winkler, Stefan; Rangaswamy, Karthik; Tedjokusumo, Jefry; Zhou, ZhiYing

2008-02-01

Determining the self-motion of a camera is useful for many applications. A number of visual motion-tracking algorithms have been developed till date, each with their own advantages and restrictions. Some of them have also made their foray into the mobile world, powering augmented reality-based applications on phones with inbuilt cameras. In this paper, we compare the performances of three feature or landmark-guided motion tracking algorithms, namely marker-based tracking with MXRToolkit, face tracking based on CamShift, and MonoSLAM. We analyze and compare the complexity, accuracy, sensitivity, robustness and restrictions of each of the above methods. Our performance tests are conducted over two stages: The first stage of testing uses video sequences created with simulated camera movements along the six degrees of freedom in order to compare accuracy in tracking, while the second stage analyzes the robustness of the algorithms by testing for manipulative factors like image scaling and frame-skipping.

Kernelized correlation tracking with long-term motion cues

NASA Astrophysics Data System (ADS)

Lv, Yunqiu; Liu, Kai; Cheng, Fei

2018-04-01

Robust object tracking is a challenging task in computer vision due to interruptions such as deformation, fast motion and especially, occlusion of tracked object. When occlusions occur, image data will be unreliable and is insufficient for the tracker to depict the object of interest. Therefore, most trackers are prone to fail under occlusion. In this paper, an occlusion judgement and handling method based on segmentation of the target is proposed. If the target is occluded, the speed and direction of it must be different from the objects occluding it. Hence, the value of motion features are emphasized. Considering the efficiency and robustness of Kernelized Correlation Filter Tracking (KCF), it is adopted as a pre-tracker to obtain a predicted position of the target. By analyzing long-term motion cues of objects around this position, the tracked object is labelled. Hence, occlusion could be detected easily. Experimental results suggest that our tracker achieves a favorable performance and effectively handles occlusion and drifting problems.

Design and control of a multi-DOF micromanipulator dedicated to multiscale micromanipulation

NASA Astrophysics Data System (ADS)

Yang, Yi-Ling; Wei, Yan-Ding; Lou, Jun-Qiang; Fu, Lei; Fang, Sheng

2017-11-01

This paper presents the design, implementation and control of a new piezoelectrically actuated compliant micromanipulator dedicated to multiscale, precision and reliable operations. To begin with, the manipulator is devised to obtain multi degrees of freedom and large workspace ranges. Two-stage amplification mechanisms (consists of the leverage and the rocker mechanisms) and composite parallelogram mechanisms are combined to construct the lower microstage. Meanwhile, the structure design of the upper dual-driven microgripper is based on the bridge-type mechanism and the unilateral parallelogram mechanism. Through finite-element analysis, the structural parameters of the micromanipulator are optimized and the structural interaction performances are examined. Moreover, a cooperative control strategy is proposed to achieve the synchronous control of the motion trajectory, the gripper position and the contact force. Precision motion control in terms of the hysteresis phenomenon and system disturbances is ensured by using an adaptive sliding mode control (SMC). In particular, an improved nonsymmetrical Bouc-Wen model and a fuzzy regulator are proposed in the SMC. Several experimental investigations are conducted to validate the effectiveness of the developed micromanipulator by performing transferring operations of a micro-object. Experimental results demonstrate that the micromanipulator presents good characteristics, and precision and robust operation can be acquired using the cooperative controller.

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

PubMed Central

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

2013-01-01

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

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

Yang, K; Yu, Z; Chen, H

Purpose: To implement VMAT in RayStation with the Elekta Synergy linac with the new Agility MLC, and to utilize the same vendor softwares to determine the optimum Elekta VMAT machine parameters in RayStation for accurate modeling and robust delivery. Methods: iCOMCat is utilized to create various beam patterns with user defined dose rate, gantry, MLC and jaw speed for each control point. The accuracy and stability of the output and beam profile are qualified for each isolated functional component of VMAT delivery using ion chamber and Profiler2 with isocentric mounting fixture. Service graphing on linac console is used to verifymore » the mechanical motion accuracy. The determined optimum Elekta VMAT machine parameters were configured in RayStation v4.5.1. To evaluate the system overall performance, TG-119 test cases and nine retrospective VMAT patients were planned on RayStation, and validated using both ArcCHECK (with plug and ion chamber) and MapCHECK2. Results: Machine output and profile varies <0.3% when only variable is dose rate (35MU/min-600MU/min). <0.9% output and <0.3% profile variation are observed with additional gantry motion (0.53deg/s–5.8deg/s both directions). The output and profile variation are still <1% with additional slow leaf motion (<1.5cm/s both direction). However, the profile becomes less symmetric, and >1.5% output and 7% profile deviation is seen with >2.5cm/s leaf motion. All clinical cases achieved comparable plan quality as treated IMRT plans. The gamma passing rate is 99.5±0.5% on ArcCheck (<3% iso center dose deviation) and 99.1±0.8% on MapCheck2 using 3%/3mm gamma (10% lower threshold). Mechanical motion accuracy in all VMAT deliveries is <1°/1mm. Conclusion: Accurate RayStation modeling and robust VMAT delivery is achievable on Elekta Agility for <2.5cm/s leaf motion and full range of dose rate and gantry speed determined by the same vendor softwares. Our TG-119 and patient results have provided us with the confidence to use VMAT clinically.« less

Real-time prediction of respiratory motion based on a local dynamic model in an augmented space

NASA Astrophysics Data System (ADS)

Hong, S.-M.; Jung, B.-H.; Ruan, D.

2011-03-01

Motion-adaptive radiotherapy aims to deliver ablative radiation dose to the tumor target with minimal normal tissue exposure, by accounting for real-time target movement. In practice, prediction is usually necessary to compensate for system latency induced by measurement, communication and control. This work focuses on predicting respiratory motion, which is most dominant for thoracic and abdominal tumors. We develop and investigate the use of a local dynamic model in an augmented space, motivated by the observation that respiratory movement exhibits a locally circular pattern in a plane augmented with a delayed axis. By including the angular velocity as part of the system state, the proposed dynamic model effectively captures the natural evolution of respiratory motion. The first-order extended Kalman filter is used to propagate and update the state estimate. The target location is predicted by evaluating the local dynamic model equations at the required prediction length. This method is complementary to existing work in that (1) the local circular motion model characterizes 'turning', overcoming the limitation of linear motion models; (2) it uses a natural state representation including the local angular velocity and updates the state estimate systematically, offering explicit physical interpretations; (3) it relies on a parametric model and is much less data-satiate than the typical adaptive semiparametric or nonparametric method. We tested the performance of the proposed method with ten RPM traces, using the normalized root mean squared difference between the predicted value and the retrospective observation as the error metric. Its performance was compared with predictors based on the linear model, the interacting multiple linear models and the kernel density estimator for various combinations of prediction lengths and observation rates. The local dynamic model based approach provides the best performance for short to medium prediction lengths under relatively low observation rate. Sensitivity analysis indicates its robustness toward the choice of parameters. Its simplicity, robustness and low computation cost makes the proposed local dynamic model an attractive tool for real-time prediction with system latencies below 0.4 s.

Real-time prediction of respiratory motion based on a local dynamic model in an augmented space.

PubMed

Hong, S-M; Jung, B-H; Ruan, D

2011-03-21

Motion-adaptive radiotherapy aims to deliver ablative radiation dose to the tumor target with minimal normal tissue exposure, by accounting for real-time target movement. In practice, prediction is usually necessary to compensate for system latency induced by measurement, communication and control. This work focuses on predicting respiratory motion, which is most dominant for thoracic and abdominal tumors. We develop and investigate the use of a local dynamic model in an augmented space, motivated by the observation that respiratory movement exhibits a locally circular pattern in a plane augmented with a delayed axis. By including the angular velocity as part of the system state, the proposed dynamic model effectively captures the natural evolution of respiratory motion. The first-order extended Kalman filter is used to propagate and update the state estimate. The target location is predicted by evaluating the local dynamic model equations at the required prediction length. This method is complementary to existing work in that (1) the local circular motion model characterizes 'turning', overcoming the limitation of linear motion models; (2) it uses a natural state representation including the local angular velocity and updates the state estimate systematically, offering explicit physical interpretations; (3) it relies on a parametric model and is much less data-satiate than the typical adaptive semiparametric or nonparametric method. We tested the performance of the proposed method with ten RPM traces, using the normalized root mean squared difference between the predicted value and the retrospective observation as the error metric. Its performance was compared with predictors based on the linear model, the interacting multiple linear models and the kernel density estimator for various combinations of prediction lengths and observation rates. The local dynamic model based approach provides the best performance for short to medium prediction lengths under relatively low observation rate. Sensitivity analysis indicates its robustness toward the choice of parameters. Its simplicity, robustness and low computation cost makes the proposed local dynamic model an attractive tool for real-time prediction with system latencies below 0.4 s.

Single neural adaptive controller and neural network identifier based on PSO algorithm for spherical actuators with 3D magnet array

NASA Astrophysics Data System (ADS)

Yan, Liang; Zhang, Lu; Zhu, Bo; Zhang, Jingying; Jiao, Zongxia

2017-10-01

Permanent magnet spherical actuator (PMSA) is a multi-variable featured and inter-axis coupled nonlinear system, which unavoidably compromises its motion control implementation. Uncertainties such as external load and friction torque of ball bearing and manufacturing errors also influence motion performance significantly. Therefore, the objective of this paper is to propose a controller based on a single neural adaptive (SNA) algorithm and a neural network (NN) identifier optimized with a particle swarm optimization (PSO) algorithm to improve the motion stability of PMSA with three-dimensional magnet arrays. The dynamic model and computed torque model are formulated for the spherical actuator, and a dynamic decoupling control algorithm is developed. By utilizing the global-optimization property of the PSO algorithm, the NN identifier is trained to avoid locally optimal solution and achieve high-precision compensations to uncertainties. The employment of the SNA controller helps to reduce the effect of compensation errors and convert the system to a stable one, even if there is difference between the compensations and uncertainties due to external disturbances. A simulation model is established, and experiments are conducted on the research prototype to validate the proposed control algorithm. The amplitude of the parameter perturbation is set to 5%, 10%, and 15%, respectively. The strong robustness of the proposed hybrid algorithm is validated by the abundant simulation data. It shows that the proposed algorithm can effectively compensate the influence of uncertainties and eliminate the effect of inter-axis couplings of the spherical actuator.

A flight-phase terrain following control strategy for stable and robust hopping of a one-legged robot under large terrain variations.

PubMed

Shemer, Natan; Degani, Amir

2017-08-04

This work demonstrates a simple, once per step, flight-control method for robots running on a planar unknown rough-terrain environment. The robot used to exemplify these control strategies is the ParkourBot, a spring loaded inverted pendulum (SLIP)-based robot. The SLIP model is widely used for the description of humans and animals running motion and has been the basis for many robots. A known control scheme for increasing robustness of the conservative, SLIP model is the swing leg retraction (SLR) method. Despite of the SLR's popularity, it is not intended to be used on the more realistic, non-conservative damped SLIP model. On the damped SLIP model, the SLR controller failed to provide adequate results, therefore, we have derived a new simple, flight-phase control method called polynomial energy insertion (PEI). The new PEI method is based on the dead-beat solution of the damped simplified instantaneous SLIP (iSLIP) model, which assumes an infinitely stiff spring. Unlike the SLR which, starting from apex, changes the leg angle monotonically during flight, the PEI requires the leg length (hence, energy insertion) to change monotonically throughout the flight phase. Interestingly, the leg angle remains nearly constant. In simulations and experiments, we have compared the newly developed PEI to the previous SLR method. We have found that since the SLR does not control the horizontal velocity, it looses its stability under rough terrain. The PEI method was able to control the horizontal velocity and height from ground and hence showed great improvement in robustness to rough terrain. Moreover, in both simulations and experiments the PEI methods showed an increase in the mean jumps to failure of more than 30% compared to SLR-based controllers.

Compensation for Unconstrained Catheter Shaft Motion in Cardiac Catheters

PubMed Central

Degirmenci, Alperen; Loschak, Paul M.; Tschabrunn, Cory M.; Anter, Elad; Howe, Robert D.

2016-01-01

Cardiac catheterization with ultrasound (US) imaging catheters provides real time US imaging from within the heart, but manually navigating a four degree of freedom (DOF) imaging catheter is difficult and requires extensive training. Existing work has demonstrated robotic catheter steering in constrained bench top environments. Closed-loop control in an unconstrained setting, such as patient vasculature, remains a significant challenge due to friction, backlash, and physiological disturbances. In this paper we present a new method for closed-loop control of the catheter tip that can accurately and robustly steer 4-DOF cardiac catheters and other flexible manipulators despite these effects. The performance of the system is demonstrated in a vasculature phantom and an in vivo porcine animal model. During bench top studies the robotic system converged to the desired US imager pose with sub-millimeter and sub-degree-level accuracy. During animal trials the system achieved 2.0 mm and 0.65° accuracy. Accurate and robust robotic navigation of flexible manipulators will enable enhanced visualization and treatment during procedures. PMID:27525170

Dynamic control modification techniques in teleoperation of a flexible manipulator. M.S. Thesis

NASA Technical Reports Server (NTRS)

Magee, David Patrick

1991-01-01

The objective of this research is to reduce the end-point vibration of a large, teleoperated manipulator while preserving the usefulness of the system motion. A master arm is designed to measure desired joint angles as the user specifies a desired tip motion. The desired joint angles from the master arm are the inputs to an adaptive PD control algorithm that positions the end-point of the manipulator. As the user moves the tip of the master, the robot will vibrate at its natural frequencies which makes it difficult to position the end-point. To eliminate the tip vibration during teleoperated motions, an input shaping method is presented. The input shaping method transforms each sample of the desired input into a new set of impulses that do not excite the system resonances. The method is explained using the equation of motion for a simple, second-order system. The impulse response of such a system is derived and the constraint equations for vibrationless motion are presented. To evaluate the robustness of the method, a different residual vibration equation from Singer's is derived that more accurately represents the input shaping technique. The input shaping method is shown to actually increase the residual vibration in certain situations when the system parameters are not accurately specified. Finally, the implementation of the input shaping method to a system with varying parameters is shown to induce a vibration into the system. To eliminate this vibration, a modified command shaping technique is developed. The ability of the modified command shaping method to reduce vibration at the system resonances is tested by varying input perturbations to trajectories in a range of possible user inputs. By comparing the frequency responses of the transverse acceleration at the end-point of the manipulator, the modified method is compared to the original PD routine. The control scheme that produces the smaller magnitude of resonant vibration at the first natural frequency is considered the more effective control method.

Visual acuity, contrast sensitivity, and range performance with compressed motion video

NASA Astrophysics Data System (ADS)

Bijl, Piet; de Vries, Sjoerd C.

2010-10-01

Video of visual acuity (VA) and contrast sensitivity (CS) test charts in a complex background was recorded using a CCD color camera mounted on a computer-controlled tripod and was fed into real-time MPEG-2 compression/decompression equipment. The test charts were based on the triangle orientation discrimination (TOD) test method and contained triangle test patterns of different sizes and contrasts in four possible orientations. In a perception experiment, observers judged the orientation of the triangles in order to determine VA and CS thresholds at the 75% correct level. Three camera velocities (0, 1.0, and 2.0 deg/s, or 0, 4.1, and 8.1 pixels/frame) and four compression rates (no compression, 4 Mb/s, 2 Mb/s, and 1 Mb/s) were used. VA is shown to be rather robust to any combination of motion and compression. CS, however, dramatically decreases when motion is combined with high compression ratios. The measured thresholds were fed into the TOD target acquisition model to predict the effect of motion and compression on acquisition ranges for tactical military vehicles. The effect of compression on static performance is limited but strong with motion video. The data suggest that with the MPEG2 algorithm, the emphasis is on the preservation of image detail at the cost of contrast loss.

Inquiry style interactive virtual experiments: a case on circular motion

NASA Astrophysics Data System (ADS)

Zhou, Shaona; Han, Jing; Pelz, Nathaniel; Wang, Xiaojun; Peng, Liangyu; Xiao, Hua; Bao, Lei

2011-11-01

Interest in computer-based learning, especially in the use of virtual reality simulations is increasing rapidly. While there are good reasons to believe that technologies have the potential to improve teaching and learning, how to utilize the technology effectively in teaching specific content difficulties is challenging. To help students develop robust understandings of correct physics concepts, we have developed interactive virtual experiment simulations that have the unique feature of enabling students to experience force and motion via an analogue joystick, allowing them to feel the applied force and simultaneously see its effects. The simulations provide students learning experiences that integrate both scientific representations and low-level sensory cues such as haptic cues under a single setting. In this paper, we introduce a virtual experiment module on circular motion. A controlled study has been conducted to evaluate the impact of using this virtual experiment on students' learning of force and motion in the context of circular motion. The results show that the interactive virtual experiment method is preferred by students and is more effective in helping students grasp the physics concepts than the traditional education method such as problem-solving practices. Our research suggests that well-developed interactive virtual experiments can be useful tools in teaching difficult concepts in science.

Design of sliding-mode observer for a class of uncertain neutral stochastic systems

NASA Astrophysics Data System (ADS)

Liu, Zhen; Zhao, Lin; Zhu, Quanmin; Gao, Cunchen

2017-05-01

The problem of robust ? control for a class of uncertain neutral stochastic systems (NSS) is investigated by utilising the sliding-mode observer (SMO) technique. This paper presents a novel observer and integral-type sliding-surface design, based on which a new sufficient condition guaranteeing the resultant sliding-mode dynamics (SMDs) to be mean-square exponentially stable with a prescribed level of ? performance is derived. Then, an adaptive reaching motion controller is synthesised to lead the system to the predesigned sliding surface in finite-time almost surely. Finally, two illustrative examples are exhibited to verify the validity and superiority of the developed scheme.

Nonlinear dynamics of mini-satellite respinup by weak internal controllable torques

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

Somov, Yevgeny, E-mail: e-somov@mail.ru

Contemporary space engineering advanced new problem before theoretical mechanics and motion control theory: a spacecraft directed respinup by the weak restricted control internal forces. The paper presents some results on this problem, which is very actual for energy supply of information mini-satellites (for communication, geodesy, radio- and opto-electronic observation of the Earth et al.) with electro-reaction plasma thrusters and gyro moment cluster based on the reaction wheels or the control moment gyros. The solution achieved is based on the methods for synthesis of nonlinear robust control and on rigorous analytical proof for the required spacecraft rotation stability by Lyapunov functionmore » method. These results were verified by a computer simulation of strongly nonlinear oscillatory processes at respinuping of a flexible spacecraft.« less

Cross-coupled control for all-terrain rovers.

PubMed

Reina, Giulio

2013-01-08

Mobile robots are increasingly being used in challenging outdoor environments for applications that include construction, mining, agriculture, military and planetary exploration. In order to accomplish the planned task, it is critical that the motion control system ensure accuracy and robustness. The achievement of high performance on rough terrain is tightly connected with the minimization of vehicle-terrain dynamics effects such as slipping and skidding. This paper presents a cross-coupled controller for a 4-wheel-drive/4-wheel-steer robot, which optimizes the wheel motors' control algorithm to reduce synchronization errors that would otherwise result in wheel slip with conventional controllers. Experimental results, obtained with an all-terrain rover operating on agricultural terrain, are presented to validate the system. It is shown that the proposed approach is effective in reducing slippage and vehicle posture errors.

A new design of robust H∞ sliding mode control for uncertain stochastic T-S fuzzy time-delay systems.

PubMed

Gao, Qing; Feng, Gang; Xi, Zhiyu; Wang, Yong; Qiu, Jianbin

2014-09-01

In this paper, a novel dynamic sliding mode control scheme is proposed for a class of uncertain stochastic nonlinear time-delay systems represented by Takagi-Sugeno fuzzy models. The key advantage of the proposed scheme is that two very restrictive assumptions in most existing sliding mode control approaches for stochastic fuzzy systems have been removed. It is shown that the closed-loop control system trajectories can be driven onto the sliding surface in finite time almost certainly. It is also shown that the stochastic stability of the resulting sliding motion can be guaranteed in terms of linear matrix inequalities; moreover, the sliding-mode controller can be obtained simultaneously. Simulation results illustrating the advantages and effectiveness of the proposed approaches are also provided.

Amodal representation of occluded surfaces: role of invisible stimuli in apparent motion correspondence.

PubMed

Shimojo, S; Nakayama, K

1990-01-01

A series of demonstrations were created where the perceived depth of targets was controlled by stereoscopic disparity. A closer object (a cloud) was made to jump back and forth horizontally, partially occluding a farther object (a full moon). The more distant moon appeared stationary even though the unoccluded portion of it, a crescent, changed position. Reversal of the relative depth of the moon and cloud gave a totally different percept: the crescent appeared to flip back and forth in the front depth plane. Thus, the otherwise-robust apparent motion of the moon crescents was completely abolished in the cloud-closer case alone. This motion-blocking effect is attributed to the 'amodal presence' of the occluded surface continuing behind the occluding surface. To measure the effect of this occluded 'invisible' surface quantitatively, a bistable apparent motion display was used (Ramachandran and Anstis 1983a): two small rectangular-shaped targets changed their positions back and forth between two frames, and the disparity of a large centrally positioned rectangle was varied. When the perceived depths supported the possibility of amodal completion behind the large rectangle, increased vertical motion of the targets was found, suggesting that the amodal presence of the targets behind the occluder had effectively changed the center position of the moving targets for purposes of motion correspondence. Amodal contours are literally 'invisible', yet it is hypothesized that they have a neural representation at sufficiently early stages of visual processing to alter the correspondence solving process for apparent motion.

Simulation of disturbance rejection control of half-car active suspension system using active disturbance rejection control with decoupling transformation

NASA Astrophysics Data System (ADS)

Hasbullah, Faried; Faris, Waleed F.

2017-12-01

In recent years, Active Disturbance Rejection Control (ADRC) has become a popular control alternative due to its easy applicability and robustness to varying processes. In this article, ADRC with input decoupling transformation (ADRC-IDT) is proposed to improve ride comfort of a vehicle with an active suspension system using half-car model. The ride performance of the ADRC-IDT is evaluated and compared with decentralized ADRC control as well as the passive system. Simulation results show that both ADRC and ADRC-IDT manage to appreciably reduce body accelerations and able to cope well with varying conditions typically encountered in an active suspension system. Also, it is sufficient to control only the body motions with both active controllers to improve ride comfort while maintaining good road holding and small suspension working space.

Reimagining Building Sensing and Control (Presentation)

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

Polese, L.

2014-06-01

Buildings are responsible for 40% of US energy consumption, and sensing and control technologies are an important element in creating a truly sustainable built environment. Motion-based occupancy sensors are often part of these control systems, but are usually altered or disabled in response to occupants' complaints, at the expense of energy savings. Can we leverage commodity hardware developed for other sectors and embedded software to produce more capable sensors for robust building controls? The National Renewable Energy Laboratory's (NREL) 'Image Processing Occupancy Sensor (IPOS)' is one example of leveraging embedded systems to create smarter, more reliable, multi-function sensors that openmore » the door to new control strategies for building heating, cooling, ventilation, and lighting control. In this keynote, we will discuss how cost-effective embedded systems are changing the state-of-the-art of building sensing and control.« less

Vehicle yaw stability control via H∞ gain scheduling

NASA Astrophysics Data System (ADS)

Zhang, Jinhua; Sun, Weichao; Feng, Zhiguang

2018-06-01

Yaw stability control (YSC) is rather significant in a vehicle lateral motion, since it can considerably reduce casualties caused by vehicle instability. Nevertheless with the vehicle running, the parameters, such as vehicle mass and moment of inertial, can be perturbed because of variation of capacity, loadage and consumption of fuel, hence some of nominal controllers cannot always work satisfactorily. To overcome the aforementioned deficiency, a gain scheduled H∞ YSC controller is developed in this paper, taking the vehicle mass and moment of inertial as the scheduled variables, now that the gain scheduled H∞ controller can guarantee both the robustness against parameter perturbation and the adjustability of tracking accuracy. Then the constructed controller is verified via numerical simulation and MATLAB-CarSim coalition simulation. The simulation results indicate that the designed controller can indeed improve the vehicle handing performance under circumstance of lateral stability.

A novel integrated approach for path following and directional stability control of road vehicles after a tire blow-out

NASA Astrophysics Data System (ADS)

Wang, Fei; Chen, Hong; Guo, Konghui; Cao, Dongpu

2017-09-01

The path following and directional stability are two crucial problems when a road vehicle experiences a tire blow-out or sudden tire failure. Considering the requirement of rapid road vehicle motion control during a tire blow-out, this article proposes a novel linearized decoupling control procedure with three design steps for a class of second order multi-input-multi-output non-affine system. The evaluating indicators for controller performance are presented and a performance related control parameter distribution map is obtained based on the stochastic algorithm which is an innovation for non-blind parameter adjustment in engineering implementation. The analysis on the robustness of the proposed integrated controller is also performed. The simulation studies for a range of driving conditions are conducted, to demonstrate the effectiveness of the proposed controller.

Robust patella motion tracking using intensity-based 2D-3D registration on dynamic bi-plane fluoroscopy: towards quantitative assessment in MPFL reconstruction surgery

NASA Astrophysics Data System (ADS)

Otake, Yoshito; Esnault, Matthieu; Grupp, Robert; Kosugi, Shinichi; Sato, Yoshinobu

2016-03-01

The determination of in vivo motion of multiple-bones using dynamic fluoroscopic images and computed tomography (CT) is useful for post-operative assessment of orthopaedic surgeries such as medial patellofemoral ligament reconstruction. We propose a robust method to measure the 3D motion of multiple rigid objects with high accuracy using a series of bi-plane fluoroscopic images and a multi-resolution, intensity-based, 2D-3D registration. A Covariance Matrix Adaptation Evolution Strategy (CMA-ES) optimizer was used with a gradient correlation similarity metric. Four approaches to register three rigid objects (femur, tibia-fibula and patella) were implemented: 1) an individual bone approach registering one bone at a time, each with optimization of a six degrees of freedom (6DOF) parameter, 2) a sequential approach registering one bone at a time but using the previous bone results as the background in DRR generation, 3) a simultaneous approach registering all the bones together (18DOF) and 4) a combination of the sequential and the simultaneous approaches. These approaches were compared in experiments using simulated images generated from the CT of a healthy volunteer and measured fluoroscopic images. Over the 120 simulated frames of motion, the simultaneous approach showed improved registration accuracy compared to the individual approach: with less than 0.68mm root-mean-square error (RMSE) for translation and less than 1.12° RMSE for rotation. A robustness evaluation was conducted with 45 trials of a randomly perturbed initialization showed that the sequential approach improved robustness significantly (74% success rate) compared to the individual bone approach (34% success) for patella registration (femur and tibia-fibula registration had a 100% success rate with each approach).

State Estimation of Main Rotor Flap and Lead-Lag Using Accelerometers and Laser Transducers on the RASCAL UH-60 Helicopter

NASA Technical Reports Server (NTRS)

Fletcher, Jay W.; Chen, Robert T. N.; Strasilla, Eric; Aiken, Edwin W. (Technical Monitor)

1995-01-01

Modern rotorcraft flight control system designs which promise to yield high vehicle response bandwidth and good gust rejection can benefit from the use of rotor-state feedbacks. The measurement of main rotor blade motions is also desirable to validate and improve rotorcraft simulation models, to identify high-order linear flight dynamics models, to provide rotor system health monitoring; during flight test, and to provide for correlation with acoustic measurements from wind tunnel and flight tests. However, few attempts have been made to instrument a flight vehicle in this manner, and no previous system has had the robustness and accuracy required for these diverse applications. A rotor blade motion measurement and estimation system has been developed by NASA and the U.S. Army for use on the Rotorcraft Aircrew Systems Concepts Airborne Laboratory (RASCAL) helicopter. RASCAL is a UH-60 Blackhawk which is being modified at Ames Research Center in a phased development program for use in flight dynamics and controls, navigation, airspace management, and rotorcraft human factors research. The aircraft will feature a full-authority, digital, fly-by-wire research flight control system; a coupled ring laser gyro, differential GPS based navigation system; a stereoscopic color wide field of view helmet, mounted display; programmable panel mounted displays; and advanced navigation sensors. The rotor blade motion system is currently installed for data acquisition only, but will be integrated with the research flight control system when it is installed later this year.

Autocalibrating motion-corrected wave-encoding for highly accelerated free-breathing abdominal MRI.

PubMed

Chen, Feiyu; Zhang, Tao; Cheng, Joseph Y; Shi, Xinwei; Pauly, John M; Vasanawala, Shreyas S

2017-11-01

To develop a motion-robust wave-encoding technique for highly accelerated free-breathing abdominal MRI. A comprehensive 3D wave-encoding-based method was developed to enable fast free-breathing abdominal imaging: (a) auto-calibration for wave-encoding was designed to avoid extra scan for coil sensitivity measurement; (b) intrinsic butterfly navigators were used to track respiratory motion; (c) variable-density sampling was included to enable compressed sensing; (d) golden-angle radial-Cartesian hybrid view-ordering was incorporated to improve motion robustness; and (e) localized rigid motion correction was combined with parallel imaging compressed sensing reconstruction to reconstruct the highly accelerated wave-encoded datasets. The proposed method was tested on six subjects and image quality was compared with standard accelerated Cartesian acquisition both with and without respiratory triggering. Inverse gradient entropy and normalized gradient squared metrics were calculated, testing whether image quality was improved using paired t-tests. For respiratory-triggered scans, wave-encoding significantly reduced residual aliasing and blurring compared with standard Cartesian acquisition (metrics suggesting P < 0.05). For non-respiratory-triggered scans, the proposed method yielded significantly better motion correction compared with standard motion-corrected Cartesian acquisition (metrics suggesting P < 0.01). The proposed methods can reduce motion artifacts and improve overall image quality of highly accelerated free-breathing abdominal MRI. Magn Reson Med 78:1757-1766, 2017. © 2016 International Society for Magnetic Resonance in Medicine. © 2016 International Society for Magnetic Resonance in Medicine.

Figure-ground assignment to a translating contour: a preference for advancing vs. receding motion.

PubMed

Barenholtz, Elan; Tarr, Michael J

2009-05-28

Past research on figure-ground assignment to contours has largely considered static stimuli. Here we report a simple and extremely robust dynamic cue to figural assignment, based on whether the bounding region of a contour is growing larger within the field of view ("advancing") rather than smaller ("receding"). Subjects viewed a straight or jagged contour dividing two colored regions translating behind a virtual aperture and had to report which color they had seen "moving in front", effectively assigning figure to that side of the contour. Across three experiments, subjects showed a strong preference to assign figure such that the bounded contour was advancing. This was true regardless of the direction of motion of the contour and regardless of the initial/ending size of the bounded regions (i.e., the motion cue served to override the conventional cue to figure-ground of smaller area). In a fourth, control experiment, subjects showed no such bias when it was the aperture, rather than the contour, that moved, demonstrating that the effect depends on contour motion and not simply an increase in area. We discuss a possible explanation for this bias as well as the general implications regarding dynamic factors in form perception.

A synergy-driven approach to a myoelectric hand.

PubMed

Godfrey, S B; Ajoudani, A; Catalano, M; Grioli, G; Bicchi, A

2013-06-01

In this paper, we present the Pisa/IIT SoftHand with myoelectric control as a synergy-driven approach for a prosthetic hand. Commercially available myoelectric hands are more expensive, heavier, and less robust than their body-powered counterparts; however, they can offer greater freedom of motion and a more aesthetically pleasing appearance. The Pisa/IIT SoftHand is built on the motor control principle of synergies through which the immense complexity of the hand is simplified into distinct motor patterns. As the SoftHand grasps, it follows a synergistic path with built-in flexibility to allow grasping of a wide variety of objects with a single motor. Here we test, as a proof-of-concept, 4 myoelectric controllers: a standard controller in which the EMG signal is used only as a position reference, an impedance controller that determines both position and stiffness references from the EMG input, a standard controller with vibrotactile force feedback, and finally a combined vibrotactile-impedance (VI) controller. Four healthy subjects tested the control algorithms by grasping various objects. All controllers were sufficient for basic grasping, however the impedance and vibrotactile controllers reduced the physical and cognitive load on the user, while the combined VI mode was the easiest to use of the four. While these results need to be validated with amputees, they suggest a low-cost, robust hand employing hardware-based synergies is a viable alternative to traditional myoelectric prostheses.

Biological Motion Cues Trigger Reflexive Attentional Orienting

ERIC Educational Resources Information Center

Shi, Jinfu; Weng, Xuchu; He, Sheng; Jiang, Yi

2010-01-01

The human visual system is extremely sensitive to biological signals around us. In the current study, we demonstrate that biological motion walking direction can induce robust reflexive attentional orienting. Following a brief presentation of a central point-light walker walking towards either the left or right direction, observers' performance…

Design and simulation of a cable-pulley-based transmission for artificial ankle joints

NASA Astrophysics Data System (ADS)

Liu, Huaxin; Ceccarelli, Marco; Huang, Qiang

2016-06-01

In this paper, a mechanical transmission based on cable pulley is proposed for human-like actuation in the artificial ankle joints of human-scale. The anatomy articular characteristics of the human ankle is discussed for proper biomimetic inspiration in designing an accurate, efficient, and robust motion control of artificial ankle joint devices. The design procedure is presented through the inclusion of conceptual considerations and design details for an interactive solution of the transmission system. A mechanical design is elaborated for the ankle joint angular with pitch motion. A multi-body dynamic simulation model is elaborated accordingly and evaluated numerically in the ADAMS environment. Results of the numerical simulations are discussed to evaluate the dynamic performance of the proposed design solution and to investigate the feasibility of the proposed design in future applications for humanoid robots.

Design And Implementation Of PID Controller Using Relay Feedback On TRMS (Twin Rotor MIMO System)

NASA Astrophysics Data System (ADS)

Shah, Dipesh H.

2011-12-01

Today, many process control problems can be adequately and routinely solved by conventional PID control strategies. The overriding reason that the PID controller is so widely accepted is its simple structure which has proved to be very robust with regard to many commonly met process control problems as for instance disturbances and nonlinearities. Relay feedback methods have been widely used in tuning proportional-integral-derivative controllers due to its closed loop nature. In this work, Relay based PID controller is designed and successfully implemented on TRMS (Twin Rotor MIMO System) in SISO and MIMO configurations. The performance of a Relay based PID controller for control of TRMS is investigated and performed satisfactorily. The system shares some features with a helicopter, such as important interactions between the vertical and horizontal motions. The RTWT toolbox in the MATLAB environment is used to perform real-time experiments.

TU-EF-304-03: 4D Monte Carlo Robustness Test for Proton Therapy

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

Souris, K; Sterpin, E; Lee, J

Purpose: Breathing motion and approximate dose calculation engines may increase proton range uncertainties. We address these two issues using a comprehensive 4D robustness evaluation tool based on an efficient Monte Carlo (MC) engine, which can simulate breathing with no significant increase in computation time. Methods: To assess the robustness of the treatment plan, multiple scenarios of uncertainties are simulated, taking into account the systematic and random setup errors, range uncertainties, and organ motion. Our fast MC dose engine, called MCsquare, implements optimized models on a massively-parallel computation architecture and allows us to accurately simulate a scenario in less than onemore » minute. The deviations of the uncertainty scenarios are then reported on a DVH-band and compared to the nominal plan.The robustness evaluation tool is illustrated in a lung case by comparing three 60Gy treatment plans. First, a plan is optimized on a PTV obtained by extending the CTV with an 8mm margin, in order to take into account systematic geometrical uncertainties, like in our current practice in radiotherapy. No specific strategy is employed to correct for tumor and organ motions. The second plan involves a PTV generated from the ITV, which encompasses the tumor volume in all breathing phases. The last plan results from robust optimization performed on the ITV, with robustness parameters of 3% for tissue density and 8 mm for positioning errors. Results: The robustness test revealed that the first two plans could not properly cover the target in the presence of uncertainties. CTV-coverage (D95) in the three plans ranged respectively between 39.4–55.5Gy, 50.2–57.5Gy, and 55.1–58.6Gy. Conclusion: A realistic robustness verification tool based on a fast MC dose engine has been developed. This test is essential to assess the quality of proton therapy plan and very useful to study various planning strategies for mobile tumors. This work is partly funded by IBA (Louvain-la-Neuve, Belgium)« less

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

PubMed

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

2014-11-01

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

Minimal time change detection algorithm for reconfigurable control system and application to aerospace

NASA Technical Reports Server (NTRS)

Kim, Sungwan

1994-01-01

System parameters should be tracked on-line to build a reconfigurable control system even though there exists an abrupt change. For this purpose, a new performance index that we are studying is the speed of adaptation- how quickly does the system determine that a change has occurred? In this paper, a new, robust algorithm that is optimized to minimize the time delay in detecting a change for fixed false alarm probability is proposed. Simulation results for the aircraft lateral motion with a known or unknown change in control gain matrices, in the presence of doublet input, indicate that the algorithm works fairly well. One of its distinguishing properties is that detection delay of this algorithm is superior to that of Whiteness Test.

SU-E-T-527: Is CTV-Based Robust Optimized IMPT in Non-Small-Cell Lung Cancer Robust Against Respiratory Motion?

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

Anetai, Y; Mizuno, H; Sumida, I

2015-06-15

Purpose: To determine which proton planning technique on average-CT is more vulnerable to respiratory motion induced density changes and interplay effect among (a) IMPT of CTV-based minimax robust optimization with 5mm set-up error considered, (b, c) IMPT/SFUD of 5mm-expanded PTV optimization. Methods: Three planning techniques were optimized in Raystation with a prescription of 60/25 (Gy/fractions) and almost the same OAR constraints/objectives for each of 10 NSCLC patients. 4D dose without/with interplay effect was recalculated on eight 4D-CT phases and accumulated after deforming the dose of each phase to a reference (exhalation phase). The change of D98% of each CTV causedmore » by density changes and interplay was determined. In addition, evaluation of the DVH information vector (D99%, D98%, D95%, Dave, D50%, D2%, D1%) which compares the whole DVH by η score = (cosine similarity × Pearson correlation coefficient − 0.9) × 1000 quantified the degree of DVH change: score below 100 indicates changed DVH. Results: Three 3D plans of each technique satisfied our clinical goals. D98% shift mean±SD (Gy) due to density changes was largest in (c): −0.78±1.1 while (a): −0.11±0.65 and (b): − 0.59±0.93. Also the shift due to interplay effect most was (c): −.54±0.70 whereas (a): −0.25±0.93 and (b): −0.12±0.13. Moreover lowest η score caused by density change was also (c): 69, while (a) and (b) kept around 90. η score also indicated less effect of interplay than density changes. Note that generally the changed DVH were still acceptable clinically. Paired T-tests showed a significantly smaller density change effect in (a) (p<0.05) than in (b) or (c) and no significant difference in interplay effect. Conclusion: CTV-based robust optimized IMPT was more robust against respiratory motion induced density changes than PTV-based IMPT and SFUD. The interplay effect was smaller than the effect of density changes and similar among the three techniques. The JSPS Core-to-Core Program (No. 23003), Japan Society for the Promotion of Science Grant-in-Aid for Scientific Research (No. 23390300), Grant-in-Aid for Young Scientists (B) (No. 21791194) and Grant-in-Aid for Cancer Research (H22-3rd Term Cancer Control-General-043)« less

Control design based on dead-zone and leakage adaptive laws for artificial swarm mechanical systems

NASA Astrophysics Data System (ADS)

Zhao, Xiaomin; Chen, Y. H.; Zhao, Han

2017-05-01

We consider the control design of artificial swarm systems with emphasis on four characteristics. First, the agent is made of mechanical components. As a result, the motion of each agent is subject to physical laws that govern mechanical systems. Second, both nonlinearity and uncertainty of the mechanical system are taken into consideration. Third, the ideal agent kinematic performance is treated as a desired d'Alembert constraint. This in turn suggests a creative way of embedding the constraint into the control design. Fourth, two types of adaptive robust control schemes are designed. They both contain leakage and dead-zone. However, one design suggests a trade-off between the amount of leakage and the size of dead-zone, in exchange for a simplified dead-zone structure.

Vapour-mediated sensing and motility in two-component droplets

NASA Astrophysics Data System (ADS)

Cira, N. J.; Benusiglio, A.; Prakash, M.

2015-03-01

Controlling the wetting behaviour of liquids on surfaces is important for a variety of industrial applications such as water-repellent coatings and lubrication. Liquid behaviour on a surface can range from complete spreading, as in the `tears of wine' effect, to minimal wetting as observed on a superhydrophobic lotus leaf. Controlling droplet movement is important in microfluidic liquid handling, on self-cleaning surfaces and in heat transfer. Droplet motion can be achieved by gradients of surface energy. However, existing techniques require either a large gradient or a carefully prepared surface to overcome the effects of contact line pinning, which usually limit droplet motion. Here we show that two-component droplets of well-chosen miscible liquids such as propylene glycol and water deposited on clean glass are not subject to pinning and cause the motion of neighbouring droplets over a distance. Unlike the canonical predictions for these liquids on a high-energy surface, these droplets do not spread completely but exhibit an apparent contact angle. We demonstrate experimentally and analytically that these droplets are stabilized by evaporation-induced surface tension gradients and that they move in response to the vapour emitted by neighbouring droplets. Our fundamental understanding of this robust system enabled us to construct a wide variety of autonomous fluidic machines out of everyday materials.

pH-Taxis of Biohybrid Microsystems

NASA Astrophysics Data System (ADS)

Zhuang, Jiang; Wright Carlsen, Rika; Sitti, Metin

2015-06-01

The last decade has seen an increasing number of studies developing bacteria and other cell-integrated biohybrid microsystems. However, the highly stochastic motion of these microsystems severely limits their potential use. Here, we present a method that exploits the pH sensing of flagellated bacteria to realize robust drift control of multi-bacteria propelled microrobots. Under three specifically configured pH gradients, we demonstrate that the microrobots exhibit both unidirectional and bidirectional pH-tactic behaviors, which are also observed in free-swimming bacteria. From trajectory analysis, we find that the swimming direction and speed biases are two major factors that contribute to their tactic drift motion. The motion analysis of microrobots also sheds light on the propulsion dynamics of the flagellated bacteria as bioactuators. It is expected that similar driving mechanisms are shared among pH-taxis, chemotaxis, and thermotaxis. By identifying the mechanism that drives the tactic behavior of bacteria-propelled microsystems, this study opens up an avenue towards improving the control of biohybrid microsystems. Furthermore, assuming that it is possible to tune the preferred pH of bioactuators by genetic engineering, these biohybrid microsystems could potentially be applied to sense the pH gradient induced by cancerous cells in stagnant fluids inside human body and realize targeted drug delivery.

Design and optimization of input shapers for liquid slosh suppression

NASA Astrophysics Data System (ADS)

Aboel-Hassan, Ameen; Arafa, Mustafa; Nassef, Ashraf

2009-02-01

The need for fast maneuvering and accurate positioning of flexible structures poses a control challenge. The inherent flexibility in these lightly damped systems creates large undesirable residual vibrations in response to rapid excitations. Several control approaches have been proposed to tackle this class of problems, of which the input shaping technique is appealing in many aspects. While input shaping has been widely investigated to attenuate residual vibrations in flexible structures, less attention was granted to expand its viability in further applications. The aim of this work is to develop a methodology for applying input shaping techniques to suppress sloshing effects in open moving containers to facilitate safe and fast point-to-point movements. The liquid behavior is modeled using finite element analysis. The input shaper parameters are optimized to find the commands that would result in minimum residual vibration. Other objectives, such as improved robustness, and motion constraints such as deflection limiting are also addressed in the optimization scheme. Numerical results are verified on an experimental setup consisting of a small motor-driven water tank undergoing rectilinear motion, while measuring both the tank motion and free surface displacement of the water. The results obtained suggest that input shaping is an effective method for liquid slosh suppression.

A slowly moving foreground can capture an observer's self-motion--a report of a new motion illusion: inverted vection.

PubMed

Nakamura, S; Shimojo, S

2000-01-01

We investigated interactions between foreground and background stimuli during visually induced perception of self-motion (vection) by using a stimulus composed of orthogonally moving random-dot patterns. The results indicated that, when the foreground moves with a slower speed, a self-motion sensation with a component in the same direction as the foreground is induced. We named this novel component of self-motion perception 'inverted vection'. The robustness of inverted vection was confirmed using various measures of self-motion sensation and under different stimulus conditions. The mechanism underlying inverted vection is discussed with regard to potentially relevant factors, such as relative motion between the foreground and background, and the interaction between the mis-registration of eye-movement information and self-motion perception.

Robust tracking and quantification of C. elegans body shape and locomotion through coiling, entanglement, and omega bends

PubMed Central

Roussel, Nicolas; Sprenger, Jeff; Tappan, Susan J; Glaser, Jack R

2014-01-01

The behavior of the well-characterized nematode, Caenorhabditis elegans (C. elegans), is often used to study the neurologic control of sensory and motor systems in models of health and neurodegenerative disease. To advance the quantification of behaviors to match the progress made in the breakthroughs of genetics, RNA, proteins, and neuronal circuitry, analysis must be able to extract subtle changes in worm locomotion across a population. The analysis of worm crawling motion is complex due to self-overlap, coiling, and entanglement. Using current techniques, the scope of the analysis is typically restricted to worms to their non-occluded, uncoiled state which is incomplete and fundamentally biased. Using a model describing the worm shape and crawling motion, we designed a deformable shape estimation algorithm that is robust to coiling and entanglement. This model-based shape estimation algorithm has been incorporated into a framework where multiple worms can be automatically detected and tracked simultaneously throughout the entire video sequence, thereby increasing throughput as well as data validity. The newly developed algorithms were validated against 10 manually labeled datasets obtained from video sequences comprised of various image resolutions and video frame rates. The data presented demonstrate that tracking methods incorporated in WormLab enable stable and accurate detection of these worms through coiling and entanglement. Such challenging tracking scenarios are common occurrences during normal worm locomotion. The ability for the described approach to provide stable and accurate detection of C. elegans is critical to achieve unbiased locomotory analysis of worm motion. PMID:26435884

Introductory review on `Flying Triangulation': a motion-robust optical 3D measurement principle

NASA Astrophysics Data System (ADS)

Ettl, Svenja

2015-04-01

'Flying Triangulation' (FlyTri) is a recently developed principle which allows for a motion-robust optical 3D measurement of rough surfaces. It combines a simple sensor with sophisticated algorithms: a single-shot sensor acquires 2D camera images. From each camera image, a 3D profile is generated. The series of 3D profiles generated are aligned to one another by algorithms, without relying on any external tracking device. It delivers real-time feedback of the measurement process which enables an all-around measurement of objects. The principle has great potential for small-space acquisition environments, such as the measurement of the interior of a car, and motion-sensitive measurement tasks, such as the intraoral measurement of teeth. This article gives an overview of the basic ideas and applications of FlyTri. The main challenges and their solutions are discussed. Measurement examples are also given to demonstrate the potential of the measurement principle.

Vision-based localization for on-orbit servicing of a partially cooperative satellite

NASA Astrophysics Data System (ADS)

Oumer, Nassir W.; Panin, Giorgio; Mülbauer, Quirin; Tseneklidou, Anastasia

2015-12-01

This paper proposes ground-in-the-loop, model-based visual localization system based on transmitted images to ground, to aid rendezvous and docking maneuvers between a servicer and a target satellite. In particular, we assume to deal with a partially cooperative target, i.e. passive and without fiducial markers, but supposed at least to keep a controlled attitude, up to small fluctuations, so that the approach mainly involves translational motion. For the purpose of localization, video cameras provide an effective and relatively inexpensive solution, working at a wide range of distances with an increasing accuracy and robustness during the approach. However, illumination conditions in space are especially challenging, due to the direct sunlight exposure and to the glossy surface of a satellite, that creates strong reflections and saturations and therefore a high level of background clutter and missing detections. We employ a monocular camera for mid-range tracking (20 - 5 m) and stereo camera at close-range (5 - 0.5 m), with the respective detection and tracking methods, both using intensity edges and robustly dealing with the above issues. Our tracking system has been extensively verified at the facility of the European Proximity Operations Simulator (EPOS) of DLR, which is a very realistic ground simulation able to reproduce sunlight conditions through a high power floodlight source, satellite surface properties using multilayer insulation foils, as well as orbital motion trajectories with ground-truth data, by means of two 6 DOF industrial robots. Results from this large dataset show the effectiveness and robustness of our method against the above difficulties.

High cell density cultivation and recombinant protein production with Escherichia coli in a rocking-motion-type bioreactor

PubMed Central

2010-01-01

Background Single-use rocking-motion-type bag bioreactors provide advantages compared to standard stirred tank bioreactors by decreased contamination risks, reduction of cleaning and sterilization time, lower investment costs, and simple and cheaper validation. Currently, they are widely used for cell cultures although their use for small and medium scale production of recombinant proteins with microbial hosts might be very attractive. However, the utilization of rocking- or wave-induced motion-type bioreactors for fast growing aerobic microbes is limited because of their lower oxygen mass transfer rate. A conventional approach to reduce the oxygen demand of a culture is the fed-batch technology. New developments, such as the BIOSTAT® CultiBag RM system pave the way for applying advanced fed-batch control strategies also in rocking-motion-type bioreactors. Alternatively, internal substrate delivery systems such as EnBase® Flo provide an opportunity for adopting simple to use fed-batch-type strategies to shaken cultures. Here, we investigate the possibilities which both strategies offer in view of high cell density cultivation of E. coli and recombinant protein production. Results Cultivation of E. coli in the BIOSTAT® CultiBag RM system in a conventional batch mode without control yielded an optical density (OD600) of 3 to 4 which is comparable to shake flasks. The culture runs into oxygen limitation. In a glucose limited fed-batch culture with an exponential feed and oxygen pulsing, the culture grew fully aerobically to an OD600 of 60 (20 g L-1 cell dry weight). By the use of an internal controlled glucose delivery system, EnBase® Flo, OD600 of 30 (10 g L-1 cell dry weight) is obtained without the demand of computer controlled external nutrient supply. EnBase® Flo also worked well in the CultiBag RM system with a recombinant E. coli RB791 strain expressing a heterologous alcohol dehydrogenase (ADH) to very high levels, indicating that the enzyme based feed supply strategy functions well for recombinant protein production also in a rocking-motion-type bioreactor. Conclusions Rocking-motion-type bioreactors may provide an interesting alternative to standard cultivation in bioreactors for cultivation of bacteria and recombinant protein production. The BIOSTAT® Cultibag RM system with the single-use sensors and advanced control system paves the way for the fed-batch technology also to rocking-motion-type bioreactors. It is possible to reach cell densities which are far above shake flasks and typical for stirred tank reactors with the improved oxygen transfer rate. For more simple applications the EnBase® Flo method offers an easy and robust solution for rocking-motion-systems which do not have such advanced control possibilities. PMID:20509968

A multistage motion vector processing method for motion-compensated frame interpolation.

PubMed

Huang, Ai- Mei; Nguyen, Truong Q

2008-05-01

In this paper, a novel, low-complexity motion vector processing algorithm at the decoder is proposed for motion-compensated frame interpolation or frame rate up-conversion. We address the problems of having broken edges and deformed structures in an interpolated frame by hierarchically refining motion vectors on different block sizes. Our method explicitly considers the reliability of each received motion vector and has the capability of preserving the structure information. This is achieved by analyzing the distribution of residual energies and effectively merging blocks that have unreliable motion vectors. The motion vector reliability information is also used as a prior knowledge in motion vector refinement using a constrained vector median filter to avoid choosing identical unreliable one. We also propose using chrominance information in our method. Experimental results show that the proposed scheme has better visual quality and is also robust, even in video sequences with complex scenes and fast motion.

? observer-based decentralised fuzzy control design for nonlinear interconnected systems: an application to vehicle dynamics

NASA Astrophysics Data System (ADS)

Latrach, Chedia; Kchaou, Mourad; Guéguen, Hervé

2017-05-01

In this study, a decentralised output learning control strategy for a class of nonlinear interconnected systems is studied. Based on Takagi-Sugeno fuzzy (TS) model to approximate the considered interconnected nonlinear systems, a decentralised observer-based control scheme is designed to override the external disturbances such that the ? performance is achieved. The appealing attributes of this approach include: (1) the closed-loop system exhibits a robustness against nonlinear interconnections and external disturbance, (2) by one-step procedure, the gain matrices of observer and controller are obtained on a single step. In simulation results, the controller design is evaluated on the steering stability of a car where the nonlinear model describes the side slip, roll and yaw motions of the automotive vehicle equipped with four-wheel-steering and active suspension.

Cross-Coupled Control for All-Terrain Rovers

PubMed Central

Reina, Giulio

2013-01-01

Mobile robots are increasingly being used in challenging outdoor environments for applications that include construction, mining, agriculture, military and planetary exploration. In order to accomplish the planned task, it is critical that the motion control system ensure accuracy and robustness. The achievement of high performance on rough terrain is tightly connected with the minimization of vehicle-terrain dynamics effects such as slipping and skidding. This paper presents a cross-coupled controller for a 4-wheel-drive/4-wheel-steer robot, which optimizes the wheel motors' control algorithm to reduce synchronization errors that would otherwise result in wheel slip with conventional controllers. Experimental results, obtained with an all-terrain rover operating on agricultural terrain, are presented to validate the system. It is shown that the proposed approach is effective in reducing slippage and vehicle posture errors. PMID:23299625

Detecting Motion from a Moving Platform; Phase 2: Lightweight, Low Power Robust Means of Removing Image Jitter

DTIC Science & Technology

2011-11-01

common housefly , Musca domestica. “Lightweight, Low Power Robust Means of Removing Image Jitter,” (AFRL-RX-TY-TR-2011-0096-02) develops an optimal...biological vision system of the common housefly , Musca domestica. Several variations of this sensor were designed, simulated extensively, and hardware

Motion-robust intensity-modulated proton therapy for distal esophageal cancer.

PubMed

Yu, Jen; Zhang, Xiaodong; Liao, Li; Li, Heng; Zhu, Ronald; Park, Peter C; Sahoo, Narayan; Gillin, Michael; Li, Yupeng; Chang, Joe Y; Komaki, Ritsuko; Lin, Steven H

2016-03-01

To develop methods for evaluation and mitigation of dosimetric impact due to respiratory and diaphragmatic motion during free breathing in treatment of distal esophageal cancers using intensity-modulated proton therapy (IMPT). This was a retrospective study on 11 patients with distal esophageal cancer. For each patient, four-dimensional computed tomography (4D CT) data were acquired, and a nominal dose was calculated on the average phase of the 4D CT. The changes of water equivalent thickness (ΔWET) to cover the treatment volume from the peak of inspiration to the valley of expiration were calculated for a full range of beam angle rotation. Two IMPT plans were calculated: one at beam angles corresponding to small ΔWET and one at beam angles corresponding to large ΔWET. Four patients were selected for the calculation of 4D-robustness-optimized IMPT plans due to large motion-induced dose errors generated in conventional IMPT. To quantitatively evaluate motion-induced dose deviation, the authors calculated the lowest dose received by 95% (D95) of the internal clinical target volume for the nominal dose, the D95 calculated on the maximum inhale and exhale phases of 4D CT DCT0 andDCT50 , the 4D composite dose, and the 4D dynamic dose for a single fraction. The dose deviation increased with the average ΔWET of the implemented beams, ΔWETave. When ΔWETave was less than 5 mm, the dose error was less than 1 cobalt gray equivalent based on DCT0 and DCT50 . The dose deviation determined on the basis of DCT0 and DCT50 was proportionally larger than that determined on the basis of the 4D composite dose. The 4D-robustness-optimized IMPT plans notably reduced the overall dose deviation of multiple fractions and the dose deviation caused by the interplay effect in a single fraction. In IMPT for distal esophageal cancer, ΔWET analysis can be used to select the beam angles that are least affected by respiratory and diaphragmatic motion. To further reduce dose deviation, the 4D-robustness optimization can be implemented for IMPT planning. Calculation of DCT0 and DCT50 is a conservative method to estimate the motion-induced dose errors.

Adaptive cancellation of motion artifact in wearable biosensors.

PubMed

Yousefi, Rasoul; Nourani, Mehrdad; Panahi, Issa

2012-01-01

The performance of wearable biosensors is highly influenced by motion artifact. In this paper, a model is proposed for analysis of motion artifact in wearable photoplethysmography (PPG) sensors. Using this model, we proposed a robust real-time technique to estimate fundamental frequency and generate a noise reference signal. A Least Mean Square (LMS) adaptive noise canceler is then designed and validated using our synthetic noise generator. The analysis and results on proposed technique for noise cancellation shows promising performance.

Robust real-time extraction of respiratory signals from PET list-mode data.

PubMed

Salomon, Andre; Zhang, Bin; Olivier, Patrick; Goedicke, Andreas

2018-05-01

Respiratory motion, which typically cannot simply be suspended during PET image acquisition, affects lesions' detection and quantitative accuracy inside or in close vicinity to the lungs. Some motion compensation techniques address this issue via pre-sorting ("binning") of the acquired PET data into a set of temporal gates, where each gate is assumed to be minimally affected by respiratory motion. Tracking respiratory motion is typically realized using dedicated hardware (e.g. using respiratory belts and digital cameras). Extracting respiratory signalsdirectly from the acquired PET data simplifies the clinical workflow as it avoids to handle additional signal measurement equipment. We introduce a new data-driven method "Combined Local Motion Detection" (CLMD). It uses the Time-of-Flight (TOF) information provided by state-of-the-art PET scanners in order to enable real-time respiratory signal extraction without additional hardware resources. CLMD applies center-of-mass detection in overlapping regions based on simple back-positioned TOF event sets acquired in short time frames. Following a signal filtering and quality-based pre-selection step, the remaining extracted individual position information over time is then combined to generate a global respiratory signal. The method is evaluated using 7 measured FDG studies from single and multiple scan positions of the thorax region, and it is compared to other software-based methods regarding quantitative accuracy and statistical noise stability. Correlation coefficients around 90% between the reference and the extracted signal have been found for those PET scans where motion affected features such as tumors or hot regions were present in the PET field-of-view. For PET scans with a quarter of typically applied radiotracer doses, the CLMD method still provides similar high correlation coefficients which indicates its robustness to noise. Each CLMD processing needed less than 0.4s in total on a standard multi-core CPU and thus provides a robust and accurate approach enabling real-time processing capabilities using standard PC hardware. © 2018 Institute of Physics and Engineering in Medicine.

Robust real-time extraction of respiratory signals from PET list-mode data

NASA Astrophysics Data System (ADS)

Salomon, André; Zhang, Bin; Olivier, Patrick; Goedicke, Andreas

2018-06-01

Respiratory motion, which typically cannot simply be suspended during PET image acquisition, affects lesions’ detection and quantitative accuracy inside or in close vicinity to the lungs. Some motion compensation techniques address this issue via pre-sorting (‘binning’) of the acquired PET data into a set of temporal gates, where each gate is assumed to be minimally affected by respiratory motion. Tracking respiratory motion is typically realized using dedicated hardware (e.g. using respiratory belts and digital cameras). Extracting respiratory signals directly from the acquired PET data simplifies the clinical workflow as it avoids handling additional signal measurement equipment. We introduce a new data-driven method ‘combined local motion detection’ (CLMD). It uses the time-of-flight (TOF) information provided by state-of-the-art PET scanners in order to enable real-time respiratory signal extraction without additional hardware resources. CLMD applies center-of-mass detection in overlapping regions based on simple back-positioned TOF event sets acquired in short time frames. Following a signal filtering and quality-based pre-selection step, the remaining extracted individual position information over time is then combined to generate a global respiratory signal. The method is evaluated using seven measured FDG studies from single and multiple scan positions of the thorax region, and it is compared to other software-based methods regarding quantitative accuracy and statistical noise stability. Correlation coefficients around 90% between the reference and the extracted signal have been found for those PET scans where motion affected features such as tumors or hot regions were present in the PET field-of-view. For PET scans with a quarter of typically applied radiotracer doses, the CLMD method still provides similar high correlation coefficients which indicates its robustness to noise. Each CLMD processing needed less than 0.4 s in total on a standard multi-core CPU and thus provides a robust and accurate approach enabling real-time processing capabilities using standard PC hardware.

A real-time dynamic-MLC control algorithm for delivering IMRT to targets undergoing 2D rigid motion in the beam's eye view.

PubMed

McMahon, Ryan; Berbeco, Ross; Nishioka, Seiko; Ishikawa, Masayori; Papiez, Lech

2008-09-01

An MLC control algorithm for delivering intensity modulated radiation therapy (IMRT) to targets that are undergoing two-dimensional (2D) rigid motion in the beam's eye view (BEV) is presented. The goal of this method is to deliver 3D-derived fluence maps over a moving patient anatomy. Target motion measured prior to delivery is first used to design a set of planned dynamic-MLC (DMLC) sliding-window leaf trajectories. During actual delivery, the algorithm relies on real-time feedback to compensate for target motion that does not agree with the motion measured during planning. The methodology is based on an existing one-dimensional (ID) algorithm that uses on-the-fly intensity calculations to appropriately adjust the DMLC leaf trajectories in real-time during exposure delivery [McMahon et al., Med. Phys. 34, 3211-3223 (2007)]. To extend the 1D algorithm's application to 2D target motion, a real-time leaf-pair shifting mechanism has been developed. Target motion that is orthogonal to leaf travel is tracked by appropriately shifting the positions of all MLC leaves. The performance of the tracking algorithm was tested for a single beam of a fractionated IMRT treatment, using a clinically derived intensity profile and a 2D target trajectory based on measured patient data. Comparisons were made between 2D tracking, 1D tracking, and no tracking. The impact of the tracking lag time and the frequency of real-time imaging were investigated. A study of the dependence of the algorithm's performance on the level of agreement between the motion measured during planning and delivery was also included. Results demonstrated that tracking both components of the 2D motion (i.e., parallel and orthogonal to leaf travel) results in delivered fluence profiles that are superior to those that track the component of motion that is parallel to leaf travel alone. Tracking lag time effects may lead to relatively large intensity delivery errors compared to the other sources of error investigated. However, the algorithm presented is robust in the sense that it does not rely on a high level of agreement between the target motion measured during treatment planning and delivery.

Parametric Study of Flow Patterns behind the Standing Accretion Shock Wave for Core-Collapse Supernovae

NASA Astrophysics Data System (ADS)

Iwakami, Wakana; Nagakura, Hiroki; Yamada, Shoichi

2014-05-01

In this study, we conduct three-dimensional hydrodynamic simulations systematically to investigate the flow patterns behind the accretion shock waves that are commonly formed in the post-bounce phase of core-collapse supernovae. Adding small perturbations to spherically symmetric, steady, shocked accretion flows, we compute the subsequent evolutions to find what flow pattern emerges as a consequence of hydrodynamical instabilities such as convection and standing accretion shock instability for different neutrino luminosities and mass accretion rates. Depending on these two controlling parameters, various flow patterns are indeed realized. We classify them into three basic patterns and two intermediate ones; the former includes sloshing motion (SL), spiral motion (SP), and multiple buoyant bubble formation (BB); the latter consists of spiral motion with buoyant-bubble formation (SPB) and spiral motion with pulsationally changing rotational velocities (SPP). Although the post-shock flow is highly chaotic, there is a clear trend in the pattern realization. The sloshing and spiral motions tend to be dominant for high accretion rates and low neutrino luminosities, and multiple buoyant bubbles prevail for low accretion rates and high neutrino luminosities. It is interesting that the dominant pattern is not always identical between the semi-nonlinear and nonlinear phases near the critical luminosity; the intermediate cases are realized in the latter case. Running several simulations with different random perturbations, we confirm that the realization of flow pattern is robust in most cases.

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

NASA Astrophysics Data System (ADS)

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

2015-08-01

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

Passive dynamics is a good basis for robot design and control, not!

NASA Astrophysics Data System (ADS)

Ruina, Andy

Many airplanes can, or nearly can, glide stably without control. So, it seems natural that the first successful powered flight followed from mastery of gliding. Many bicycles can, or nearly can, balance themselves when in motion. Bicycle design seems to have evolved to gain this feature. Also, we can make toys and 'robots' that, like a stable glider or coasting bicycle, stably walk without motors or control in a remarkably human-like way. Again, it seems to make sense to use `passive-dynamics' as a core for developing the control of walking robots and to gain understanding of the control of walking people. That's what I used to think. But, so far, this has not led to robust walking robots. What about human evolution? We didn't evolve dynamic bodies and then learn to control them. Rather, people had elaborate control systems way back when we were fish and even worms. However: if control is paramount, why is it that uncontrolled passive-dynamic walkers walk so much like humans? It seems that energy optimal, yet robust, control, perhaps a proxy for evolutionary development, arrives at solutions that have some features in common with passive-dynamics. Rather than thinking of good powered walking as passive walking with a small amount of control added, I now think of good powered walking, human or robotic, as highly controlled, while optimized for, in part, minimal actuator use. Thus, much of the motor effort, always at the ready, is usually titrated out.

Relative position control design of receiver UAV in flying-boom aerial refueling phase.

PubMed

An, Shuai; Yuan, Suozhong

2018-02-01

This paper proposes the design of the relative position-keeping control of the receiver unmanned aerial vehicle (UAV) with the time-varying mass in the refueling phase utilizing an inner-outer loop structure. Firstly, the model of the receiver in the refueling phase is established. And then tank model is set up to analyze the influence of fuel transfer on the receiver. Subsequently, double power reaching law based sliding mode controller is designed to control receiver translational motion relative to tanker aircraft in the outer loop while active disturbance rejection control technique is applied to the inner loop to stabilize the receiver. In addition, the closed-loop stabilities of the subsystems are established, respectively. Finally, an aerial refueling model under various refueling strategies is utilized. Simulations and comparative analysis demonstrate the effectiveness and robustness of the proposed controllers. Copyright © 2017 ISA. Published by Elsevier Ltd. All rights reserved.

Autorotation flight control system

NASA Technical Reports Server (NTRS)

Bachelder, Edward N. (Inventor); Aponso, Bimal L. (Inventor); Lee, Dong-Chan (Inventor)

2011-01-01

The present invention provides computer implemented methodology that permits the safe landing and recovery of rotorcraft following engine failure. With this invention successful autorotations may be performed from well within the unsafe operating area of the height-velocity profile of a helicopter by employing the fast and robust real-time trajectory optimization algorithm that commands control motion through an intuitive pilot display, or directly in the case of autonomous rotorcraft. The algorithm generates optimal trajectories and control commands via the direct-collocation optimization method, solved using a nonlinear programming problem solver. The control inputs computed are collective pitch and aircraft pitch, which are easily tracked and manipulated by the pilot or converted to control actuator commands for automated operation during autorotation in the case of an autonomous rotorcraft. The formulation of the optimal control problem has been carefully tailored so the solutions resemble those of an expert pilot, accounting for the performance limitations of the rotorcraft and safety concerns.

Information fusion performance evaluation for motion imagery data using mutual information: initial study

NASA Astrophysics Data System (ADS)

Grieggs, Samuel M.; McLaughlin, Michael J.; Ezekiel, Soundararajan; Blasch, Erik

2015-06-01

As technology and internet use grows at an exponential rate, video and imagery data is becoming increasingly important. Various techniques such as Wide Area Motion imagery (WAMI), Full Motion Video (FMV), and Hyperspectral Imaging (HSI) are used to collect motion data and extract relevant information. Detecting and identifying a particular object in imagery data is an important step in understanding visual imagery, such as content-based image retrieval (CBIR). Imagery data is segmented and automatically analyzed and stored in dynamic and robust database. In our system, we seek utilize image fusion methods which require quality metrics. Many Image Fusion (IF) algorithms have been proposed based on different, but only a few metrics, used to evaluate the performance of these algorithms. In this paper, we seek a robust, objective metric to evaluate the performance of IF algorithms which compares the outcome of a given algorithm to ground truth and reports several types of errors. Given the ground truth of a motion imagery data, it will compute detection failure, false alarm, precision and recall metrics, background and foreground regions statistics, as well as split and merge of foreground regions. Using the Structural Similarity Index (SSIM), Mutual Information (MI), and entropy metrics; experimental results demonstrate the effectiveness of the proposed methodology for object detection, activity exploitation, and CBIR.

Illusory object motion in the centre of a radial pattern: The Pursuit-Pursuing illusion.

PubMed

Ito, Hiroyuki

2012-01-01

A circular object placed in the centre of a radial pattern consisting of thin sectors was found to cause a robust motion illusion. During eye-movement pursuit of a moving target, the presently described stimulus produced illusory background-object motion in the same direction as that of the eye movement. In addition, the display induced illusory stationary perception of a moving object against the whole display motion. In seven experiments, the characteristics of the illusion were examined in terms of luminance relationships and figural characteristics of the radial pattern. Some potential explanations for these findings are discussed.

Numerical Algorithms for Acoustic Integrals - The Devil is in the Details

NASA Technical Reports Server (NTRS)

Brentner, Kenneth S.

1996-01-01

The accurate prediction of the aeroacoustic field generated by aerospace vehicles or nonaerospace machinery is necessary for designers to control and reduce source noise. Powerful computational aeroacoustic methods, based on various acoustic analogies (primarily the Lighthill acoustic analogy) and Kirchhoff methods, have been developed for prediction of noise from complicated sources, such as rotating blades. Both methods ultimately predict the noise through a numerical evaluation of an integral formulation. In this paper, we consider three generic acoustic formulations and several numerical algorithms that have been used to compute the solutions to these formulations. Algorithms for retarded-time formulations are the most efficient and robust, but they are difficult to implement for supersonic-source motion. Collapsing-sphere and emission-surface formulations are good alternatives when supersonic-source motion is present, but the numerical implementations of these formulations are more computationally demanding. New algorithms - which utilize solution adaptation to provide a specified error level - are needed.

Photogated humidity-driven motility

PubMed Central

Zhang, Lidong; Liang, Haoran; Jacob, Jolly; Naumov, Panče

2015-01-01

Hygroinduced motion is a fundamental process of energy conversion that is essential for applications that require contactless actuation in response to the day–night rhythm of atmospheric humidity. Here we demonstrate that mechanical bistability caused by rapid and anisotropic adsorption and desorption of water vapour by a flexible dynamic element that harnesses the chemical potential across very small humidity gradients for perpetual motion can be effectively modulated with light. A mechanically robust material capable of rapid exchange of water with the surroundings is prepared that undergoes swift locomotion in effect to periodic shape reconfiguration with turnover frequency of <150 min−1. The element can lift objects ∼85 times heavier and can transport cargos ∼20 times heavier than itself. Having an azobenzene-containing conjugate as a photoactive dopant, this entirely humidity-driven self-actuation can be controlled remotely with ultraviolet light, thus setting a platform for next-generation smart biomimetic hybrids. PMID:26067649

Photogated humidity-driven motility.

PubMed

Zhang, Lidong; Liang, Haoran; Jacob, Jolly; Naumov, Panče

2015-06-11

Hygroinduced motion is a fundamental process of energy conversion that is essential for applications that require contactless actuation in response to the day-night rhythm of atmospheric humidity. Here we demonstrate that mechanical bistability caused by rapid and anisotropic adsorption and desorption of water vapour by a flexible dynamic element that harnesses the chemical potential across very small humidity gradients for perpetual motion can be effectively modulated with light. A mechanically robust material capable of rapid exchange of water with the surroundings is prepared that undergoes swift locomotion in effect to periodic shape reconfiguration with turnover frequency of <150 min(-1). The element can lift objects ∼85 times heavier and can transport cargos ∼20 times heavier than itself. Having an azobenzene-containing conjugate as a photoactive dopant, this entirely humidity-driven self-actuation can be controlled remotely with ultraviolet light, thus setting a platform for next-generation smart biomimetic hybrids.

Photogated humidity-driven motility

NASA Astrophysics Data System (ADS)

Zhang, Lidong; Liang, Haoran; Jacob, Jolly; Naumov, Panče

2015-06-01

Hygroinduced motion is a fundamental process of energy conversion that is essential for applications that require contactless actuation in response to the day-night rhythm of atmospheric humidity. Here we demonstrate that mechanical bistability caused by rapid and anisotropic adsorption and desorption of water vapour by a flexible dynamic element that harnesses the chemical potential across very small humidity gradients for perpetual motion can be effectively modulated with light. A mechanically robust material capable of rapid exchange of water with the surroundings is prepared that undergoes swift locomotion in effect to periodic shape reconfiguration with turnover frequency of <150 min-1. The element can lift objects ~85 times heavier and can transport cargos ~20 times heavier than itself. Having an azobenzene-containing conjugate as a photoactive dopant, this entirely humidity-driven self-actuation can be controlled remotely with ultraviolet light, thus setting a platform for next-generation smart biomimetic hybrids.

Predesigned surface patterns and topological defects control the active matter.

NASA Astrophysics Data System (ADS)

Turiv, Taras; Peng, Chenhui; Guo, Yubing; Wei, Qi-Huo; Lavrentovich, Oleg

Active matter exhibits remarkable patterns of never-ending dynamics with giant fluctuations of concentration, varying order, nucleating and annihilating topological defects. These patterns can be seen in active systems of both biological and artificial origin. A fundamental question is whether and how one can control this chaotic out-of-equilibrium behavior. We demonstrate a robust control of local concentration, trajectories of active self-propelled units and the net flows of active bacteria Bacillus Substilis by imposing pre-designed surface patterns of orientational order in a water-based lyotropic chromonic liquid crystal. The patterns force the bacteria to gather into dynamic swarms with spatially modulated concentration and well-defined polarity of motion. Topological defects produce net motion of bacteria with a unidirectional circulation, while pairs of defects induce a pumping action. The qualitative features of the dynamics can be explained by interplay of curvature and activity, in particular, by ability of mixed splay-bend curvatures to generate threshold-less active flows. The demonstrated level of control opens opportunities in engineering materials and devices that mimic rich functionality of living systems. This work was supported by NSF Grants DMR-1507637, DMS-1434185, CMMI-1436565, by the Petroleum Research Grant PRF# 56046-ND7 administered by the American Chemical Society.

Aircraft applications of fault detection and isolation techniques

NASA Astrophysics Data System (ADS)

Marcos Esteban, Andres

In this thesis the problems of fault detection & isolation and fault tolerant systems are studied from the perspective of LTI frequency-domain, model-based techniques. Emphasis is placed on the applicability of these LTI techniques to nonlinear models, especially to aerospace systems. Two applications of Hinfinity LTI fault diagnosis are given using an open-loop (no controller) design approach: one for the longitudinal motion of a Boeing 747-100/200 aircraft, the other for a turbofan jet engine. An algorithm formalizing a robust identification approach based on model validation ideas is also given and applied to the previous jet engine. A general linear fractional transformation formulation is given in terms of the Youla and Dual Youla parameterizations for the integrated (control and diagnosis filter) approach. This formulation provides better insight into the trade-off between the control and the diagnosis objectives. It also provides the basic groundwork towards the development of nested schemes for the integrated approach. These nested structures allow iterative improvements on the control/filter Youla parameters based on successive identification of the system uncertainty (as given by the Dual Youla parameter). The thesis concludes with an application of Hinfinity LTI techniques to the integrated design for the longitudinal motion of the previous Boeing 747-100/200 model.

Inertial navigation sensor integrated motion analysis for autonomous vehicle navigation

NASA Technical Reports Server (NTRS)

Roberts, Barry; Bhanu, Bir

1992-01-01

Recent work on INS integrated motion analysis is described. Results were obtained with a maximally passive system of obstacle detection (OD) for ground-based vehicles and rotorcraft. The OD approach involves motion analysis of imagery acquired by a passive sensor in the course of vehicle travel to generate range measurements to world points within the sensor FOV. INS data and scene analysis results are used to enhance interest point selection, the matching of the interest points, and the subsequent motion-based computations, tracking, and OD. The most important lesson learned from the research described here is that the incorporation of inertial data into the motion analysis program greatly improves the analysis and makes the process more robust.

Human voluntary activity integration in the control of a standing-up rehabilitation robot: a simulation study.

PubMed

Kamnik, Roman; Bajd, Tadej

2007-11-01

The paper presents a novel control approach for the robot-assisted motion augmentation of disabled subjects during the standing-up manoeuvre. The main goal of the proposal is to integrate the voluntary activity of a person in the control scheme of the rehabilitation robot. The algorithm determines the supportive force to be tracked by a robot force controller. The basic idea behind the calculation of supportive force is to quantify the deficit in the dynamic equilibrium of the trunk. The proposed algorithm was implemented as a Kalman filter procedure and evaluated in a simulation environment. The simulation results proved the adequate and robust performance of "patient-driven" robot-assisted standing-up training. In addition, the possibility of varying the training conditions with different degrees of the subject's initiative is demonstrated.

Basic mechanisms in the laser control of non-Markovian dynamics

NASA Astrophysics Data System (ADS)

Puthumpally-Joseph, R.; Mangaud, E.; Chevet, V.; Desouter-Lecomte, M.; Sugny, D.; Atabek, O.

2018-03-01

Referring to a Fano-type model qualitative analogy we develop a comprehensive basic mechanism for the laser control of the non-Markovian bath response and fully implement it in a realistic control scheme, in strongly coupled open quantum systems. Converged hierarchical equations of motion are worked out to numerically solve the master equation of a spin-boson Hamiltonian to reach the reduced electronic density matrix of a heterojunction in the presence of strong terahertz laser pulses. Robust and efficient control is achieved increasing by a factor of 2 the non-Markovianity measured by the time evolution of the volume of accessible states. The consequences of such fields on the central system populations and coherence are examined, putting the emphasis on the relation between the increase of non-Markovianity and the slowing down of decoherence processes.

Biologically-Inspired Control for a Planetary Exploration Tensegrity Robot

NASA Technical Reports Server (NTRS)

Leroy, Marc

2017-01-01

Tensegrity structures are becoming increasingly popular as mechanical structures for robots. Their inherent compliance makes them extremely robust to environmental disturbances, and their design allows them to have a high strength-to-weight ratio whilst being lightweight compared to traditional robots. For these reasons they would be of interest to the aerospace industry, particularly for planetary exploration. However, being such compliant structures thanks to their network of elastic elements also means that their control is not an easy task. Relying solely on traditional control strategies to generate efficient locomotion would surely be near impossible due to the complex oscillatory motions and nonlinear interactions of its members. The goal of this project was to use bio-inspired control techniques to generate locomotion for a tensegrity icosahedron, namely the SUPERball project of the Intelligent Robotics Group of NASA Ames Research Center.

Motion-compensated optical coherence tomography using envelope-based surface detection and Kalman-based prediction

NASA Astrophysics Data System (ADS)

Irsch, Kristina; Lee, Soohyun; Bose, Sanjukta N.; Kang, Jin U.

2018-02-01

We present an optical coherence tomography (OCT) imaging system that effectively compensates unwanted axial motion with micron-scale accuracy. The OCT system is based on a swept-source (SS) engine (1060-nm center wavelength, 100-nm full-width sweeping bandwidth, and 100-kHz repetition rate), with axial and lateral resolutions of about 4.5 and 8.5 microns respectively. The SS-OCT system incorporates a distance sensing method utilizing an envelope-based surface detection algorithm. The algorithm locates the target surface from the B-scans, taking into account not just the first or highest peak but the entire signature of sequential A-scans. Subsequently, a Kalman filter is applied as predictor to make up for system latencies, before sending the calculated position information to control a linear motor, adjusting and maintaining a fixed system-target distance. To test system performance, the motioncorrection algorithm was compared to earlier, more basic peak-based surface detection methods and to performing no motion compensation. Results demonstrate increased robustness and reproducibility, particularly noticeable in multilayered tissues, while utilizing the novel technique. Implementing such motion compensation into clinical OCT systems may thus improve the reliability of objective and quantitative information that can be extracted from OCT measurements.

Predicting 2D target velocity cannot help 2D motion integration for smooth pursuit initiation.

PubMed

Montagnini, Anna; Spering, Miriam; Masson, Guillaume S

2006-12-01

Smooth pursuit eye movements reflect the temporal dynamics of bidimensional (2D) visual motion integration. When tracking a single, tilted line, initial pursuit direction is biased toward unidimensional (1D) edge motion signals, which are orthogonal to the line orientation. Over 200 ms, tracking direction is slowly corrected to finally match the 2D object motion during steady-state pursuit. We now show that repetition of line orientation and/or motion direction does not eliminate the transient tracking direction error nor change the time course of pursuit correction. Nonetheless, multiple successive presentations of a single orientation/direction condition elicit robust anticipatory pursuit eye movements that always go in the 2D object motion direction not the 1D edge motion direction. These results demonstrate that predictive signals about target motion cannot be used for an efficient integration of ambiguous velocity signals at pursuit initiation.

Robust dynamic 3-D measurements with motion-compensated phase-shifting profilometry

NASA Astrophysics Data System (ADS)

Feng, Shijie; Zuo, Chao; Tao, Tianyang; Hu, Yan; Zhang, Minliang; Chen, Qian; Gu, Guohua

2018-04-01

Phase-shifting profilometry (PSP) is a widely used approach to high-accuracy three-dimensional shape measurements. However, when it comes to moving objects, phase errors induced by the movement often result in severe artifacts even though a high-speed camera is in use. From our observations, there are three kinds of motion artifacts: motion ripples, motion-induced phase unwrapping errors, and motion outliers. We present a novel motion-compensated PSP to remove the artifacts for dynamic measurements of rigid objects. The phase error of motion ripples is analyzed for the N-step phase-shifting algorithm and is compensated using the statistical nature of the fringes. The phase unwrapping errors are corrected exploiting adjacent reliable pixels, and the outliers are removed by comparing the original phase map with a smoothed phase map. Compared with the three-step PSP, our method can improve the accuracy by more than 95% for objects in motion.

Sleep Deprivation in Pigeons and Rats Using Motion Detection

PubMed Central

Newman, Sarah M.; Paletz, Elliott M.; Obermeyer, William H.; Benca, Ruth M.

2009-01-01

Study Objectives: Forced sleep deprivation results in substantial behavioral and physiologic effects in mammals. The disk-over-water (DOW) method produces a syndrome characterized by increased energy expenditure and a robust preferentially rapid-eye-movement sleep rebound upon recovery or eventual death after several weeks of sleep deprivation. The DOW has been used successfully only in rats. This paper presents a method to enforce long-term controlled sleep deprivation across species and to compare its effects in rats and pigeons. Design and Intervention: A conveyor was substituted for the DOW disk. Behavior rather than electroencephalography was used to trigger arousal stimuli, as in gentle-handling deprivation. Rats and pigeons were deprived using this apparatus, and the were compared with each other and with published reports. Measurements and Results: The physiologic consequences and recovery sleep in rats were like those published for DOW rats. Magnitude of sleep loss and recovery patterns in pigeons were similar to those seen in rats, but expected symptoms of the sleep deprivation syndrome were absent in pigeons. The use of a motion trigger allowed us to measure and, thus, to assess the quality and impact of the procedure. Conclusion: Prolonged and controlled sleep deprivation can be enforced using automated motion detection and a conveyor-over-water system. Pigeons and rats, deprived of sleep to the same extent, showed similar patterns of recovery sleep, but pigeons did not exhibit the hyperphagia, weight loss, and debilitation seen in rats. Citation: Newman SM; Paletz EM; Obermeyer WH; Benca RM. Sleep Deprivation In Pigeons And Rats Using Motion Detection. SLEEP 2009;32(10):1299-1312. PMID:19848359

Optimized respiratory-resolved motion-compensated 3D Cartesian coronary MR angiography.

PubMed

Correia, Teresa; Ginami, Giulia; Cruz, Gastão; Neji, Radhouene; Rashid, Imran; Botnar, René M; Prieto, Claudia

2018-04-22

To develop a robust and efficient reconstruction framework that provides high-quality motion-compensated respiratory-resolved images from free-breathing 3D whole-heart Cartesian coronary magnetic resonance angiography (CMRA) acquisitions. Recently, XD-GRASP (eXtra-Dimensional Golden-angle RAdial Sparse Parallel MRI) was proposed to achieve 100% scan efficiency and provide respiratory-resolved 3D radial CMRA images by exploiting sparsity in the respiratory dimension. Here, a reconstruction framework for Cartesian CMRA imaging is proposed, which provides respiratory-resolved motion-compensated images by incorporating 2D beat-to-beat translational motion information to increase sparsity in the respiratory dimension. The motion information is extracted from interleaved image navigators and is also used to compensate for 2D translational motion within each respiratory phase. The proposed Optimized Respiratory-resolved Cartesian Coronary MR Angiography (XD-ORCCA) method was tested on 10 healthy subjects and 2 patients with cardiovascular disease, and compared against XD-GRASP. The proposed XD-ORCCA provides high-quality respiratory-resolved images, allowing clear visualization of the right and left coronary arteries, even for irregular breathing patterns. Compared with XD-GRASP, the proposed method improves the visibility and sharpness of both coronaries. Significant differences (p < .05) in visible vessel length and proximal vessel sharpness were found between the 2 methods. The XD-GRASP method provides good-quality images in the absence of intraphase motion. However, motion blurring is observed in XD-GRASP images for respiratory phases with larger motion amplitudes and subjects with irregular breathing patterns. A robust respiratory-resolved motion-compensated framework for Cartesian CMRA has been proposed and tested in healthy subjects and patients. The proposed XD-ORCCA provides high-quality images for all respiratory phases, independently of the regularity of the breathing pattern. © 2018 The Authors Magnetic Resonance in Medicine published by Wiley Periodicals, Inc. on behalf of International Society for Magnetic Resonance in Medicine.

Correlation-based motion vector processing with adaptive interpolation scheme for motion-compensated frame interpolation.

PubMed

Huang, Ai-Mei; Nguyen, Truong

2009-04-01

In this paper, we address the problems of unreliable motion vectors that cause visual artifacts but cannot be detected by high residual energy or bidirectional prediction difference in motion-compensated frame interpolation. A correlation-based motion vector processing method is proposed to detect and correct those unreliable motion vectors by explicitly considering motion vector correlation in the motion vector reliability classification, motion vector correction, and frame interpolation stages. Since our method gradually corrects unreliable motion vectors based on their reliability, we can effectively discover the areas where no motion is reliable to be used, such as occlusions and deformed structures. We also propose an adaptive frame interpolation scheme for the occlusion areas based on the analysis of their surrounding motion distribution. As a result, the interpolated frames using the proposed scheme have clearer structure edges and ghost artifacts are also greatly reduced. Experimental results show that our interpolated results have better visual quality than other methods. In addition, the proposed scheme is robust even for those video sequences that contain multiple and fast motions.

Robust motion artefact resistant circuit for calculation of Mean Arterial Pressure from pulse transit time.

PubMed

Bhattacharya, Tinish; Gupta, Ankesh; Singh, Salam ThoiThoi; Roy, Sitikantha; Prasad, Anamika

2017-07-01

Cuff-less and non-invasive methods of Blood Pressure (BP) monitoring have faced a lot of challenges like stability, noise, motion artefact and requirement for calibration. These factors are the major reasons why such devices do not get approval from the medical community easily. One such method is calculating Blood Pressure indirectly from pulse transit time (PTT) obtained from electrocardiogram (ECG) and Photoplethysmogram (PPG). In this paper we have proposed two novel analog signal conditioning circuits for ECG and PPG that increase stability, remove motion artefacts, remove the sinusoidal wavering of the ECG baseline due to respiration and provide consistent digital pulses corresponding to blood pulses/heart-beat. We have combined these two systems to obtain the PTT and then correlated it with the Mean Arterial Pressure (MAP). The aim was to perform major part of the processing in analog domain to decrease processing load over microcontroller so as to reduce cost and make it simple and robust. We have found from our experiments that the proposed circuits can calculate the Heart Rate (HR) with a maximum error of ~3.0% and MAP with a maximum error of ~2.4% at rest and ~4.6% in motion.

Multiframe video coding for improved performance over wireless channels.

PubMed

Budagavi, M; Gibson, J D

2001-01-01

We propose and evaluate a multi-frame extension to block motion compensation (BMC) coding of videoconferencing-type video signals for wireless channels. The multi-frame BMC (MF-BMC) coder makes use of the redundancy that exists across multiple frames in typical videoconferencing sequences to achieve additional compression over that obtained by using the single frame BMC (SF-BMC) approach, such as in the base-level H.263 codec. The MF-BMC approach also has an inherent ability of overcoming some transmission errors and is thus more robust when compared to the SF-BMC approach. We model the error propagation process in MF-BMC coding as a multiple Markov chain and use Markov chain analysis to infer that the use of multiple frames in motion compensation increases robustness. The Markov chain analysis is also used to devise a simple scheme which randomizes the selection of the frame (amongst the multiple previous frames) used in BMC to achieve additional robustness. The MF-BMC coders proposed are a multi-frame extension of the base level H.263 coder and are found to be more robust than the base level H.263 coder when subjected to simulated errors commonly encountered on wireless channels.

Robust 2-Qubit Gates in a Linear Ion Crystal Using a Frequency-Modulated Driving Force

NASA Astrophysics Data System (ADS)

Leung, Pak Hong; Landsman, Kevin A.; Figgatt, Caroline; Linke, Norbert M.; Monroe, Christopher; Brown, Kenneth R.

2018-01-01

In an ion trap quantum computer, collective motional modes are used to entangle two or more qubits in order to execute multiqubit logical gates. Any residual entanglement between the internal and motional states of the ions results in loss of fidelity, especially when there are many spectator ions in the crystal. We propose using a frequency-modulated driving force to minimize such errors. In simulation, we obtained an optimized frequency-modulated 2-qubit gate that can suppress errors to less than 0.01% and is robust against frequency drifts over ±1 kHz . Experimentally, we have obtained a 2-qubit gate fidelity of 98.3(4)%, a state-of-the-art result for 2-qubit gates with five ions.

Robustness analysis of elastoplastic structure subjected to double impulse

NASA Astrophysics Data System (ADS)

Kanno, Yoshihiro; Takewaki, Izuru

2016-11-01

The double impulse has extensively been used to evaluate the critical response of an elastoplastic structure against a pulse-type input, including near-fault earthquake ground motions. In this paper, we propose a robustness assessment method for elastoplastic single-degree-of-freedom structures subjected to the double impulse input. Uncertainties in the initial velocity of the input, as well as the natural frequency and the strength of the structure, are considered. As fundamental properties of the structural robustness, we show monotonicity of the robustness measure with respect to the natural frequency. In contrast, we show that robustness is not necessarily improved even if the structural strength is increased. Moreover, the robustness preference between two structures with different values of structural strength can possibly reverse when the performance requirement is changed.

A Robust Camera-Based Interface for Mobile Entertainment

PubMed Central

Roig-Maimó, Maria Francesca; Manresa-Yee, Cristina; Varona, Javier

2016-01-01

Camera-based interfaces in mobile devices are starting to be used in games and apps, but few works have evaluated them in terms of usability or user perception. Due to the changing nature of mobile contexts, this evaluation requires extensive studies to consider the full spectrum of potential users and contexts. However, previous works usually evaluate these interfaces in controlled environments such as laboratory conditions, therefore, the findings cannot be generalized to real users and real contexts. In this work, we present a robust camera-based interface for mobile entertainment. The interface detects and tracks the user’s head by processing the frames provided by the mobile device’s front camera, and its position is then used to interact with the mobile apps. First, we evaluate the interface as a pointing device to study its accuracy, and different factors to configure such as the gain or the device’s orientation, as well as the optimal target size for the interface. Second, we present an in the wild study to evaluate the usage and the user’s perception when playing a game controlled by head motion. Finally, the game is published in an application store to make it available to a large number of potential users and contexts and we register usage data. Results show the feasibility of using this robust camera-based interface for mobile entertainment in different contexts and by different people. PMID:26907288

Illusory object motion in the centre of a radial pattern: The Pursuit–Pursuing illusion

PubMed Central

Ito, Hiroyuki

2012-01-01

A circular object placed in the centre of a radial pattern consisting of thin sectors was found to cause a robust motion illusion. During eye-movement pursuit of a moving target, the presently described stimulus produced illusory background-object motion in the same direction as that of the eye movement. In addition, the display induced illusory stationary perception of a moving object against the whole display motion. In seven experiments, the characteristics of the illusion were examined in terms of luminance relationships and figural characteristics of the radial pattern. Some potential explanations for these findings are discussed. PMID:23145267

Adaptive vehicle motion estimation and prediction

NASA Astrophysics Data System (ADS)

Zhao, Liang; Thorpe, Chuck E.

1999-01-01

Accurate motion estimation and reliable maneuver prediction enable an automated car to react quickly and correctly to the rapid maneuvers of the other vehicles, and so allow safe and efficient navigation. In this paper, we present a car tracking system which provides motion estimation, maneuver prediction and detection of the tracked car. The three strategies employed - adaptive motion modeling, adaptive data sampling, and adaptive model switching probabilities - result in an adaptive interacting multiple model algorithm (AIMM). The experimental results on simulated and real data demonstrate that our tracking system is reliable, flexible, and robust. The adaptive tracking makes the system intelligent and useful in various autonomous driving tasks.

Mobile Motion Capture--MiMiC.

PubMed

Harbert, Simeon D; Jaiswal, Tushar; Harley, Linda R; Vaughn, Tyler W; Baranak, Andrew S

2013-01-01

The low cost, simple, robust, mobile, and easy to use Mobile Motion Capture (MiMiC) system is presented and the constraints which guided the design of MiMiC are discussed. The MiMiC Android application allows motion data to be captured from kinematic modules such as Shimmer 2r sensors over Bluetooth. MiMiC is cost effective and can be used for an entire day in a person's daily routine without being intrusive. MiMiC is a flexible motion capture system which can be used for many applications including fall detection, detection of fatigue in industry workers, and analysis of individuals' work patterns in various environments.

Pilot-in-the-Loop Analysis of Propulsive-Only Flight Control Systems

NASA Technical Reports Server (NTRS)

Chou, Hwei-Lan; Biezad, Daniel J.

1996-01-01

Longitudinal control system architectures are presented which directly couple flight stick motions to throttle commands for a multi-engine aircraft. This coupling enables positive attitude control with complete failure of the flight control system. The architectures chosen vary from simple feedback gains to classical lead-lag compensators with and without prefilters. Each architecture is reviewed for its appropriateness for piloted flight. The control systems are then analyzed with pilot-in-the-loop metrics related to bandwidth required for landing. Results indicate that current and proposed bandwidth requirements should be modified for throttles only flight control. Pilot ratings consistently showed better ratings than predicted by analysis. Recommendations are made for more robust design and implementation. The use of Quantitative Feedback Theory for compensator design is discussed. Although simple and effective augmented control can be achieved in a wide variety of failed configurations, a few configuration characteristics are dominant for pilot-in-the-loop control. These characteristics will be tested in a simulator study involving failed flight controls for a multi-engine aircraft.

Example-based human motion denoising.

PubMed

Lou, Hui; Chai, Jinxiang

2010-01-01

With the proliferation of motion capture data, interest in removing noise and outliers from motion capture data has increased. In this paper, we introduce an efficient human motion denoising technique for the simultaneous removal of noise and outliers from input human motion data. The key idea of our approach is to learn a series of filter bases from precaptured motion data and use them along with robust statistics techniques to filter noisy motion data. Mathematically, we formulate the motion denoising process in a nonlinear optimization framework. The objective function measures the distance between the noisy input and the filtered motion in addition to how well the filtered motion preserves spatial-temporal patterns embedded in captured human motion data. Optimizing the objective function produces an optimal filtered motion that keeps spatial-temporal patterns in captured motion data. We also extend the algorithm to fill in the missing values in input motion data. We demonstrate the effectiveness of our system by experimenting with both real and simulated motion data. We also show the superior performance of our algorithm by comparing it with three baseline algorithms and to those in state-of-art motion capture data processing software such as Vicon Blade.

Quantum acoustics with superconducting qubits

NASA Astrophysics Data System (ADS)

Chu, Yiwen; Kharel, Prashanta; Renninger, William H.; Burkhart, Luke D.; Frunzio, Luigi; Rakich, Peter T.; Schoelkopf, Robert J.

2017-10-01

Mechanical objects have important practical applications in the fields of quantum information and metrology as quantum memories or transducers for measuring and connecting different types of quantum systems. The field of electromechanics is in pursuit of a robust and highly coherent device that couples motion to nonlinear quantum objects such as superconducting qubits. Here, we experimentally demonstrate a high-frequency bulk acoustic wave resonator that is strongly coupled to a superconducting qubit using piezoelectric transduction with a cooperativity of 260. We measure qubit and mechanical coherence times on the order of 10 microseconds. Our device requires only simple fabrication methods and provides controllable access to a multitude of phonon modes. We demonstrate quantum control and measurement on gigahertz phonons at the single-quantum level.

Directed Self-Assembly of Gradient Concentric Carbon Nanotube Rings

NASA Astrophysics Data System (ADS)

Hong, Suck Won; Jeong, Wonje; Ko, Hyunhyub; Tsukruk, Vladimir; Kessler, Michael; Lin, Zhiqun

2008-03-01

Hundreds of gradient concentric rings of linear conjugated polymer, (poly[2-methoxy-5-(2-ethylhexyloxy)-1,4- phenylenevinylene], i.e., MEH-PPV) with remarkable regularity over large areas were produced by controlled, repetitive ``stick- slip'' motions of the contact line in a confined geometry consisting of a sphere on a flat substrate (i.e., sphere-on-flat geometry). Subsequently, MEH-PPV rings exploited as template to direct the formation of gradient concentric rings of multiwalled carbon nanotubes (MWNTs) with controlled density. This method is simple, cost effective, and robust, combining two consecutive self-assembly processes, namely, evaporation-induced self- assembly of polymers in a sphere-on-flat geometry, followed by subsequent directed self-assembly of MWNTs on the polymer- templated surfaces.

Robust tracking of respiratory rate in high-dynamic range scenes using mobile thermal imaging

PubMed Central

Cho, Youngjun; Julier, Simon J.; Marquardt, Nicolai; Bianchi-Berthouze, Nadia

2017-01-01

The ability to monitor the respiratory rate, one of the vital signs, is extremely important for the medical treatment, healthcare and fitness sectors. In many situations, mobile methods, which allow users to undertake everyday activities, are required. However, current monitoring systems can be obtrusive, requiring users to wear respiration belts or nasal probes. Alternatively, contactless digital image sensor based remote-photoplethysmography (PPG) can be used. However, remote PPG requires an ambient source of light, and does not work properly in dark places or under varying lighting conditions. Recent advances in thermographic systems have shrunk their size, weight and cost, to the point where it is possible to create smart-phone based respiration rate monitoring devices that are not affected by lighting conditions. However, mobile thermal imaging is challenged in scenes with high thermal dynamic ranges (e.g. due to the different environmental temperature distributions indoors and outdoors). This challenge is further amplified by general problems such as motion artifacts and low spatial resolution, leading to unreliable breathing signals. In this paper, we propose a novel and robust approach for respiration tracking which compensates for the negative effects of variations in the ambient temperature and motion artifacts and can accurately extract breathing rates in highly dynamic thermal scenes. The approach is based on tracking the nostril of the user and using local temperature variations to infer inhalation and exhalation cycles. It has three main contributions. The first is a novel Optimal Quantization technique which adaptively constructs a color mapping of absolute temperature to improve segmentation, classification and tracking. The second is the Thermal Gradient Flow method that computes thermal gradient magnitude maps to enhance the accuracy of the nostril region tracking. Finally, we introduce the Thermal Voxel method to increase the reliability of the captured respiration signals compared to the traditional averaging method. We demonstrate the extreme robustness of our system to track the nostril-region and measure the respiratory rate by evaluating it during controlled respiration exercises in high thermal dynamic scenes (e.g. strong correlation (r = 0.9987) with the ground truth from the respiration-belt sensor). We also demonstrate how our algorithm outperformed standard algorithms in settings with different amounts of environmental thermal changes and human motion. We open the tracked ROI sequences of the datasets collected for these studies (i.e. under both controlled and unconstrained real-world settings) to the community to foster work in this area. PMID:29082079

Robust tracking of respiratory rate in high-dynamic range scenes using mobile thermal imaging.

PubMed

Cho, Youngjun; Julier, Simon J; Marquardt, Nicolai; Bianchi-Berthouze, Nadia

2017-10-01

The ability to monitor the respiratory rate, one of the vital signs, is extremely important for the medical treatment, healthcare and fitness sectors. In many situations, mobile methods, which allow users to undertake everyday activities, are required. However, current monitoring systems can be obtrusive, requiring users to wear respiration belts or nasal probes. Alternatively, contactless digital image sensor based remote-photoplethysmography (PPG) can be used. However, remote PPG requires an ambient source of light, and does not work properly in dark places or under varying lighting conditions. Recent advances in thermographic systems have shrunk their size, weight and cost, to the point where it is possible to create smart-phone based respiration rate monitoring devices that are not affected by lighting conditions. However, mobile thermal imaging is challenged in scenes with high thermal dynamic ranges (e.g. due to the different environmental temperature distributions indoors and outdoors). This challenge is further amplified by general problems such as motion artifacts and low spatial resolution, leading to unreliable breathing signals. In this paper, we propose a novel and robust approach for respiration tracking which compensates for the negative effects of variations in the ambient temperature and motion artifacts and can accurately extract breathing rates in highly dynamic thermal scenes. The approach is based on tracking the nostril of the user and using local temperature variations to infer inhalation and exhalation cycles. It has three main contributions. The first is a novel Optimal Quantization technique which adaptively constructs a color mapping of absolute temperature to improve segmentation, classification and tracking. The second is the Thermal Gradient Flow method that computes thermal gradient magnitude maps to enhance the accuracy of the nostril region tracking. Finally, we introduce the Thermal Voxel method to increase the reliability of the captured respiration signals compared to the traditional averaging method. We demonstrate the extreme robustness of our system to track the nostril-region and measure the respiratory rate by evaluating it during controlled respiration exercises in high thermal dynamic scenes (e.g. strong correlation (r = 0.9987) with the ground truth from the respiration-belt sensor). We also demonstrate how our algorithm outperformed standard algorithms in settings with different amounts of environmental thermal changes and human motion. We open the tracked ROI sequences of the datasets collected for these studies (i.e. under both controlled and unconstrained real-world settings) to the community to foster work in this area.

Motion-guided attention promotes adaptive communications during social navigation.

PubMed

Lemasson, B H; Anderson, J J; Goodwin, R A

2013-03-07

Animals are capable of enhanced decision making through cooperation, whereby accurate decisions can occur quickly through decentralized consensus. These interactions often depend upon reliable social cues, which can result in highly coordinated activities in uncertain environments. Yet information within a crowd may be lost in translation, generating confusion and enhancing individual risk. As quantitative data detailing animal social interactions accumulate, the mechanisms enabling individuals to rapidly and accurately process competing social cues remain unresolved. Here, we model how motion-guided attention influences the exchange of visual information during social navigation. We also compare the performance of this mechanism to the hypothesis that robust social coordination requires individuals to numerically limit their attention to a set of n-nearest neighbours. While we find that such numerically limited attention does not generate robust social navigation across ecological contexts, several notable qualities arise from selective attention to motion cues. First, individuals can instantly become a local information hub when startled into action, without requiring changes in neighbour attention level. Second, individuals can circumvent speed-accuracy trade-offs by tuning their motion thresholds. In turn, these properties enable groups to collectively dampen or amplify social information. Lastly, the minority required to sway a group's short-term directional decisions can change substantially with social context. Our findings suggest that motion-guided attention is a fundamental and efficient mechanism underlying collaborative decision making during social navigation.

Parametric study of flow patterns behind the standing accretion shock wave for core-collapse supernovae

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

Iwakami, Wakana; Nagakura, Hiroki; Yamada, Shoichi, E-mail: wakana@heap.phys.waseda.ac.jp

2014-05-10

In this study, we conduct three-dimensional hydrodynamic simulations systematically to investigate the flow patterns behind the accretion shock waves that are commonly formed in the post-bounce phase of core-collapse supernovae. Adding small perturbations to spherically symmetric, steady, shocked accretion flows, we compute the subsequent evolutions to find what flow pattern emerges as a consequence of hydrodynamical instabilities such as convection and standing accretion shock instability for different neutrino luminosities and mass accretion rates. Depending on these two controlling parameters, various flow patterns are indeed realized. We classify them into three basic patterns and two intermediate ones; the former includes sloshingmore » motion (SL), spiral motion (SP), and multiple buoyant bubble formation (BB); the latter consists of spiral motion with buoyant-bubble formation (SPB) and spiral motion with pulsationally changing rotational velocities (SPP). Although the post-shock flow is highly chaotic, there is a clear trend in the pattern realization. The sloshing and spiral motions tend to be dominant for high accretion rates and low neutrino luminosities, and multiple buoyant bubbles prevail for low accretion rates and high neutrino luminosities. It is interesting that the dominant pattern is not always identical between the semi-nonlinear and nonlinear phases near the critical luminosity; the intermediate cases are realized in the latter case. Running several simulations with different random perturbations, we confirm that the realization of flow pattern is robust in most cases.« less

Lung motion estimation using dynamic point shifting: An innovative model based on a robust point matching algorithm

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

Yi, Jianbing, E-mail: yijianbing8@163.com; Yang, Xuan, E-mail: xyang0520@263.net; Li, Yan-Ran, E-mail: lyran@szu.edu.cn

2015-10-15

Purpose: Image-guided radiotherapy is an advanced 4D radiotherapy technique that has been developed in recent years. However, respiratory motion causes significant uncertainties in image-guided radiotherapy procedures. To address these issues, an innovative lung motion estimation model based on a robust point matching is proposed in this paper. Methods: An innovative robust point matching algorithm using dynamic point shifting is proposed to estimate patient-specific lung motion during free breathing from 4D computed tomography data. The correspondence of the landmark points is determined from the Euclidean distance between the landmark points and the similarity between the local images that are centered atmore » points at the same time. To ensure that the points in the source image correspond to the points in the target image during other phases, the virtual target points are first created and shifted based on the similarity between the local image centered at the source point and the local image centered at the virtual target point. Second, the target points are shifted by the constrained inverse function mapping the target points to the virtual target points. The source point set and shifted target point set are used to estimate the transformation function between the source image and target image. Results: The performances of the authors’ method are evaluated on two publicly available DIR-lab and POPI-model lung datasets. For computing target registration errors on 750 landmark points in six phases of the DIR-lab dataset and 37 landmark points in ten phases of the POPI-model dataset, the mean and standard deviation by the authors’ method are 1.11 and 1.11 mm, but they are 2.33 and 2.32 mm without considering image intensity, and 1.17 and 1.19 mm with sliding conditions. For the two phases of maximum inhalation and maximum exhalation in the DIR-lab dataset with 300 landmark points of each case, the mean and standard deviation of target registration errors on the 3000 landmark points of ten cases by the authors’ method are 1.21 and 1.04 mm. In the EMPIRE10 lung registration challenge, the authors’ method ranks 24 of 39. According to the index of the maximum shear stretch, the authors’ method is also efficient to describe the discontinuous motion at the lung boundaries. Conclusions: By establishing the correspondence of the landmark points in the source phase and the other target phases combining shape matching and image intensity matching together, the mismatching issue in the robust point matching algorithm is adequately addressed. The target registration errors are statistically reduced by shifting the virtual target points and target points. The authors’ method with consideration of sliding conditions can effectively estimate the discontinuous motion, and the estimated motion is natural. The primary limitation of the proposed method is that the temporal constraints of the trajectories of voxels are not introduced into the motion model. However, the proposed method provides satisfactory motion information, which results in precise tumor coverage by the radiation dose during radiotherapy.« less

Lung motion estimation using dynamic point shifting: An innovative model based on a robust point matching algorithm.

PubMed

Yi, Jianbing; Yang, Xuan; Chen, Guoliang; Li, Yan-Ran

2015-10-01

Image-guided radiotherapy is an advanced 4D radiotherapy technique that has been developed in recent years. However, respiratory motion causes significant uncertainties in image-guided radiotherapy procedures. To address these issues, an innovative lung motion estimation model based on a robust point matching is proposed in this paper. An innovative robust point matching algorithm using dynamic point shifting is proposed to estimate patient-specific lung motion during free breathing from 4D computed tomography data. The correspondence of the landmark points is determined from the Euclidean distance between the landmark points and the similarity between the local images that are centered at points at the same time. To ensure that the points in the source image correspond to the points in the target image during other phases, the virtual target points are first created and shifted based on the similarity between the local image centered at the source point and the local image centered at the virtual target point. Second, the target points are shifted by the constrained inverse function mapping the target points to the virtual target points. The source point set and shifted target point set are used to estimate the transformation function between the source image and target image. The performances of the authors' method are evaluated on two publicly available DIR-lab and POPI-model lung datasets. For computing target registration errors on 750 landmark points in six phases of the DIR-lab dataset and 37 landmark points in ten phases of the POPI-model dataset, the mean and standard deviation by the authors' method are 1.11 and 1.11 mm, but they are 2.33 and 2.32 mm without considering image intensity, and 1.17 and 1.19 mm with sliding conditions. For the two phases of maximum inhalation and maximum exhalation in the DIR-lab dataset with 300 landmark points of each case, the mean and standard deviation of target registration errors on the 3000 landmark points of ten cases by the authors' method are 1.21 and 1.04 mm. In the EMPIRE10 lung registration challenge, the authors' method ranks 24 of 39. According to the index of the maximum shear stretch, the authors' method is also efficient to describe the discontinuous motion at the lung boundaries. By establishing the correspondence of the landmark points in the source phase and the other target phases combining shape matching and image intensity matching together, the mismatching issue in the robust point matching algorithm is adequately addressed. The target registration errors are statistically reduced by shifting the virtual target points and target points. The authors' method with consideration of sliding conditions can effectively estimate the discontinuous motion, and the estimated motion is natural. The primary limitation of the proposed method is that the temporal constraints of the trajectories of voxels are not introduced into the motion model. However, the proposed method provides satisfactory motion information, which results in precise tumor coverage by the radiation dose during radiotherapy.

A new approach to the CZ crystal growth weighing control

NASA Astrophysics Data System (ADS)

Kasimkin, P. V.; Moskovskih, V. A.; Vasiliev, Y. V.; Shlegel, V. N.; Yuferev, V. S.; Vasiliev, M. G.; Zhdankov, V. N.

2014-03-01

The aim of a new approach was to improve the robustness of the weighing control of CZ growth especially for semiconductors, for which the “anomalous“ behavior of the apparent weight provokes instability of the servo-loop. In the described method, the periodic reciprocating measuring motion of small amplitude is superposed on the uniform pull-rod movement. The cross-sectional area is determined from the weight sensor responses that are modulated mainly by the forces of hydrostatic pressure. By the example of germanium crystal growth, it is shown that in the control system, based on such a way of the diameter measuring, a simple PI control law provides a good close loop system's stability and dynamics for the materials with the “anomalous” behavior of a weighing signal. The effect of a meniscus on the modulation measuring of a crystal diameter is also discussed.

PROPELLER for motion-robust imaging of in vivo mouse abdomen at 9.4 T.

PubMed

Teh, Irvin; Golay, Xavier; Larkman, David J

2010-11-01

In vivo high-field MRI in the abdomen of small animals is technically challenging because of the small voxel sizes, short T(2) and physiological motion. In standard Cartesian sampling, respiratory and gastrointestinal motion can lead to ghosting artefacts. Although respiratory triggering and navigator echoes can either avoid or compensate for motion, they can lead to variable TRs, require invasive intubation and ventilation, or extend TEs. A self-navigated fast spin echo (FSE)-based periodically rotated overlapping parallel lines with enhanced reconstruction (PROPELLER) acquisition was implemented at 9.4 T to enable high-resolution in vivo MRI of mouse abdomen without the use of additional navigators or triggering. T(2)-weighted FSE-PROPELLER data were compared with single-shot FSE and multi-shot FSE data with and without triggering. Single-shot methods, although rapid and robust to motion, demonstrated strong blurring. Multi-shot FSE data showed better resolution, but suffered from marked blurring in the phase-encoding direction and motion in between shots, leading to ghosting artefacts. When respiratory triggering was used, motion artefacts were largely avoided. However, TRs and acquisition times were lengthened by up to approximately 20%. The PROPELLER data showed a 25% and 61% improvement in signal-to-noise ratio and contrast-to-noise ratio, respectively, compared with multi-shot FSE data, together with a 35% reduction in artefact power. A qualitative comparison between acquisition methods using diffusion-weighted imaging was performed. The results were similar, with the exception that respiratory triggering was unable to exclude major motion artefacts as a result of the sensitisation to motion by the diffusion gradients. The PROPELLER data were of consistently higher quality. Considerations specific to the use of PROPELLER at high field are discussed, including the selection of practical blade widths and the effects on contrast, resolution and artefacts.

Improved Shear Wave Motion Detection Using Pulse-Inversion Harmonic Imaging with a Phased Array Transducer

PubMed Central

Song, Pengfei; Zhao, Heng; Urban, Matthew W.; Manduca, Armando; Pislaru, Sorin V.; Kinnick, Randall R.; Pislaru, Cristina; Greenleaf, James F.; Chen, Shigao

2013-01-01

Ultrasound tissue harmonic imaging is widely used to improve ultrasound B-mode imaging quality thanks to its effectiveness in suppressing imaging artifacts associated with ultrasound reverberation, phase aberration, and clutter noise. In ultrasound shear wave elastography (SWE), because the shear wave motion signal is extracted from the ultrasound signal, these noise sources can significantly deteriorate the shear wave motion tracking process and consequently result in noisy and biased shear wave motion detection. This situation is exacerbated in in vivo SWE applications such as heart, liver, and kidney. This paper, therefore, investigated the possibility of implementing harmonic imaging, specifically pulse-inversion harmonic imaging, in shear wave tracking, with the hypothesis that harmonic imaging can improve shear wave motion detection based on the same principles that apply to general harmonic B-mode imaging. We first designed an experiment with a gelatin phantom covered by an excised piece of pork belly and show that harmonic imaging can significantly improve shear wave motion detection by producing less underestimated shear wave motion and more consistent shear wave speed measurements than fundamental imaging. Then, a transthoracic heart experiment on a freshly sacrificed pig showed that harmonic imaging could robustly track the shear wave motion and give consistent shear wave speed measurements while fundamental imaging could not. Finally, an in vivo transthoracic study of seven healthy volunteers showed that the proposed harmonic imaging tracking sequence could provide consistent estimates of the left ventricular myocardium stiffness in end-diastole with a general success rate of 80% and a success rate of 93.3% when excluding the subject with Body Mass Index (BMI) higher than 25. These promising results indicate that pulse-inversion harmonic imaging can significantly improve shear wave motion tracking and thus potentially facilitate more robust assessment of tissue elasticity by SWE. PMID:24021638

Disentangling Random Motion and Flow in a Complex Medium

PubMed Central

Koslover, Elena F.; Chan, Caleb K.; Theriot, Julie A.

2016-01-01

We describe a technique for deconvolving the stochastic motion of particles from large-scale fluid flow in a dynamic environment such as that found in living cells. The method leverages the separation of timescales to subtract out the persistent component of motion from single-particle trajectories. The mean-squared displacement of the resulting trajectories is rescaled so as to enable robust extraction of the diffusion coefficient and subdiffusive scaling exponent of the stochastic motion. We demonstrate the applicability of the method for characterizing both diffusive and fractional Brownian motion overlaid by flow and analytically calculate the accuracy of the method in different parameter regimes. This technique is employed to analyze the motion of lysosomes in motile neutrophil-like cells, showing that the cytoplasm of these cells behaves as a viscous fluid at the timescales examined. PMID:26840734

Real-time MSE measurements for current profile control on KSTAR.

PubMed

De Bock, M F M; Aussems, D; Huijgen, R; Scheffer, M; Chung, J

2012-10-01

To step up from current day fusion experiments to power producing fusion reactors, it is necessary to control long pulse, burning plasmas. Stability and confinement properties of tokamak fusion reactors are determined by the current or q profile. In order to control the q profile, it is necessary to measure it in real-time. A real-time motional Stark effect diagnostic is being developed at Korean Superconducting Tokamak for Advanced Research for this purpose. This paper focuses on 3 topics important for real-time measurements: minimize the use of ad hoc parameters, minimize external influences and a robust and fast analysis algorithm. Specifically, we have looked into extracting the retardance of the photo-elastic modulators from the signal itself, minimizing the influence of overlapping beam spectra by optimizing the optical filter design and a multi-channel, multiharmonic phase locking algorithm.

Motion vector field phase-to-amplitude resampling for 4D motion-compensated cone-beam CT

NASA Astrophysics Data System (ADS)

Sauppe, Sebastian; Kuhm, Julian; Brehm, Marcus; Paysan, Pascal; Seghers, Dieter; Kachelrieß, Marc

2018-02-01

We propose a phase-to-amplitude resampling (PTAR) method to reduce motion blurring in motion-compensated (MoCo) 4D cone-beam CT (CBCT) image reconstruction, without increasing the computational complexity of the motion vector field (MVF) estimation approach. PTAR is able to improve the image quality in reconstructed 4D volumes, including both regular and irregular respiration patterns. The PTAR approach starts with a robust phase-gating procedure for the initial MVF estimation and then switches to a phase-adapted amplitude gating method. The switch implies an MVF-resampling, which makes them amplitude-specific. PTAR ensures that the MVFs, which have been estimated on phase-gated reconstructions, are still valid for all amplitude-gated reconstructions. To validate the method, we use an artificially deformed clinical CT scan with a realistic breathing pattern and several patient data sets acquired with a TrueBeamTM integrated imaging system (Varian Medical Systems, Palo Alto, CA, USA). Motion blurring, which still occurs around the area of the diaphragm or at small vessels above the diaphragm in artifact-specific cyclic motion compensation (acMoCo) images based on phase-gating, is significantly reduced by PTAR. Also, small lung structures appear sharper in the images. This is demonstrated both for simulated and real patient data. A quantification of the sharpness of the diaphragm confirms these findings. PTAR improves the image quality of 4D MoCo reconstructions compared to conventional phase-gated MoCo images, in particular for irregular breathing patterns. Thus, PTAR increases the robustness of MoCo reconstructions for CBCT. Because PTAR does not require any additional steps for the MVF estimation, it is computationally efficient. Our method is not restricted to CBCT but could rather be applied to other image modalities.

An adaptive proper orthogonal decomposition method for model order reduction of multi-disc rotor system

NASA Astrophysics Data System (ADS)

Jin, Yulin; Lu, Kuan; Hou, Lei; Chen, Yushu

2017-12-01

The proper orthogonal decomposition (POD) method is a main and efficient tool for order reduction of high-dimensional complex systems in many research fields. However, the robustness problem of this method is always unsolved, although there are some modified POD methods which were proposed to solve this problem. In this paper, a new adaptive POD method called the interpolation Grassmann manifold (IGM) method is proposed to address the weakness of local property of the interpolation tangent-space of Grassmann manifold (ITGM) method in a wider parametric region. This method is demonstrated here by a nonlinear rotor system of 33-degrees of freedom (DOFs) with a pair of liquid-film bearings and a pedestal looseness fault. The motion region of the rotor system is divided into two parts: simple motion region and complex motion region. The adaptive POD method is compared with the ITGM method for the large and small spans of parameter in the two parametric regions to present the advantage of this method and disadvantage of the ITGM method. The comparisons of the responses are applied to verify the accuracy and robustness of the adaptive POD method, as well as the computational efficiency is also analyzed. As a result, the new adaptive POD method has a strong robustness and high computational efficiency and accuracy in a wide scope of parameter.

Rotary motion impairs attention to color change in 4-month-old infants.

PubMed

Kavšek, Michael

2013-06-01

Continuous color changes of an array of elements appear to stop changing if the array undergoes a coherent motion. This silencing illusion was demonstrated for adults by Suchow and Alvarez (Current Biology, 2011, vol. 21, pp. 140-143). The current forced-choice preferential looking study examined 4-month-old infants' sensitivity to the silencing illusion. Two experimental conditions were conducted. In the dynamic condition, infants were tested with two rotating rings of circular different-colored dots. In one of these rings the dots continuously changed color, whereas in the other ring the dots did not change color. In the static condition, the global rotary motion was eliminated from the targets. Infants preferred looking at the color-changing target in the static condition but not in the dynamic condition; they attended to the color changes in the static condition but failed to detect them in the dynamic condition. This differential looking pattern is consistent with the hypothesis that the silencing illusion can be established during early infancy. A control group of adults also responded to the silencing phenomenon. This substantiates that the stimuli generate a robust illusory effect. Copyright © 2013 Elsevier Inc. All rights reserved.

Wireless Synchronization of a Multi-Pinhole Small Animal SPECT Collimation Device With a Clinical Scanner

NASA Astrophysics Data System (ADS)

DiFilippo, Frank P.; Patel, Sagar

2009-06-01

A multi-pinhole collimation device for small animal single photon emission computed tomography (SPECT) uses the gamma camera detectors of a standard clinical SPECT scanner. The collimator and animal bed move independently of the detectors, and therefore their motions must be synchronized. One approach is manual triggering of the SPECT acquisition simultaneously with a programmed motion sequence for the device. However, some data blurring and loss of image quality result, and true electronic synchronization is preferred. An off-the-shelf digital gyroscope with integrated Bluetooth interface provides a wireless solution to device synchronization. The sensor attaches to the SPECT gantry and reports its rotational speed to a notebook computer controlling the device. Software processes the rotation data in real-time, averaging the signal and issuing triggers while compensating for baseline drift. Motion commands are sent to the collimation device with minimal delay, within approximately 0.5 second of the start of SPECT gantry rotation. Test scans of a point source demonstrate an increase in true counts and a reduction in background counts compared to manual synchronization. The wireless rotation sensor provides robust synchronization of the collimation device with the clinical SPECT scanner and enhances image quality.

Architecture for distributed actuation and sensing using smart piezoelectric elements

NASA Astrophysics Data System (ADS)

Etienne-Cummings, Ralph; Pourboghrat, Farzad; Maruboyina, Hari K.; Abrate, Serge; Dhali, Shirshak K.

1998-07-01

We discuss vibration control of a cantilevered plate with multiple sensors and actuators. An architecture is chosen to minimize the number of control and sensing wires required. A custom VLSI chip, integrated with the sensor/actuator elements, controls the local behavior of the plate. All the actuators are addressed in parallel; local decode logic selects which actuator is stimulated. Downloaded binary data controls the applied voltage and modulation frequency for each actuator, and High Voltage MOSFETs are used to activate them. The sensors, which are independent adjacent piezoelectric ceramic elements, can be accessed in a random or sequential manner. An A/D card and GPIB interconnected test equipment allow a PC to read the sensors' outputs and dictate the actuation procedure. A visual programming environment is used to integrate the sensors, controller and actuators. Based on the constitutive relations for the piezoelectric material, simple models for the sensors and actuators are derived. A two level hierarchical robust controller is derived for motion control and for damping of vibrations.

3D laser traking of a particle in 3DFM

NASA Astrophysics Data System (ADS)

Desai, Kalpit; Welch, Gregory; Bishop, Gary; Taylor, Russell; Superfine, Richard

2003-11-01

The principal goal of 3D tracking in our home-built 3D Magnetic Force Microscope is to monitor movement of the particle with respect to laser beam waist and keep the particle at the center of laser beam. The sensory element is a Quadrant Photo Diode (QPD) which captures scattering of light caused by particle motion with bandwidth up to 40 KHz. XYZ translation stage is the driver element which moves particle back in the center of the laser with accuracy of couple of nanometers and with bandwidth up to 300 Hz. Since our particles vary in size, composition and shape, instead of using a priori model we use standard system identification techniques to have optimal approximation to the relationship between particle motion and QPD response. We have developed position feedback control system software that is capable of 3-dimensional tracking of beads that are attached to cilia on living cells which are beating at up to 15Hz. We have also modeled the control system of instrument to simulate performance of 3D particle tracking for different experimental conditions. Given operational level of nanometers, noise poses a great challenge for the tracking system. We propose to use stochastic control theory approaches to increase robustness of tracking.

Motion-based prediction explains the role of tracking in motion extrapolation.

PubMed

Khoei, Mina A; Masson, Guillaume S; Perrinet, Laurent U

2013-11-01

During normal viewing, the continuous stream of visual input is regularly interrupted, for instance by blinks of the eye. Despite these frequents blanks (that is the transient absence of a raw sensory source), the visual system is most often able to maintain a continuous representation of motion. For instance, it maintains the movement of the eye such as to stabilize the image of an object. This ability suggests the existence of a generic neural mechanism of motion extrapolation to deal with fragmented inputs. In this paper, we have modeled how the visual system may extrapolate the trajectory of an object during a blank using motion-based prediction. This implies that using a prior on the coherency of motion, the system may integrate previous motion information even in the absence of a stimulus. In order to compare with experimental results, we simulated tracking velocity responses. We found that the response of the motion integration process to a blanked trajectory pauses at the onset of the blank, but that it quickly recovers the information on the trajectory after reappearance. This is compatible with behavioral and neural observations on motion extrapolation. To understand these mechanisms, we have recorded the response of the model to a noisy stimulus. Crucially, we found that motion-based prediction acted at the global level as a gain control mechanism and that we could switch from a smooth regime to a binary tracking behavior where the dot is tracked or lost. Our results imply that a local prior implementing motion-based prediction is sufficient to explain a large range of neural and behavioral results at a more global level. We show that the tracking behavior deteriorates for sensory noise levels higher than a certain value, where motion coherency and predictability fail to hold longer. In particular, we found that motion-based prediction leads to the emergence of a tracking behavior only when enough information from the trajectory has been accumulated. Then, during tracking, trajectory estimation is robust to blanks even in the presence of relatively high levels of noise. Moreover, we found that tracking is necessary for motion extrapolation, this calls for further experimental work exploring the role of noise in motion extrapolation. Copyright © 2013 Elsevier Ltd. All rights reserved.

Fire flame detection based on GICA and target tracking

NASA Astrophysics Data System (ADS)

Rong, Jianzhong; Zhou, Dechuang; Yao, Wei; Gao, Wei; Chen, Juan; Wang, Jian

2013-04-01

To improve the video fire detection rate, a robust fire detection algorithm based on the color, motion and pattern characteristics of fire targets was proposed, which proved a satisfactory fire detection rate for different fire scenes. In this fire detection algorithm: (a) a rule-based generic color model was developed based on analysis on a large quantity of flame pixels; (b) from the traditional GICA (Geometrical Independent Component Analysis) model, a Cumulative Geometrical Independent Component Analysis (C-GICA) model was developed for motion detection without static background and (c) a BP neural network fire recognition model based on multi-features of the fire pattern was developed. Fire detection tests on benchmark fire video clips of different scenes have shown the robustness, accuracy and fast-response of the algorithm.

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

PubMed

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

2017-01-01

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

Detecting multiple moving objects in crowded environments with coherent motion regions

DOEpatents

Cheriyadat, Anil M.; Radke, Richard J.

2013-06-11

Coherent motion regions extend in time as well as space, enforcing consistency in detected objects over long time periods and making the algorithm robust to noisy or short point tracks. As a result of enforcing the constraint that selected coherent motion regions contain disjoint sets of tracks defined in a three-dimensional space including a time dimension. An algorithm operates directly on raw, unconditioned low-level feature point tracks, and minimizes a global measure of the coherent motion regions. At least one discrete moving object is identified in a time series of video images based on the trajectory similarity factors, which is a measure of a maximum distance between a pair of feature point tracks.

Note: Reliable and non-contact 6D motion tracking system based on 2D laser scanners for cargo transportation.

PubMed

Kim, Young-Keun; Kim, Kyung-Soo

2014-10-01

Maritime transportation demands an accurate measurement system to track the motion of oscillating container boxes in real time. However, it is a challenge to design a sensor system that can provide both reliable and non-contact methods of 6-DOF motion measurements of a remote object for outdoor applications. In the paper, a sensor system based on two 2D laser scanners is proposed for detecting the relative 6-DOF motion of a crane load in real time. Even without implementing a camera, the proposed system can detect the motion of a remote object using four laser beam points. Because it is a laser-based sensor, the system is expected to be highly robust to sea weather conditions.

Note: Reliable and non-contact 6D motion tracking system based on 2D laser scanners for cargo transportation

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

Kim, Young-Keun, E-mail: ykkim@handong.edu; Kim, Kyung-Soo

Maritime transportation demands an accurate measurement system to track the motion of oscillating container boxes in real time. However, it is a challenge to design a sensor system that can provide both reliable and non-contact methods of 6-DOF motion measurements of a remote object for outdoor applications. In the paper, a sensor system based on two 2D laser scanners is proposed for detecting the relative 6-DOF motion of a crane load in real time. Even without implementing a camera, the proposed system can detect the motion of a remote object using four laser beam points. Because it is a laser-basedmore » sensor, the system is expected to be highly robust to sea weather conditions.« less

Note: Reliable and non-contact 6D motion tracking system based on 2D laser scanners for cargo transportation

NASA Astrophysics Data System (ADS)

Kim, Young-Keun; Kim, Kyung-Soo

2014-10-01

Maritime transportation demands an accurate measurement system to track the motion of oscillating container boxes in real time. However, it is a challenge to design a sensor system that can provide both reliable and non-contact methods of 6-DOF motion measurements of a remote object for outdoor applications. In the paper, a sensor system based on two 2D laser scanners is proposed for detecting the relative 6-DOF motion of a crane load in real time. Even without implementing a camera, the proposed system can detect the motion of a remote object using four laser beam points. Because it is a laser-based sensor, the system is expected to be highly robust to sea weather conditions.

Advanced Techniques for Scene Analysis

DTIC Science & Technology

2010-06-01

robustness prefers a bigger intergration window to handle larger motions. The advantage of pyramidal implementation is that, while each motion vector dL...labeled SAR images. Now the previous algorithm leads to a more dedicated classifier for the particular target; however, our algorithm trades generality for...accuracy is traded for generality. 7.3.2 I-RELIEF Feature weighting transforms the original feature vector x into a new feature vector x′ by assigning each

Robust Models for Optic Flow Coding in Natural Scenes Inspired by Insect Biology

PubMed Central

Brinkworth, Russell S. A.; O'Carroll, David C.

2009-01-01

The extraction of accurate self-motion information from the visual world is a difficult problem that has been solved very efficiently by biological organisms utilizing non-linear processing. Previous bio-inspired models for motion detection based on a correlation mechanism have been dogged by issues that arise from their sensitivity to undesired properties of the image, such as contrast, which vary widely between images. Here we present a model with multiple levels of non-linear dynamic adaptive components based directly on the known or suspected responses of neurons within the visual motion pathway of the fly brain. By testing the model under realistic high-dynamic range conditions we show that the addition of these elements makes the motion detection model robust across a large variety of images, velocities and accelerations. Furthermore the performance of the entire system is more than the incremental improvements offered by the individual components, indicating beneficial non-linear interactions between processing stages. The algorithms underlying the model can be implemented in either digital or analog hardware, including neuromorphic analog VLSI, but defy an analytical solution due to their dynamic non-linear operation. The successful application of this algorithm has applications in the development of miniature autonomous systems in defense and civilian roles, including robotics, miniature unmanned aerial vehicles and collision avoidance sensors. PMID:19893631

Infrared Thermography Sensor for Temperature and Speed Measurement of Moving Material.

PubMed

Usamentiaga, Rubén; García, Daniel Fernando

2017-05-18

Infrared thermography offers significant advantages in monitoring the temperature of objects over time, but crucial aspects need to be addressed. Movements between the infrared camera and the inspected material seriously affect the accuracy of the calculated temperature. These movements can be the consequence of solid objects that are moved, molten metal poured, material on a conveyor belt, or just vibrations. This work proposes a solution for monitoring the temperature of material in these scenarios. In this work both real movements and vibrations are treated equally, proposing a unified solution for both problems. The three key steps of the proposed procedure are image rectification, motion estimation and motion compensation. Image rectification calculates a front-parallel projection of the image that simplifies the estimation and compensation of the movement. Motion estimation describes the movement using a mathematical model, and estimates the coefficients using robust methods adapted to infrared images. Motion is finally compensated for in order to produce the correct temperature time history of the monitored material regardless of the movement. The result is a robust sensor for temperature of moving material that can also be used to measure the speed of the material. Different experiments are carried out to validate the proposed method in laboratory and real environments. Results show excellent performance.

Infrared Thermography Sensor for Temperature and Speed Measurement of Moving Material

PubMed Central

Usamentiaga, Rubén; García, Daniel Fernando

2017-01-01

Infrared thermography offers significant advantages in monitoring the temperature of objects over time, but crucial aspects need to be addressed. Movements between the infrared camera and the inspected material seriously affect the accuracy of the calculated temperature. These movements can be the consequence of solid objects that are moved, molten metal poured, material on a conveyor belt, or just vibrations. This work proposes a solution for monitoring the temperature of material in these scenarios. In this work both real movements and vibrations are treated equally, proposing a unified solution for both problems. The three key steps of the proposed procedure are image rectification, motion estimation and motion compensation. Image rectification calculates a front-parallel projection of the image that simplifies the estimation and compensation of the movement. Motion estimation describes the movement using a mathematical model, and estimates the coefficients using robust methods adapted to infrared images. Motion is finally compensated for in order to produce the correct temperature time history of the monitored material regardless of the movement. The result is a robust sensor for temperature of moving material that can also be used to measure the speed of the material. Different experiments are carried out to validate the proposed method in laboratory and real environments. Results show excellent performance. PMID:28524110

Motion-Based System Identification and Fault Detection and Isolation Technologies for Thruster Controlled Spacecraft

NASA Technical Reports Server (NTRS)

Wilson, Edward; Sutter, David W.; Berkovitz, Dustin; Betts, Bradley J.; Kong, Edmund; delMundo, Rommel; Lages, Christopher R.; Mah, Robert W.; Papasin, Richard

2003-01-01

By analyzing the motions of a thruster-controlled spacecraft, it is possible to provide on-line (1) thruster fault detection and isolation (FDI), and (2) vehicle mass- and thruster-property identification (ID). Technologies developed recently at NASA Ames have significantly improved the speed and accuracy of these ID and FDI capabilities, making them feasible for application to a broad class of spacecraft. Since these technologies use existing sensors, the improved system robustness and performance that comes with the thruster fault tolerance and system ID can be achieved through a software-only implementation. This contrasts with the added cost, mass, and hardware complexity commonly required by FDI. Originally developed in partnership with NASA - Johnson Space Center to provide thruster FDI capability for the X-38 during re-entry, these technologies are most recently being applied to the MIT SPHERES experimental spacecraft to fly on the International Space Station in 2004. The model-based FDI uses a maximum-likelihood calculation at its core, while the ID is based upon recursive least squares estimation. Flight test results from the SPHERES implementation, as flown aboard the NASA KC-1 35A 0-g simulator aircraft in November 2003 are presented.

A control theory approach to the analysis and synthesis of the experimentally observed motion primitives.

PubMed

Nori, Francesco; Frezza, Ruggero

2005-11-01

Recent experiments on frogs and rats, have led to the hypothesis that sensory-motor systems are organized into a finite number of linearly combinable modules; each module generates a motor command that drives the system to a predefined equilibrium. Surprisingly, in spite of the infiniteness of different movements that can be realized, there seems to be only a handful of these modules. The structure can be thought of as a vocabulary of "elementary control actions". Admissible controls, which in principle belong to an infinite dimensional space, are reduced to the linear vector space spanned by these elementary controls. In the present paper we address some theoretical questions that arise naturally once a similar structure is applied to the control of nonlinear kinematic chains. First of all, we show how to choose the modules so that the system does not loose its capability of generating a "complete" set of movements. Secondly, we realize a "complete" vocabulary with a minimal number of elementary control actions. Subsequently, we show how to modify the control scheme so as to compensate for parametric changes in the system to be controlled. Remarkably, we construct a set of modules with the property of being invariant with respect to the parameters that model the growth of an individual. Robustness against uncertainties is also considered showing how to optimally choose the modules equilibria so as to compensate for errors affecting the system. Finally, the motion primitive paradigm is extended to locomotion and a related formalization of internal (proprioceptive) and external (exteroceptive) variables is given.

Engineering Sensorial Delay to Control Phototaxis and Emergent Collective Behaviors

NASA Astrophysics Data System (ADS)

Mijalkov, Mite; McDaniel, Austin; Wehr, Jan; Volpe, Giovanni

2016-01-01

Collective motions emerging from the interaction of autonomous mobile individuals play a key role in many phenomena, from the growth of bacterial colonies to the coordination of robotic swarms. For these collective behaviors to take hold, the individuals must be able to emit, sense, and react to signals. When dealing with simple organisms and robots, these signals are necessarily very elementary; e.g., a cell might signal its presence by releasing chemicals and a robot by shining light. An additional challenge arises because the motion of the individuals is often noisy; e.g., the orientation of cells can be altered by Brownian motion and that of robots by an uneven terrain. Therefore, the emphasis is on achieving complex and tunable behaviors from simple autonomous agents communicating with each other in robust ways. Here, we show that the delay between sensing and reacting to a signal can determine the individual and collective long-term behavior of autonomous agents whose motion is intrinsically noisy. We experimentally demonstrate that the collective behavior of a group of phototactic robots capable of emitting a radially decaying light field can be tuned from segregation to aggregation and clustering by controlling the delay with which they change their propulsion speed in response to the light intensity they measure. We track this transition to the underlying dynamics of this system, in particular, to the ratio between the robots' sensorial delay time and the characteristic time of the robots' random reorientation. Supported by numerics, we discuss how the same mechanism can be applied to control active agents, e.g., airborne drones, moving in a three-dimensional space. Given the simplicity of this mechanism, the engineering of sensorial delay provides a potentially powerful tool to engineer and dynamically tune the behavior of large ensembles of autonomous mobile agents; furthermore, this mechanism might already be at work within living organisms such as chemotactic cells.

Interacting with mobile devices by fusion eye and hand gestures recognition systems based on decision tree approach

NASA Astrophysics Data System (ADS)

Elleuch, Hanene; Wali, Ali; Samet, Anis; Alimi, Adel M.

2017-03-01

Two systems of eyes and hand gestures recognition are used to control mobile devices. Based on a real-time video streaming captured from the device's camera, the first system recognizes the motion of user's eyes and the second one detects the static hand gestures. To avoid any confusion between natural and intentional movements we developed a system to fuse the decision coming from eyes and hands gesture recognition systems. The phase of fusion was based on decision tree approach. We conducted a study on 5 volunteers and the results that our system is robust and competitive.

Accurate motion parameter estimation for colonoscopy tracking using a regression method

NASA Astrophysics Data System (ADS)

Liu, Jianfei; Subramanian, Kalpathi R.; Yoo, Terry S.

2010-03-01

Co-located optical and virtual colonoscopy images have the potential to provide important clinical information during routine colonoscopy procedures. In our earlier work, we presented an optical flow based algorithm to compute egomotion from live colonoscopy video, permitting navigation and visualization of the corresponding patient anatomy. In the original algorithm, motion parameters were estimated using the traditional Least Sum of squares(LS) procedure which can be unstable in the context of optical flow vectors with large errors. In the improved algorithm, we use the Least Median of Squares (LMS) method, a robust regression method for motion parameter estimation. Using the LMS method, we iteratively analyze and converge toward the main distribution of the flow vectors, while disregarding outliers. We show through three experiments the improvement in tracking results obtained using the LMS method, in comparison to the LS estimator. The first experiment demonstrates better spatial accuracy in positioning the virtual camera in the sigmoid colon. The second and third experiments demonstrate the robustness of this estimator, resulting in longer tracked sequences: from 300 to 1310 in the ascending colon, and 410 to 1316 in the transverse colon.

Robust video super-resolution with registration efficiency adaptation

NASA Astrophysics Data System (ADS)

Zhang, Xinfeng; Xiong, Ruiqin; Ma, Siwei; Zhang, Li; Gao, Wen

2010-07-01

Super-Resolution (SR) is a technique to construct a high-resolution (HR) frame by fusing a group of low-resolution (LR) frames describing the same scene. The effectiveness of the conventional super-resolution techniques, when applied on video sequences, strongly relies on the efficiency of motion alignment achieved by image registration. Unfortunately, such efficiency is limited by the motion complexity in the video and the capability of adopted motion model. In image regions with severe registration errors, annoying artifacts usually appear in the produced super-resolution video. This paper proposes a robust video super-resolution technique that adapts itself to the spatially-varying registration efficiency. The reliability of each reference pixel is measured by the corresponding registration error and incorporated into the optimization objective function of SR reconstruction. This makes the SR reconstruction highly immune to the registration errors, as outliers with higher registration errors are assigned lower weights in the objective function. In particular, we carefully design a mechanism to assign weights according to registration errors. The proposed superresolution scheme has been tested with various video sequences and experimental results clearly demonstrate the effectiveness of the proposed method.

A method to track rotational motion for use in single-molecule biophysics.

PubMed

Lipfert, Jan; Kerssemakers, Jacob J W; Rojer, Maylon; Dekker, Nynke H

2011-10-01

The double helical nature of DNA links many cellular processes such as DNA replication, transcription, and repair to rotational motion and the accumulation of torsional strain. Magnetic tweezers (MTs) are a single-molecule technique that enables the application of precisely calibrated stretching forces to nucleic acid tethers and to control their rotational motion. However, conventional magnetic tweezers do not directly monitor rotation or measure torque. Here, we describe a method to directly measure rotational motion of particles in MT. The method relies on attaching small, non-magnetic beads to the magnetic beads to act as fiducial markers for rotational tracking. CCD images of the beads are analyzed with a tracking algorithm specifically designed to minimize crosstalk between translational and rotational motion: first, the in-plane center position of the magnetic bead is determined with a kernel-based tracker, while subsequently the height and rotation angle of the bead are determined via correlation-based algorithms. Evaluation of the tracking algorithm using both simulated images and recorded images of surface-immobilized beads demonstrates a rotational resolution of 0.1°, while maintaining a translational resolution of 1-2 nm. Example traces of the rotational fluctuations exhibited by DNA-tethered beads confined in magnetic potentials of varying stiffness demonstrate the robustness of the method and the potential for simultaneous tracking of multiple beads. Our rotation tracking algorithm enables the extension of MTs to magnetic torque tweezers (MTT) to directly measure the torque in single molecules. In addition, we envision uses of the algorithm in a range of biophysical measurements, including further extensions of MT, tethered particle motion, and optical trapping measurements.

Early vestibular processing does not discriminate active from passive self-motion if there is a discrepancy between predicted and actual proprioceptive feedback

PubMed Central

Brooks, Jessica X.

2014-01-01

Most of our sensory experiences are gained by active exploration of the world. While the ability to distinguish sensory inputs resulting of our own actions (termed reafference) from those produced externally (termed exafference) is well established, the neural mechanisms underlying this distinction are not fully understood. We have previously proposed that vestibular signals arising from self-generated movements are inhibited by a mechanism that compares the internal prediction of the proprioceptive consequences of self-motion to the actual feedback. Here we directly tested this proposal by recording from single neurons in monkey during vestibular stimulation that was externally produced and/or self-generated. We show for the first time that vestibular reafference is equivalently canceled for self-generated sensory stimulation produced by activation of the neck musculature (head-on-body motion), or axial musculature (combined head and body motion), when there is no discrepancy between the predicted and actual proprioceptive consequences of self-motion. However, if a discrepancy does exist, central vestibular neurons no longer preferentially encode vestibular exafference. Specifically, when simultaneous active and passive motion resulted in activation of the same muscle proprioceptors, neurons robustly encoded the total vestibular input (i.e., responses to vestibular reafference and exafference were equally strong), rather than exafference alone. Taken together, our results show that the cancellation of vestibular reafference in early vestibular processing requires an explicit match between expected and actual proprioceptive feedback. We propose that this vital neuronal computation, necessary for both accurate sensory perception and motor control, has important implications for a variety of sensory systems that suppress self-generated signals. PMID:24671531

Laser Spot Tracking Based on Modified Circular Hough Transform and Motion Pattern Analysis

PubMed Central

Krstinić, Damir; Skelin, Ana Kuzmanić; Milatić, Ivan

2014-01-01

Laser pointers are one of the most widely used interactive and pointing devices in different human-computer interaction systems. Existing approaches to vision-based laser spot tracking are designed for controlled indoor environments with the main assumption that the laser spot is very bright, if not the brightest, spot in images. In this work, we are interested in developing a method for an outdoor, open-space environment, which could be implemented on embedded devices with limited computational resources. Under these circumstances, none of the assumptions of existing methods for laser spot tracking can be applied, yet a novel and fast method with robust performance is required. Throughout the paper, we will propose and evaluate an efficient method based on modified circular Hough transform and Lucas–Kanade motion analysis. Encouraging results on a representative dataset demonstrate the potential of our method in an uncontrolled outdoor environment, while achieving maximal accuracy indoors. Our dataset and ground truth data are made publicly available for further development. PMID:25350502

Remote monitoring and security alert based on motion detection using mobile

NASA Astrophysics Data System (ADS)

Suganya Devi, K.; Srinivasan, P.

2016-03-01

Background model does not have any robust solution and constitutes one of the main problems in surveillance systems. The aim of the paper is to provide a mobile based security to a remote monitoring system through a WAP using GSM modem. It is most designed to provide durability and versatility for a wide variety of indoor and outdoor applications. It is compatible with both narrow and band networks and provides simultaneous image detection. The communicator provides remote control, event driven recording, including pre-alarm and post-alarm and image motion detection. The web cam allowing them to be mounted either to a ceiling or wall without requiring bracket, with the use of web cam. We could continuously monitoring status in the client system through the web. If any intruder arrives in the client system, server will provide an alert to the mobile (what we are set in the message that message send to the authorized person) and the client can view the image using WAP.

Laser spot tracking based on modified circular Hough transform and motion pattern analysis.

PubMed

Krstinić, Damir; Skelin, Ana Kuzmanić; Milatić, Ivan

2014-10-27

Laser pointers are one of the most widely used interactive and pointing devices in different human-computer interaction systems. Existing approaches to vision-based laser spot tracking are designed for controlled indoor environments with the main assumption that the laser spot is very bright, if not the brightest, spot in images. In this work, we are interested in developing a method for an outdoor, open-space environment, which could be implemented on embedded devices with limited computational resources. Under these circumstances, none of the assumptions of existing methods for laser spot tracking can be applied, yet a novel and fast method with robust performance is required. Throughout the paper, we will propose and evaluate an efficient method based on modified circular Hough transform and Lucas-Kanade motion analysis. Encouraging results on a representative dataset demonstrate the potential of our method in an uncontrolled outdoor environment, while achieving maximal accuracy indoors. Our dataset and ground truth data are made publicly available for further development.

Intelligent navigation and accurate positioning of an assist robot in indoor environments

NASA Astrophysics Data System (ADS)

Hua, Bin; Rama, Endri; Capi, Genci; Jindai, Mitsuru; Tsuri, Yosuke

2017-12-01

Intact robot's navigation and accurate positioning in indoor environments are still challenging tasks. Especially in robot applications, assisting disabled and/or elderly people in museums/art gallery environments. In this paper, we present a human-like navigation method, where the neural networks control the wheelchair robot to reach the goal location safely, by imitating the supervisor's motions, and positioning in the intended location. In a museum similar environment, the mobile robot starts navigation from various positions, and uses a low-cost camera to track the target picture, and a laser range finder to make a safe navigation. Results show that the neural controller with the Conjugate Gradient Backpropagation training algorithm gives a robust response to guide the mobile robot accurately to the goal position.

Estimating nonrigid motion from inconsistent intensity with robust shape features

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

Liu, Wenyang; Ruan, Dan, E-mail: druan@mednet.ucla.edu; Department of Radiation Oncology, University of California, Los Angeles, California 90095

2013-12-15

Purpose: To develop a nonrigid motion estimation method that is robust to heterogeneous intensity inconsistencies amongst the image pairs or image sequence. Methods: Intensity and contrast variations, as in dynamic contrast enhanced magnetic resonance imaging, present a considerable challenge to registration methods based on general discrepancy metrics. In this study, the authors propose and validate a novel method that is robust to such variations by utilizing shape features. The geometry of interest (GOI) is represented with a flexible zero level set, segmented via well-behaved regularized optimization. The optimization energy drives the zero level set to high image gradient regions, andmore » regularizes it with area and curvature priors. The resulting shape exhibits high consistency even in the presence of intensity or contrast variations. Subsequently, a multiscale nonrigid registration is performed to seek a regular deformation field that minimizes shape discrepancy in the vicinity of GOIs. Results: To establish the working principle, realistic 2D and 3D images were subject to simulated nonrigid motion and synthetic intensity variations, so as to enable quantitative evaluation of registration performance. The proposed method was benchmarked against three alternative registration approaches, specifically, optical flow, B-spline based mutual information, and multimodality demons. When intensity consistency was satisfied, all methods had comparable registration accuracy for the GOIs. When intensities among registration pairs were inconsistent, however, the proposed method yielded pronounced improvement in registration accuracy, with an approximate fivefold reduction in mean absolute error (MAE = 2.25 mm, SD = 0.98 mm), compared to optical flow (MAE = 9.23 mm, SD = 5.36 mm), B-spline based mutual information (MAE = 9.57 mm, SD = 8.74 mm) and mutimodality demons (MAE = 10.07 mm, SD = 4.03 mm). Applying the proposed method on a real MR image sequence also provided qualitatively appealing results, demonstrating good feasibility and applicability of the proposed method. Conclusions: The authors have developed a novel method to estimate the nonrigid motion of GOIs in the presence of spatial intensity and contrast variations, taking advantage of robust shape features. Quantitative analysis and qualitative evaluation demonstrated good promise of the proposed method. Further clinical assessment and validation is being performed.« less

Estimating nonrigid motion from inconsistent intensity with robust shape features.

PubMed

Liu, Wenyang; Ruan, Dan

2013-12-01

To develop a nonrigid motion estimation method that is robust to heterogeneous intensity inconsistencies amongst the image pairs or image sequence. Intensity and contrast variations, as in dynamic contrast enhanced magnetic resonance imaging, present a considerable challenge to registration methods based on general discrepancy metrics. In this study, the authors propose and validate a novel method that is robust to such variations by utilizing shape features. The geometry of interest (GOI) is represented with a flexible zero level set, segmented via well-behaved regularized optimization. The optimization energy drives the zero level set to high image gradient regions, and regularizes it with area and curvature priors. The resulting shape exhibits high consistency even in the presence of intensity or contrast variations. Subsequently, a multiscale nonrigid registration is performed to seek a regular deformation field that minimizes shape discrepancy in the vicinity of GOIs. To establish the working principle, realistic 2D and 3D images were subject to simulated nonrigid motion and synthetic intensity variations, so as to enable quantitative evaluation of registration performance. The proposed method was benchmarked against three alternative registration approaches, specifically, optical flow, B-spline based mutual information, and multimodality demons. When intensity consistency was satisfied, all methods had comparable registration accuracy for the GOIs. When intensities among registration pairs were inconsistent, however, the proposed method yielded pronounced improvement in registration accuracy, with an approximate fivefold reduction in mean absolute error (MAE = 2.25 mm, SD = 0.98 mm), compared to optical flow (MAE = 9.23 mm, SD = 5.36 mm), B-spline based mutual information (MAE = 9.57 mm, SD = 8.74 mm) and mutimodality demons (MAE = 10.07 mm, SD = 4.03 mm). Applying the proposed method on a real MR image sequence also provided qualitatively appealing results, demonstrating good feasibility and applicability of the proposed method. The authors have developed a novel method to estimate the nonrigid motion of GOIs in the presence of spatial intensity and contrast variations, taking advantage of robust shape features. Quantitative analysis and qualitative evaluation demonstrated good promise of the proposed method. Further clinical assessment and validation is being performed.

Note: A resonating reflector-based optical system for motion measurement in micro-cantilever arrays

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

Sathishkumar, P.; Punyabrahma, P.; Sri Muthu Mrinalini, R.

A robust, compact optical measurement unit for motion measurement in micro-cantilever arrays enables development of portable micro-cantilever sensors. This paper reports on an optical beam deflection-based system to measure the deflection of micro-cantilevers in an array that employs a single laser source, a single detector, and a resonating reflector to scan the measurement laser across the array. A strategy is also proposed to extract the deflection of individual cantilevers from the acquired data. The proposed system and measurement strategy are experimentally evaluated and demonstrated to measure motion of multiple cantilevers in an array.

Multi-Objective Memetic Search for Robust Motion and Distortion Correction in Diffusion MRI.

PubMed

Hering, Jan; Wolf, Ivo; Maier-Hein, Klaus H

2016-10-01

Effective image-based artifact correction is an essential step in the analysis of diffusion MR images. Many current approaches are based on retrospective registration, which becomes challenging in the realm of high b -values and low signal-to-noise ratio, rendering the corresponding correction schemes more and more ineffective. We propose a novel registration scheme based on memetic search optimization that allows for simultaneous exploitation of different signal intensity relationships between the images, leading to more robust registration results. We demonstrate the increased robustness and efficacy of our method on simulated as well as in vivo datasets. In contrast to the state-of-art methods, the median target registration error (TRE) stayed below the voxel size even for high b -values (3000 s ·mm -2 and higher) and low SNR conditions. We also demonstrate the increased precision in diffusion-derived quantities by evaluating Neurite Orientation Dispersion and Density Imaging (NODDI) derived measures on a in vivo dataset with severe motion artifacts. These promising results will potentially inspire further studies on metaheuristic optimization in diffusion MRI artifact correction and image registration in general.

Robust optical flow using adaptive Lorentzian filter for image reconstruction under noisy condition

NASA Astrophysics Data System (ADS)

Kesrarat, Darun; Patanavijit, Vorapoj

2017-02-01

In optical flow for motion allocation, the efficient result in Motion Vector (MV) is an important issue. Several noisy conditions may cause the unreliable result in optical flow algorithms. We discover that many classical optical flows algorithms perform better result under noisy condition when combined with modern optimized model. This paper introduces effective robust models of optical flow by using Robust high reliability spatial based optical flow algorithms using the adaptive Lorentzian norm influence function in computation on simple spatial temporal optical flows algorithm. Experiment on our proposed models confirm better noise tolerance in optical flow's MV under noisy condition when they are applied over simple spatial temporal optical flow algorithms as a filtering model in simple frame-to-frame correlation technique. We illustrate the performance of our models by performing an experiment on several typical sequences with differences in movement speed of foreground and background where the experiment sequences are contaminated by the additive white Gaussian noise (AWGN) at different noise decibels (dB). This paper shows very high effectiveness of noise tolerance models that they are indicated by peak signal to noise ratio (PSNR).

Assessing the performance of a motion tracking system based on optical joint transform correlation

NASA Astrophysics Data System (ADS)

Elbouz, M.; Alfalou, A.; Brosseau, C.; Ben Haj Yahia, N.; Alam, M. S.

2015-08-01

We present an optimized system specially designed for the tracking and recognition of moving subjects in a confined environment (such as an elderly remaining at home). In the first step of our study, we use a VanderLugt correlator (VLC) with an adapted pre-processing treatment of the input plane and a postprocessing of the correlation plane via a nonlinear function allowing us to make a robust decision. The second step is based on an optical joint transform correlation (JTC)-based system (NZ-NL-correlation JTC) for achieving improved detection and tracking of moving persons in a confined space. The proposed system has been found to have significantly superior discrimination and robustness capabilities allowing to detect an unknown target in an input scene and to determine the target's trajectory when this target is in motion. This system offers robust tracking performance of a moving target in several scenarios, such as rotational variation of input faces. Test results obtained using various real life video sequences show that the proposed system is particularly suitable for real-time detection and tracking of moving objects.

Robotic application of a dynamic resultant force vector using real-time load-control: simulation of an ideal follower load on Cadaveric L4-L5 segments.

PubMed

Bennett, Charles R; Kelly, Brian P

2013-08-09

Standard in-vitro spine testing methods have focused on application of isolated and/or constant load components while the in-vivo spine is subject to multiple components that can be resolved into resultant dynamic load vectors. To advance towards more in-vivo like simulations the objective of the current study was to develop a methodology to apply robotically-controlled, non-zero, real-time dynamic resultant forces during flexion-extension on human lumbar motion segment units (MSU) with initial application towards simulation of an ideal follower load (FL) force vector. A proportional-integral-derivative (PID) controller with custom algorithms coordinated the motion of a Cartesian serial manipulator comprised of six axes each capable of position- or load-control. Six lumbar MSUs (L4-L5) were tested with continuously increasing sagittal plane bending to 8 Nm while force components were dynamically programmed to deliver a resultant 400 N FL that remained normal to the moving midline of the intervertebral disc. Mean absolute load-control tracking errors between commanded and experimental loads were computed. Global spinal ranges of motion and sagittal plane inter-body translations were compared to previously published values for non-robotic applications. Mean TEs for zero-commanded force and moment axes were 0.7 ± 0.4N and 0.03 ± 0.02 Nm, respectively. For non-zero force axes mean TEs were 0.8 ± 0.8 N, 1.3 ± 1.6 Nm, and 1.3 ± 1.6N for Fx, Fz, and the resolved ideal follower load vector FL(R), respectively. Mean extension and flexion ranges of motion were 2.6° ± 1.2° and 5.0° ± 1.7°, respectively. Relative vertebral body translations and rotations were very comparable to data collected with non-robotic systems in the literature. The robotically coordinated Cartesian load controlled testing system demonstrated robust real-time load-control that permitted application of a real-time dynamic non-zero load vector during flexion-extension. For single MSU investigations the methodology has potential to overcome conventional follower load limitations, most notably via application outside the sagittal plane. This methodology holds promise for future work aimed at reducing the gap between current in-vitro testing and in-vivo circumstances. Copyright © 2013 Elsevier Ltd. All rights reserved.

Novel AC Servo Rotating and Linear Composite Driving Device for Plastic Forming Equipment

NASA Astrophysics Data System (ADS)

Liang, Jin-Tao; Zhao, Sheng-Dun; Li, Yong-Yi; Zhu, Mu-Zhi

2017-07-01

The existing plastic forming equipment are mostly driven by traditional AC motors with long transmission chains, low efficiency, large size, low precision and poor dynamic response are the common disadvantages. In order to realize high performance forming processes, the driving device should be improved, especially for complicated processing motions. Based on electric servo direct drive technology, a novel AC servo rotating and linear composite driving device is proposed, which features implementing both spindle rotation and feed motion without transmission, so that compact structure and precise control can be achieved. Flux switching topology is employed in the rotating drive component for strong robustness, and fractional slot is employed in the linear direct drive component for large force capability. Then the mechanical structure for compositing rotation and linear motion is designed. A device prototype is manufactured, machining of each component and the whole assembly are presented respectively. Commercial servo amplifiers are utilized to construct the control system of the proposed device. To validate the effectiveness of the proposed composite driving device, experimental study on the dynamic test benches are conducted. The results indicate that the output torque can attain to 420 N·m and the dynamic tracking errors are less than about 0.3 rad in the rotating drive. the dynamic tracking errors are less than about 1.6 mm in the linear feed. The proposed research provides a method to construct high efficiency and accuracy direct driving device in plastic forming equipment.

Tissue Feature-Based and Segmented Deformable Image Registration for Improved Modeling of the Shear Movement of the Lungs

PubMed Central

Xie, Yaoqin; Chao, Ming; Xing, Lei

2009-01-01

Purpose To report a tissue feature-based image registration strategy with explicit inclusion of the differential motions of thoracic structures. Methods and Materials The proposed technique started with auto-identification of a number of corresponding points with distinct tissue features. The tissue feature points were found by using the scale-invariant feature transform (SIFT) method. The control point pairs were then sorted into different “colors” according to the organs they reside and used to model the involved organs individually. A thin-plate spline (TPS) method was used to register a structure characterized by the control points with a given “color”. The proposed technique was applied to study a digital phantom case, three lung and three liver cancer patients. Results For the phantom case, a comparison with the conventional TPS method showed that the registration accuracy was markedly improved when the differential motions of the lung and chest wall were taken into account. On average, the registration error and the standard deviation (SD) of the 15 points against the known ground truth are reduced from 3.0 mm to 0.5 mm and from 1.5 mm to 0.2 mm, respectively, when the new method was used. Similar level of improvement was achieved for the clinical cases. Conclusions The segmented deformable approach provides a natural and logical solution to model the discontinuous organ motions and greatly improves the accuracy and robustness of deformable registration. PMID:19545792

Space-time light field rendering.

PubMed

Wang, Huamin; Sun, Mingxuan; Yang, Ruigang

2007-01-01

In this paper, we propose a novel framework called space-time light field rendering, which allows continuous exploration of a dynamic scene in both space and time. Compared to existing light field capture/rendering systems, it offers the capability of using unsynchronized video inputs and the added freedom of controlling the visualization in the temporal domain, such as smooth slow motion and temporal integration. In order to synthesize novel views from any viewpoint at any time instant, we develop a two-stage rendering algorithm. We first interpolate in the temporal domain to generate globally synchronized images using a robust spatial-temporal image registration algorithm followed by edge-preserving image morphing. We then interpolate these software-synchronized images in the spatial domain to synthesize the final view. In addition, we introduce a very accurate and robust algorithm to estimate subframe temporal offsets among input video sequences. Experimental results from unsynchronized videos with or without time stamps show that our approach is capable of maintaining photorealistic quality from a variety of real scenes.

Robust image matching via ORB feature and VFC for mismatch removal

NASA Astrophysics Data System (ADS)

Ma, Tao; Fu, Wenxing; Fang, Bin; Hu, Fangyu; Quan, Siwen; Ma, Jie

2018-03-01

Image matching is at the base of many image processing and computer vision problems, such as object recognition or structure from motion. Current methods rely on good feature descriptors and mismatch removal strategies for detection and matching. In this paper, we proposed a robust image match approach based on ORB feature and VFC for mismatch removal. ORB (Oriented FAST and Rotated BRIEF) is an outstanding feature, it has the same performance as SIFT with lower cost. VFC (Vector Field Consensus) is a state-of-the-art mismatch removing method. The experiment results demonstrate that our method is efficient and robust.

On Integral Invariants for Effective 3-D Motion Trajectory Matching and Recognition.

PubMed

Shao, Zhanpeng; Li, Youfu

2016-02-01

Motion trajectories tracked from the motions of human, robots, and moving objects can provide an important clue for motion analysis, classification, and recognition. This paper defines some new integral invariants for a 3-D motion trajectory. Based on two typical kernel functions, we design two integral invariants, the distance and area integral invariants. The area integral invariants are estimated based on the blurred segment of noisy discrete curve to avoid the computation of high-order derivatives. Such integral invariants for a motion trajectory enjoy some desirable properties, such as computational locality, uniqueness of representation, and noise insensitivity. Moreover, our formulation allows the analysis of motion trajectories at a range of scales by varying the scale of kernel function. The features of motion trajectories can thus be perceived at multiscale levels in a coarse-to-fine manner. Finally, we define a distance function to measure the trajectory similarity to find similar trajectories. Through the experiments, we examine the robustness and effectiveness of the proposed integral invariants and find that they can capture the motion cues in trajectory matching and sign recognition satisfactorily.

Simple motion correction strategy reduces respiratory-induced motion artifacts for k-t accelerated and compressed-sensing cardiovascular magnetic resonance perfusion imaging.

PubMed

Zhou, Ruixi; Huang, Wei; Yang, Yang; Chen, Xiao; Weller, Daniel S; Kramer, Christopher M; Kozerke, Sebastian; Salerno, Michael

2018-02-01

Cardiovascular magnetic resonance (CMR) stress perfusion imaging provides important diagnostic and prognostic information in coronary artery disease (CAD). Current clinical sequences have limited temporal and/or spatial resolution, and incomplete heart coverage. Techniques such as k-t principal component analysis (PCA) or k-t sparcity and low rank structure (SLR), which rely on the high degree of spatiotemporal correlation in first-pass perfusion data, can significantly accelerate image acquisition mitigating these problems. However, in the presence of respiratory motion, these techniques can suffer from significant degradation of image quality. A number of techniques based on non-rigid registration have been developed. However, to first approximation, breathing motion predominantly results in rigid motion of the heart. To this end, a simple robust motion correction strategy is proposed for k-t accelerated and compressed sensing (CS) perfusion imaging. A simple respiratory motion compensation (MC) strategy for k-t accelerated and compressed-sensing CMR perfusion imaging to selectively correct respiratory motion of the heart was implemented based on linear k-space phase shifts derived from rigid motion registration of a region-of-interest (ROI) encompassing the heart. A variable density Poisson disk acquisition strategy was used to minimize coherent aliasing in the presence of respiratory motion, and images were reconstructed using k-t PCA and k-t SLR with or without motion correction. The strategy was evaluated in a CMR-extended cardiac torso digital (XCAT) phantom and in prospectively acquired first-pass perfusion studies in 12 subjects undergoing clinically ordered CMR studies. Phantom studies were assessed using the Structural Similarity Index (SSIM) and Root Mean Square Error (RMSE). In patient studies, image quality was scored in a blinded fashion by two experienced cardiologists. In the phantom experiments, images reconstructed with the MC strategy had higher SSIM (p < 0.01) and lower RMSE (p < 0.01) in the presence of respiratory motion. For patient studies, the MC strategy improved k-t PCA and k-t SLR reconstruction image quality (p < 0.01). The performance of k-t SLR without motion correction demonstrated improved image quality as compared to k-t PCA in the setting of respiratory motion (p < 0.01), while with motion correction there is a trend of better performance in k-t SLR as compared with motion corrected k-t PCA. Our simple and robust rigid motion compensation strategy greatly reduces motion artifacts and improves image quality for standard k-t PCA and k-t SLR techniques in setting of respiratory motion due to imperfect breath-holding.

Real Time Energy Management Control Strategies for Hybrid Powertrains

NASA Astrophysics Data System (ADS)

Zaher, Mohamed Hegazi Mohamed

In order to improve fuel efficiency and reduce emissions of mobile vehicles, various hybrid power-train concepts have been developed over the years. This thesis focuses on embedded control of hybrid powertrain concepts for mobile vehicle applications. Optimal robust control approach is used to develop a real time energy management strategy for continuous operations. The main idea is to store the normally wasted mechanical regenerative energy in energy storage devices for later usage. The regenerative energy recovery opportunity exists in any condition where the speed of motion is in opposite direction to the applied force or torque. This is the case when the vehicle is braking, decelerating, or the motion is driven by gravitational force, or load driven. There are three main concepts for regernerative energy storing devices in hybrid vehicles: electric, hydraulic, and flywheel. The real time control challenge is to balance the system power demand from the engine and the hybrid storage device, without depleting the energy storage device or stalling the engine in any work cycle, while making optimal use of the energy saving opportunities in a given operational, often repetitive cycle. In the worst case scenario, only engine is used and hybrid system completely disabled. A rule based control is developed and tuned for different work cycles and linked to a gain scheduling algorithm. A gain scheduling algorithm identifies the cycle being performed by the machine and its position via GPS, and maps them to the gains.

Time-delay control of a magnetic levitated linear positioning system

NASA Technical Reports Server (NTRS)

Tarn, J. H.; Juang, K. Y.; Lin, C. E.

1994-01-01

In this paper, a high accuracy linear positioning system with a linear force actuator and magnetic levitation is proposed. By locating a permanently magnetized rod inside a current-carrying solenoid, the axial force is achieved by the boundary effect of magnet poles and utilized to power the linear motion, while the force for levitation is governed by Ampere's Law supplied with the same solenoid. With the levitation in a radial direction, there is hardly any friction between the rod and the solenoid. The high speed motion can hence be achieved. Besides, the axial force acting on the rod is a smooth function of rod position, so the system can provide nanometer resolution linear positioning to the molecule size. Since the force-position relation is highly nonlinear, and the mathematical model is derived according to some assumptions, such as the equivalent solenoid of the permanently magnetized rod, so there exists unknown dynamics in practical application. Thus 'robustness' is an important issue in controller design. Meanwhile the load effect reacts directly on the servo system without transmission elements, so the capability of 'disturbance rejection; is also required. With the above consideration, a time-delay control scheme is chosen and applied. By comparing the input-output relation and the mathematical model, the time-delay controller calculates an estimation of unmodeled dynamics and disturbances and then composes the desired compensation into the system. Effectiveness of the linear positioning system and control scheme are illustrated with simulation results.

Modifying high-order aeroelastic math model of a jet transport using maximum likelihood estimation

NASA Technical Reports Server (NTRS)

Anissipour, Amir A.; Benson, Russell A.

1989-01-01

The design of control laws to damp flexible structural modes requires accurate math models. Unlike the design of control laws for rigid body motion (e.g., where robust control is used to compensate for modeling inaccuracies), structural mode damping usually employs narrow band notch filters. In order to obtain the required accuracy in the math model, maximum likelihood estimation technique is employed to improve the accuracy of the math model using flight data. Presented here are all phases of this methodology: (1) pre-flight analysis (i.e., optimal input signal design for flight test, sensor location determination, model reduction technique, etc.), (2) data collection and preprocessing, and (3) post-flight analysis (i.e., estimation technique and model verification). In addition, a discussion is presented of the software tools used and the need for future study in this field.

Remote control of molecular motors using light-activated gearshifting

NASA Astrophysics Data System (ADS)

Bryant, Zev

2013-03-01

Engineering molecular motors with dynamically controllable properties will allow selective perturbation of mechanical processes in vivo and provide sophisticated components for directed nanoscale transport in vitro. We previously constructed myosin motors that respond to a change in [Ca++] by reversing their direction of motion along the polarized actin filament. To expand the potential applications of controllable molecular motors, we have now developed myosins that shift gears in response to blue light illumination. Light is a versatile control signal that can be readily modulated in time and space, and is generally orthogonal to cellular signaling. Using structure-guided protein engineering, we have incorporated LOV photoreceptor domains into the lever arms of chimeric myosins, resulting in motors that robustly speed up, slow down, or switch directions upon illumination. These genetically encoded motors should be directly deployable inside living cells. Our successful designs include constructs based on two different myosin classes, and we show that optical velocity control can be implemented in motors that move at microns/sec speeds, enabling practical biological and bioengineering applications.

Free Swimming in Ground Effect

NASA Astrophysics Data System (ADS)

Cochran-Carney, Jackson; Wagenhoffer, Nathan; Zeyghami, Samane; Moored, Keith

2017-11-01

A free-swimming potential flow analysis of unsteady ground effect is conducted for two-dimensional airfoils via a method of images. The foils undergo a pure pitching motion about their leading edge, and the positions of the body in the streamwise and cross-stream directions are determined by the equations of motion of the body. It is shown that the unconstrained swimmer is attracted to a time-averaged position that is mediated by the flow interaction with the ground. The robustness of this fluid-mediated equilibrium position is probed by varying the non-dimensional mass, initial conditions and kinematic parameters of motion. Comparisons to the foil's fixed-motion counterpart are also made to pinpoint the effect that free swimming near the ground has on wake structures and the fluid-mediated forces over time. Optimal swimming regimes for near-boundary swimming are determined by examining asymmetric motions.

Fast and robust standard-deviation-based method for bulk motion compensation in phase-based functional OCT.

PubMed

Wei, Xiang; Camino, Acner; Pi, Shaohua; Cepurna, William; Huang, David; Morrison, John C; Jia, Yali

2018-05-01

Phase-based optical coherence tomography (OCT), such as OCT angiography (OCTA) and Doppler OCT, is sensitive to the confounding phase shift introduced by subject bulk motion. Traditional bulk motion compensation methods are limited by their accuracy and computing cost-effectiveness. In this Letter, to the best of our knowledge, we present a novel bulk motion compensation method for phase-based functional OCT. Bulk motion associated phase shift can be directly derived by solving its equation using a standard deviation of phase-based OCTA and Doppler OCT flow signals. This method was evaluated on rodent retinal images acquired by a prototype visible light OCT and human retinal images acquired by a commercial system. The image quality and computational speed were significantly improved, compared to two conventional phase compensation methods.

Robust spectral-domain optical coherence tomography speckle model and its cross-correlation coefficient analysis

PubMed Central

Liu, Xuan; Ramella-Roman, Jessica C.; Huang, Yong; Guo, Yuan; Kang, Jin U.

2013-01-01

In this study, we proposed a generic speckle simulation for optical coherence tomography (OCT) signal, by convolving the point spread function (PSF) of the OCT system with the numerically synthesized random sample field. We validated our model and used the simulation method to study the statistical properties of cross-correlation coefficients (XCC) between Ascans which have been recently applied in transverse motion analysis by our group. The results of simulation show that over sampling is essential for accurate motion tracking; exponential decay of OCT signal leads to an under estimate of motion which can be corrected; lateral heterogeneity of sample leads to an over estimate of motion for a few pixels corresponding to the structural boundary. PMID:23456001

Geo-Referenced Dynamic Pushbroom Stereo Mosaics for 3D and Moving Target Extraction - A New Geometric Approach

DTIC Science & Technology

2009-12-01

facilitating reliable stereo matching, occlusion handling, accurate 3D reconstruction and robust moving target detection . We use the fact that all the...a moving platform, we will have to naturally and effectively handle obvious motion parallax and object occlusions in order to be able to detect ...facilitating reliable stereo matching, occlusion handling, accurate 3D reconstruction and robust moving target detection . Based on the above two

Quantitative framework for prospective motion correction evaluation.

PubMed

Pannetier, Nicolas A; Stavrinos, Theano; Ng, Peter; Herbst, Michael; Zaitsev, Maxim; Young, Karl; Matson, Gerald; Schuff, Norbert

2016-02-01

Establishing a framework to evaluate performances of prospective motion correction (PMC) MRI considering motion variability between MRI scans. A framework was developed to obtain quantitative comparisons between different motion correction setups, considering that varying intrinsic motion patterns between acquisitions can induce bias. Intrinsic motion was considered by replaying in a phantom experiment the recorded motion trajectories from subjects. T1-weighted MRI on five volunteers and two different marker fixations (mouth guard and nose bridge fixations) were used to test the framework. Two metrics were investigated to quantify the improvement of the image quality with PMC. Motion patterns vary between subjects as well as between repeated scans within a subject. This variability can be approximated by replaying the motion in a distinct phantom experiment and used as a covariate in models comparing motion corrections. We show that considering the intrinsic motion alters the statistical significance in comparing marker fixations. As an example, two marker fixations, a mouth guard and a nose bridge, were evaluated in terms of their effectiveness for PMC. A mouth guard achieved better PMC performance. Intrinsic motion patterns can bias comparisons between PMC configurations and must be considered for robust evaluations. A framework for evaluating intrinsic motion patterns in PMC is presented. © 2015 Wiley Periodicals, Inc.

Digital control of magnetic bearings in a cryogenic cooler

NASA Technical Reports Server (NTRS)

Feeley, J.; Law, A.; Lind, F.

1990-01-01

This paper describes the design of a digital control system for control of magnetic bearings used in a spaceborne cryogenic cooler. The cooler was developed by Philips Laboratories for the NASA Goddard Space Flight Center. Six magnetic bearing assemblies are used to levitate the piston, displacer, and counter-balance of the cooler. The piston and displacer are driven by linear motors in accordance with Stirling cycle thermodynamic principles to produce the desired cooling effect. The counter-balance is driven by a third linear motor to cancel motion induced forces that would otherwise be transmitted to the spacecraft. An analog control system is currently used for bearing control. The purpose of this project is to investigate the possibilities for improved performance using digital control. Areas for potential improvement include transient and steady state control characteristics, robustness, reliability, adaptability, alternate control modes, size, weight, and cost. The present control system is targeted for the Intel 80196 microcontroller family. The eventual introduction of application specific integrated circuit (ASIC) technology to this problem may produce a unique and elegant solution both here and in related industrial problems.

Improvement of cardiac CT reconstruction using local motion vector fields.

PubMed

Schirra, Carsten Oliver; Bontus, Claas; van Stevendaal, Udo; Dössel, Olaf; Grass, Michael

2009-03-01

The motion of the heart is a major challenge for cardiac imaging using CT. A novel approach to decrease motion blur and to improve the signal to noise ratio is motion compensated reconstruction which takes motion vector fields into account in order to correct motion. The presented work deals with the determination of local motion vector fields from high contrast objects and their utilization within motion compensated filtered back projection reconstruction. Image registration is applied during the quiescent cardiac phases. Temporal interpolation in parameter space is used in order to estimate motion during strong motion phases. The resulting motion vector fields are during image reconstruction. The method is assessed using a software phantom and several clinical cases for calcium scoring. As a criterion for reconstruction quality, calcium volume scores were derived from both, gated cardiac reconstruction and motion compensated reconstruction throughout the cardiac phases using low pitch helical cone beam CT acquisitions. The presented technique is a robust method to determine and utilize local motion vector fields. Motion compensated reconstruction using the derived motion vector fields leads to superior image quality compared to gated reconstruction. As a result, the gating window can be enlarged significantly, resulting in increased SNR, while reliable Hounsfield units are achieved due to the reduced level of motion artefacts. The enlargement of the gating window can be translated into reduced dose requirements.

Quantum acoustics with superconducting qubits

NASA Astrophysics Data System (ADS)

Chu, Yiwen

2017-04-01

The ability to engineer and manipulate different types of quantum mechanical objects allows us to take advantage of their unique properties and create useful hybrid technologies. Thus far, complex quantum states and exquisite quantum control have been demonstrated in systems ranging from trapped ions to superconducting resonators. Recently, there have been many efforts to extend these demonstrations to the motion of complex, macroscopic objects. These mechanical objects have important applications as quantum memories or transducers for measuring and connecting different types of quantum systems. In particular, there have been a few experiments that couple motion to nonlinear quantum objects such as superconducting qubits. This opens up the possibility of creating, storing, and manipulating non-Gaussian quantum states in mechanical degrees of freedom. However, before sophisticated quantum control of mechanical motion can be achieved, we must realize systems with long coherence times while maintaining a sufficient interaction strength. These systems should be implemented in a simple and robust manner that allows for increasing complexity and scalability in the future. In this talk, I will describe our recent experiments demonstrating a high frequency bulk acoustic wave resonator that is strongly coupled to a superconducting qubit using piezoelectric transduction. In contrast to previous experiments with qubit-mechanical systems, our device requires only simple fabrication methods, extends coherence times to many microseconds, and provides controllable access to a multitude of phonon modes. We use this system to demonstrate basic quantum operations on the coupled qubit-phonon system. Straightforward improvements to the current device will allow for advanced protocols analogous to what has been shown in optical and microwave resonators, resulting in a novel resource for implementing hybrid quantum technologies.

Nonlinear damping based semi-active building isolation system

NASA Astrophysics Data System (ADS)

Ho, Carmen; Zhu, Yunpeng; Lang, Zi-Qiang; Billings, Stephen A.; Kohiyama, Masayuki; Wakayama, Shizuka

2018-06-01

Many buildings in Japan currently have a base-isolation system with a low stiffness that is designed to shift the natural frequency of the building below the frequencies of the ground motion due to earthquakes. However, the ground motion observed during the 2011 Tohoku earthquake contained strong long-period waves that lasted for a record length of 3 min. To provide a novel and better solution against the long-period waves while maintaining the performance of the standard isolation range, the exploitation of the characteristics of nonlinear damping is proposed in this paper. This is motivated by previous studies of the authors, which have demonstrated that nonlinear damping can achieve desired performance over both low and high frequency regions and the optimal nonlinear damping force can be realized by closed loop controlled semi-active dampers. Simulation results have shown strong vibration isolation performance on a building model with identified parameters and have indicated that nonlinear damping can achieve low acceleration transmissibilities round the structural natural frequency as well as the higher ground motion frequencies that have been frequently observed during most earthquakes in Japan. In addition, physical building model based laboratory experiments are also conducted, The results demonstrate the advantages of the proposed nonlinear damping technologies over both traditional linear damping and more advanced Linear-Quadratic Gaussian (LQG) feedback control which have been used in practice to address building isolation system design and implementation problems. In comparison with the tuned-mass damper and other active control methods, the proposed solution offers a more pragmatic, low-cost, robust and effective alternative that can be readily installed into the base-isolation system of most buildings.

Validation of a motion-robust 2D sequential technique for quantification of hepatic proton density fat fraction during free breathing.

PubMed

Pooler, B Dustin; Hernando, Diego; Ruby, Jeannine A; Ishii, Hiroshi; Shimakawa, Ann; Reeder, Scott B

2018-04-17

Current chemical-shift-encoded (CSE) MRI techniques for measuring hepatic proton density fat fraction (PDFF) are sensitive to motion artifacts. Initial validation of a motion-robust 2D-sequential CSE-MRI technique for quantification of hepatic PDFF. Phantom study and prospective in vivo cohort. Fifty adult patients (27 women, 23 men, mean age 57.2 years). 3D, 2D-interleaved, and 2D-sequential CSE-MRI acquisitions at 1.5T. Three CSE-MRI techniques (3D, 2D-interleaved, 2D-sequential) were performed in a PDFF phantom and in vivo. Reference standards were 3D CSE-MRI PDFF measurements for the phantom study and single-voxel MR spectroscopy hepatic PDFF measurements (MRS-PDFF) in vivo. In vivo hepatic MRI-PDFF measurements were performed during a single breath-hold (BH) and free breathing (FB), and were repeated by a second reader for the FB 2D-sequential sequence to assess interreader variability. Correlation plots to validate the 2D-sequential CSE-MRI against the phantom and in vivo reference standards. Bland-Altman analysis of FB versus BH CSE-MRI acquisitions to evaluate robustness to motion. Bland-Altman analysis to assess interreader variability. Phantom 2D-sequential CSE-MRI PDFF measurements demonstrated excellent agreement and correlation (R 2 > 0.99) with 3D CSE-MRI. In vivo, the mean (±SD) hepatic PDFF was 8.8 ± 8.7% (range 0.6-28.5%). Compared with BH acquisitions, FB hepatic PDFF measurements demonstrated bias of +0.15% for 2D-sequential compared with + 0.53% for 3D and +0.94% for 2D-interleaved. 95% limits of agreement (LOA) were narrower for 2D-sequential (±0.99%), compared with 3D (±3.72%) and 2D-interleaved (±3.10%). All CSE-MRI techniques had excellent correlation with MRS (R 2 > 0.97). The FB 2D-sequential acquisition demonstrated little interreader variability, with mean bias of +0.07% and 95% LOA of ± 1.53%. This motion-robust 2D-sequential CSE-MRI can accurately measure hepatic PDFF during free breathing in a patient population with a range of PDFF values of 0.6-28.5%, permitting accurate quantification of liver fat content without the need for suspended respiration. 1 Technical Efficacy: Stage 2 J. Magn. Reson. Imaging 2018. © 2018 International Society for Magnetic Resonance in Medicine.

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

NASA Astrophysics Data System (ADS)

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

2016-07-01

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

Zebrafish response to a robotic replica in three dimensions

PubMed Central

Ruberto, Tommaso; Mwaffo, Violet; Singh, Sukhgewanpreet; Neri, Daniele

2016-01-01

As zebrafish emerge as a species of choice for the investigation of biological processes, a number of experimental protocols are being developed to study their social behaviour. While live stimuli may elicit varying response in focal subjects owing to idiosyncrasies, tiredness and circadian rhythms, video stimuli suffer from the absence of physical input and rely only on two-dimensional projections. Robotics has been recently proposed as an alternative approach to generate physical, customizable, effective and consistent stimuli for behavioural phenotyping. Here, we contribute to this field of investigation through a novel four-degree-of-freedom robotics-based platform to manoeuvre a biologically inspired three-dimensionally printed replica. The platform enables three-dimensional motions as well as body oscillations to mimic zebrafish locomotion. In a series of experiments, we demonstrate the differential role of the visual stimuli associated with the biologically inspired replica and its three-dimensional motion. Three-dimensional tracking and information-theoretic tools are complemented to quantify the interaction between zebrafish and the robotic stimulus. Live subjects displayed a robust attraction towards the moving replica, and such attraction was lost when controlling for its visual appearance or motion. This effort is expected to aid zebrafish behavioural phenotyping, by offering a novel approach to generate physical stimuli moving in three dimensions. PMID:27853566

Automatic generation of the non-holonomic equations of motion for vehicle stability analysis

NASA Astrophysics Data System (ADS)

Minaker, B. P.; Rieveley, R. J.

2010-09-01

The mathematical analysis of vehicle stability has been utilised as an important tool in the design, development, and evaluation of vehicle architectures and stability controls. This paper presents a novel method for automatic generation of the linearised equations of motion for mechanical systems that is well suited to vehicle stability analysis. Unlike conventional methods for generating linearised equations of motion in standard linear second order form, the proposed method allows for the analysis of systems with non-holonomic constraints. In the proposed method, the algebraic constraint equations are eliminated after linearisation and reduction to first order. The described method has been successfully applied to an assortment of classic dynamic problems of varying complexity including the classic rolling coin, the planar truck-trailer, and the bicycle, as well as in more recent problems such as a rotor-stator and a benchmark road vehicle with suspension. This method has also been applied in the design and analysis of a novel three-wheeled narrow tilting vehicle with zero roll-stiffness. An application for determining passively stable configurations using the proposed method together with a genetic search algorithm is detailed. The proposed method and software implementation has been shown to be robust and provides invaluable conceptual insight into the stability of vehicles and mechanical systems.

Robust optimization based upon statistical theory.

PubMed

Sobotta, B; Söhn, M; Alber, M

2010-08-01

Organ movement is still the biggest challenge in cancer treatment despite advances in online imaging. Due to the resulting geometric uncertainties, the delivered dose cannot be predicted precisely at treatment planning time. Consequently, all associated dose metrics (e.g., EUD and maxDose) are random variables with a patient-specific probability distribution. The method that the authors propose makes these distributions the basis of the optimization and evaluation process. The authors start from a model of motion derived from patient-specific imaging. On a multitude of geometry instances sampled from this model, a dose metric is evaluated. The resulting pdf of this dose metric is termed outcome distribution. The approach optimizes the shape of the outcome distribution based on its mean and variance. This is in contrast to the conventional optimization of a nominal value (e.g., PTV EUD) computed on a single geometry instance. The mean and variance allow for an estimate of the expected treatment outcome along with the residual uncertainty. Besides being applicable to the target, the proposed method also seamlessly includes the organs at risk (OARs). The likelihood that a given value of a metric is reached in the treatment is predicted quantitatively. This information reveals potential hazards that may occur during the course of the treatment, thus helping the expert to find the right balance between the risk of insufficient normal tissue sparing and the risk of insufficient tumor control. By feeding this information to the optimizer, outcome distributions can be obtained where the probability of exceeding a given OAR maximum and that of falling short of a given target goal can be minimized simultaneously. The method is applicable to any source of residual motion uncertainty in treatment delivery. Any model that quantifies organ movement and deformation in terms of probability distributions can be used as basis for the algorithm. Thus, it can generate dose distributions that are robust against interfraction and intrafraction motion alike, effectively removing the need for indiscriminate safety margins.

Does taping in addition to physiotherapy improve the outcomes in subacromial impingement syndrome? A systematic review.

PubMed

Saracoglu, Ismail; Emuk, Yusuf; Taspinar, Ferruh

2018-04-01

Taping is used with or without other interventions for many purposes, especially to manage pain and improve functional activity in patients with shoulder pain. The aim of this review was to determine whether any taping technique in addition to physiotherapy care is more effective than physiotherapy care alone in patients with shoulder impingement syndrome. A systematic search of Cochrane Database of Systematic Review, MEDLINE (EBSCO), Physiotherapy Evidence Database (PEDro), CINAHL (EBSCO), PUBMED, AMED, EMBASE (OVID), The Kinesio Kinesio® Taping Method, Kinesio® Tex Tape UK and International websites ( www.kinesiotaping.co.uk ; www.kinesiotaping.com ) was conducted to June 2015. The outcome measures were pain, disability, range of motion and muscle strength. As data were not suitable for meta-analysis, narrative synthesis were applied. Three randomized controlled trials and one controlled trial (135 patients) were included. The results were conflicting and weak on the effectiveness of taping as an adjunct therapy for improvement of pain, disability, range of motion and muscle strength. Clinical taping in addition to physiotherapy interventions (e.g. exercise, electrotherapy, and manual therapy) might be an optional modality for managing patients with shoulder impingement syndrome, especially for the initial stage of the treatment; however, we need further robust, placebo controlled and consistent studies to prove whether it is more effective than physiotherapy interventions without taping.

A Robust Post-Processing Workflow for Datasets with Motion Artifacts in Diffusion Kurtosis Imaging

PubMed Central

Li, Xianjun; Yang, Jian; Gao, Jie; Luo, Xue; Zhou, Zhenyu; Hu, Yajie; Wu, Ed X.; Wan, Mingxi

2014-01-01

Purpose The aim of this study was to develop a robust post-processing workflow for motion-corrupted datasets in diffusion kurtosis imaging (DKI). Materials and methods The proposed workflow consisted of brain extraction, rigid registration, distortion correction, artifacts rejection, spatial smoothing and tensor estimation. Rigid registration was utilized to correct misalignments. Motion artifacts were rejected by using local Pearson correlation coefficient (LPCC). The performance of LPCC in characterizing relative differences between artifacts and artifact-free images was compared with that of the conventional correlation coefficient in 10 randomly selected DKI datasets. The influence of rejected artifacts with information of gradient directions and b values for the parameter estimation was investigated by using mean square error (MSE). The variance of noise was used as the criterion for MSEs. The clinical practicality of the proposed workflow was evaluated by the image quality and measurements in regions of interest on 36 DKI datasets, including 18 artifact-free (18 pediatric subjects) and 18 motion-corrupted datasets (15 pediatric subjects and 3 essential tremor patients). Results The relative difference between artifacts and artifact-free images calculated by LPCC was larger than that of the conventional correlation coefficient (p<0.05). It indicated that LPCC was more sensitive in detecting motion artifacts. MSEs of all derived parameters from the reserved data after the artifacts rejection were smaller than the variance of the noise. It suggested that influence of rejected artifacts was less than influence of noise on the precision of derived parameters. The proposed workflow improved the image quality and reduced the measurement biases significantly on motion-corrupted datasets (p<0.05). Conclusion The proposed post-processing workflow was reliable to improve the image quality and the measurement precision of the derived parameters on motion-corrupted DKI datasets. The workflow provided an effective post-processing method for clinical applications of DKI in subjects with involuntary movements. PMID:24727862

A robust post-processing workflow for datasets with motion artifacts in diffusion kurtosis imaging.

PubMed

Li, Xianjun; Yang, Jian; Gao, Jie; Luo, Xue; Zhou, Zhenyu; Hu, Yajie; Wu, Ed X; Wan, Mingxi

2014-01-01

The aim of this study was to develop a robust post-processing workflow for motion-corrupted datasets in diffusion kurtosis imaging (DKI). The proposed workflow consisted of brain extraction, rigid registration, distortion correction, artifacts rejection, spatial smoothing and tensor estimation. Rigid registration was utilized to correct misalignments. Motion artifacts were rejected by using local Pearson correlation coefficient (LPCC). The performance of LPCC in characterizing relative differences between artifacts and artifact-free images was compared with that of the conventional correlation coefficient in 10 randomly selected DKI datasets. The influence of rejected artifacts with information of gradient directions and b values for the parameter estimation was investigated by using mean square error (MSE). The variance of noise was used as the criterion for MSEs. The clinical practicality of the proposed workflow was evaluated by the image quality and measurements in regions of interest on 36 DKI datasets, including 18 artifact-free (18 pediatric subjects) and 18 motion-corrupted datasets (15 pediatric subjects and 3 essential tremor patients). The relative difference between artifacts and artifact-free images calculated by LPCC was larger than that of the conventional correlation coefficient (p<0.05). It indicated that LPCC was more sensitive in detecting motion artifacts. MSEs of all derived parameters from the reserved data after the artifacts rejection were smaller than the variance of the noise. It suggested that influence of rejected artifacts was less than influence of noise on the precision of derived parameters. The proposed workflow improved the image quality and reduced the measurement biases significantly on motion-corrupted datasets (p<0.05). The proposed post-processing workflow was reliable to improve the image quality and the measurement precision of the derived parameters on motion-corrupted DKI datasets. The workflow provided an effective post-processing method for clinical applications of DKI in subjects with involuntary movements.

Computational Motion Phantoms and Statistical Models of Respiratory Motion

NASA Astrophysics Data System (ADS)

Ehrhardt, Jan; Klinder, Tobias; Lorenz, Cristian

Breathing motion is not a robust and 100 % reproducible process, and inter- and intra-fractional motion variations form an important problem in radiotherapy of the thorax and upper abdomen. A widespread consensus nowadays exists that it would be useful to use prior knowledge about respiratory organ motion and its variability to improve radiotherapy planning and treatment delivery. This chapter discusses two different approaches to model the variability of respiratory motion. In the first part, we review computational motion phantoms, i.e. computerized anatomical and physiological models. Computational phantoms are excellent tools to simulate and investigate the effects of organ motion in radiation therapy and to gain insight into methods for motion management. The second part of this chapter discusses statistical modeling techniques to describe the breathing motion and its variability in a population of 4D images. Population-based models can be generated from repeatedly acquired 4D images of the same patient (intra-patient models) and from 4D images of different patients (inter-patient models). The generation of those models is explained and possible applications of those models for motion prediction in radiotherapy are exemplified. Computational models of respiratory motion and motion variability have numerous applications in radiation therapy, e.g. to understand motion effects in simulation studies, to develop and evaluate treatment strategies or to introduce prior knowledge into the patient-specific treatment planning.

Mapping feature-sensitivity and attentional modulation in human auditory cortex with functional magnetic resonance imaging

PubMed Central

Paltoglou, Aspasia E; Sumner, Christian J; Hall, Deborah A

2011-01-01

Feature-specific enhancement refers to the process by which selectively attending to a particular stimulus feature specifically increases the response in the same region of the brain that codes that stimulus property. Whereas there are many demonstrations of this mechanism in the visual system, the evidence is less clear in the auditory system. The present functional magnetic resonance imaging (fMRI) study examined this process for two complex sound features, namely frequency modulation (FM) and spatial motion. The experimental design enabled us to investigate whether selectively attending to FM and spatial motion enhanced activity in those auditory cortical areas that were sensitive to the two features. To control for attentional effort, the difficulty of the target-detection tasks was matched as closely as possible within listeners. Locations of FM-related and motion-related activation were broadly compatible with previous research. The results also confirmed a general enhancement across the auditory cortex when either feature was being attended to, as compared with passive listening. The feature-specific effects of selective attention revealed the novel finding of enhancement for the nonspatial (FM) feature, but not for the spatial (motion) feature. However, attention to spatial features also recruited several areas outside the auditory cortex. Further analyses led us to conclude that feature-specific effects of selective attention are not statistically robust, and appear to be sensitive to the choice of fMRI experimental design and localizer contrast. PMID:21447093

Robust design of mass-uncertain rolling-pendulum TMDs for the seismic protection of buildings

NASA Astrophysics Data System (ADS)

Matta, Emiliano; De Stefano, Alessandro

2009-01-01

Commonly used for mitigating wind- and traffic-induced vibrations in flexible structures, passive tuned mass dampers (TMDs) are rarely applied to the seismic control of buildings, their effectiveness to impulsive loads being conditional upon adoption of large mass ratios. Instead of recurring to cumbersome metal or concrete devices, this paper suggests meeting that condition by turning into TMDs non-structural masses sometimes available atop buildings. An innovative roof-garden TMD, for instance, sounds a promising tool capable of combining environmental and structural protection in one device. Unfortunately, the amount of these masses being generally variable, the resulting mass-uncertain TMD (MUTMD) appears prone to mistuning and control loss. In an attempt to minimize such adverse effects, robust analysis and synthesis against mass variations are applied in this study to MUTMDs of the rolling-pendulum type, a configuration characterized by mass-independent natural period. Through simulations under harmonic and recorded ground motions of increasing intensity, the performance of circular and cycloidal rolling-pendulum MUTMDs is evaluated on an SDOF structure in order to illustrate their respective advantages as well as the drawbacks inherent in their non-linear behavior. A possible implementation of a roof-garden TMD on a real building structure is described and its control efficacy numerically demonstrated, showing that in practical applications MUTMDs can become a good alternative to traditional TMDs.

Motion-induced phase error estimation and correction in 3D diffusion tensor imaging.

PubMed

Van, Anh T; Hernando, Diego; Sutton, Bradley P

2011-11-01

A multishot data acquisition strategy is one way to mitigate B0 distortion and T2∗ blurring for high-resolution diffusion-weighted magnetic resonance imaging experiments. However, different object motions that take place during different shots cause phase inconsistencies in the data, leading to significant image artifacts. This work proposes a maximum likelihood estimation and k-space correction of motion-induced phase errors in 3D multishot diffusion tensor imaging. The proposed error estimation is robust, unbiased, and approaches the Cramer-Rao lower bound. For rigid body motion, the proposed correction effectively removes motion-induced phase errors regardless of the k-space trajectory used and gives comparable performance to the more computationally expensive 3D iterative nonlinear phase error correction method. The method has been extended to handle multichannel data collected using phased-array coils. Simulation and in vivo data are shown to demonstrate the performance of the method.

Inspiration for wing design: how forelimb specialization enables active flight in modern vertebrates

PubMed Central

2017-01-01

Harnessing flight strategies refined by millions of years of evolution can help expedite the design of more efficient, manoeuvrable and robust flying robots. This review synthesizes recent advances and highlights remaining gaps in our understanding of how bird and bat wing adaptations enable effective flight. Included in this discussion is an evaluation of how current robotic analogues measure up to their biological sources of inspiration. Studies of vertebrate wings have revealed skeletal systems well suited for enduring the loads required during flight, but the mechanisms that drive coordinated motions between bones and connected integuments remain ill-described. Similarly, vertebrate flight muscles have adapted to sustain increased wing loading, but a lack of in vivo studies limits our understanding of specific muscular functions. Forelimb adaptations diverge at the integument level, but both bird feathers and bat membranes yield aerodynamic surfaces with a level of robustness unparalleled by engineered wings. These morphological adaptations enable a diverse range of kinematics tuned for different flight speeds and manoeuvres. By integrating vertebrate flight specializations—particularly those that enable greater robustness and adaptability—into the design and control of robotic wings, engineers can begin narrowing the wide margin that currently exists between flying robots and vertebrates. In turn, these robotic wings can help biologists create experiments that would be impossible in vivo. PMID:28592663

Application of Motion Induced Remote-Field Eddy-Current effect to online inspection and quality examination of rolling metallic strips

NASA Astrophysics Data System (ADS)

Sun, Yushi; Udpa, Satish; Lord, William; Udpa, Lalita; Ouyang, Tianhe

2001-04-01

The Motion Induced Remote-Field Eddy-Current (MIRFEC) effect was first observed in 1994. The effect was first exploited for detecting pipeline stress corrosion cracks as a part of a research project sponsored by the U.S. Department of Transportation. This paper presents a new application of the MIRFEC effect for online inspection of rolling metallic strips. Currently, rolled metallic strips and sheets are inspected off-line, which is costly, time consuming and not ideal for quality control. A well-designed online diagnostic and control system for metal rolling process may be able to reduce cost, improve quality, and hence enhance competitiveness of the product. The overall objective of this paper is to demonstrate the feasibility of a new nondestructive measurement system for on-line diagnostics and control of metallic rolling process using the MIRFEC effect. The system can be used to monitor, in real time, metallic strips/sheets for possible anomalies, inclusions, voids, bubbles, lamination, as well as variations in its magnetic and other properties. The potential advantages of the MIRFEC system include simplicity, robustness, low cost, high reliability, quick and accurate signal classification and characterization. Such systems can be used for real-time process control, or off-line data analysis. The technique also allows operation at high temperatures, tolerates large lift-off and vibration, and high rolling speed. Results of finite element modeling of the MIRFEC effect and experimental measurement data obtained from a prototype system are presented.

Compound Wing Vertical Takeoff and Landing Small Unmanned Aircraft System

NASA Technical Reports Server (NTRS)

Logan, Michael J. (Inventor); Motter, Mark A. (Inventor); Deloach, Richard (Inventor); Vranas, Thomas L. (Inventor); Prendergast, Joseph M. (Inventor); Lipp, Brittney N. (Inventor)

2017-01-01

Systems, methods, and devices are provided that enable robust operations of a small unmanned aircraft system (sUAS) using a compound wing. The various embodiments may provide a sUAS with vertical takeoff and landing capability, long endurance, and the capability to operate in adverse environmental conditions. In the various embodiments a sUAS may include a fuselage and a compound wing comprising a fixed portion coupled to the fuselage, a wing lifting portion outboard of the fixed portion comprising a rigid cross member and a controllable articulating portion configured to rotate controllable through a range of motion from a horizontal position to a vertical position, and a freely rotating wing portion outboard of the wing lifting portion and configured to rotate freely based on wind forces incident on the freely rotating wing portion.

Global Sliding Mode Control for the Bank-to-Turn of Hypersonic Glide Vehicle

NASA Astrophysics Data System (ADS)

Zhang, J.; Yu, Y. F.; Yan, P. P.; Fan, Y. H.; Guo, X. W.

2017-03-01

The technology of Bank-to-Turn has been recognized as an attractive direction due to their significance for the control of hypersonic glide vehicle. Strong coupling existing among pitch, yaw and roll channel was a great challenge for banking to turn, and thus a novel global sliding mode controller was designed for hypersonic glider in this paper. Considering the coupling among channels as interference, we can use invariance principle of sliding mode motion to realize the decoupling control. The global sliding mode control system could eliminate the stage of reaching, which can lead to the realization of whole systematic process decoupling control. When the global sliding mode factor was designed, a minimum norm pole assignment method of the sliding mode matrix was introduced to improve the robustness of the system. The method of continuity of symbolic function was adopted to overcome the chatter, which furtherly modify the transient performance of the system. The simulation results show that this method has good performance of three channel decoupling control and guidance command tracking. And it can meet the requirements of the dynamic performance of the system.

Optimal control of complex atomic quantum systems

PubMed Central

van Frank, S.; Bonneau, M.; Schmiedmayer, J.; Hild, S.; Gross, C.; Cheneau, M.; Bloch, I.; Pichler, T.; Negretti, A.; Calarco, T.; Montangero, S.

2016-01-01

Quantum technologies will ultimately require manipulating many-body quantum systems with high precision. Cold atom experiments represent a stepping stone in that direction: a high degree of control has been achieved on systems of increasing complexity. However, this control is still sub-optimal. In many scenarios, achieving a fast transformation is crucial to fight against decoherence and imperfection effects. Optimal control theory is believed to be the ideal candidate to bridge the gap between early stage proof-of-principle demonstrations and experimental protocols suitable for practical applications. Indeed, it can engineer protocols at the quantum speed limit – the fastest achievable timescale of the transformation. Here, we demonstrate such potential by computing theoretically and verifying experimentally the optimal transformations in two very different interacting systems: the coherent manipulation of motional states of an atomic Bose-Einstein condensate and the crossing of a quantum phase transition in small systems of cold atoms in optical lattices. We also show that such processes are robust with respect to perturbations, including temperature and atom number fluctuations. PMID:27725688

Optimal control of complex atomic quantum systems.

PubMed

van Frank, S; Bonneau, M; Schmiedmayer, J; Hild, S; Gross, C; Cheneau, M; Bloch, I; Pichler, T; Negretti, A; Calarco, T; Montangero, S

2016-10-11

Quantum technologies will ultimately require manipulating many-body quantum systems with high precision. Cold atom experiments represent a stepping stone in that direction: a high degree of control has been achieved on systems of increasing complexity. However, this control is still sub-optimal. In many scenarios, achieving a fast transformation is crucial to fight against decoherence and imperfection effects. Optimal control theory is believed to be the ideal candidate to bridge the gap between early stage proof-of-principle demonstrations and experimental protocols suitable for practical applications. Indeed, it can engineer protocols at the quantum speed limit - the fastest achievable timescale of the transformation. Here, we demonstrate such potential by computing theoretically and verifying experimentally the optimal transformations in two very different interacting systems: the coherent manipulation of motional states of an atomic Bose-Einstein condensate and the crossing of a quantum phase transition in small systems of cold atoms in optical lattices. We also show that such processes are robust with respect to perturbations, including temperature and atom number fluctuations.

Motorizing fibres with geometric zero-energy modes

NASA Astrophysics Data System (ADS)

Baumann, Arthur; Sánchez-Ferrer, Antoni; Jacomine, Leandro; Martinoty, Philippe; Le Houerou, Vincent; Ziebert, Falko; Kulić, Igor M.

2018-06-01

Responsive materials1-3 have been used to generate structures with built-in complex geometries4-6, linear actuators7-9 and microswimmers10-12. These results suggest that complex, fully functional machines composed solely from shape-changing materials might be possible13. Nonetheless, to accomplish rotary motion in these materials still relies on the classical wheel and axle motifs. Here we explore geometric zero-energy modes to elicit rotary motion in elastic materials in the absence of a rigid wheel travelling around an axle. We show that prestrained polymer fibres closed into rings exhibit self-actuation and continuous motion when placed between two heat baths due to elastic deformations that arise from rotational-symmetry breaking around the rod's axis. Our findings illustrate a simple but robust model to create active motion in mechanically prestrained objects.

Robustness properties of LQG optimized compensators for collocated rate sensors

NASA Technical Reports Server (NTRS)

Balakrishnan, A. V.

1994-01-01

In this paper we study the robustness with respect to stability of the closed-loop system with collocated rate sensor using LQG (mean square rate) optimized compensators. Our main result is that the transmission zeros of the compensator are precisely the structure modes when the actuator/sensor locations are 'pinned' and/or 'clamped': i.e., motion in the direction sensed is not allowed. We have stability even under parameter mismatch, except in the unlikely situation where such a mode frequency of the assumed system coincides with an undamped mode frequency of the real system and the corresponding mode shape is an eigenvector of the compensator transfer function matrix at that frequency. For a truncated modal model - such as that of the NASA LaRC Phase Zero Evolutionary model - the transmission zeros of the corresponding compensator transfer function can be interpreted as the structure modes when motion in the directions sensed is prohibited.

Robust sensorimotor representation to physical interaction changes in humanoid motion learning.

PubMed

Shimizu, Toshihiko; Saegusa, Ryo; Ikemoto, Shuhei; Ishiguro, Hiroshi; Metta, Giorgio

2015-05-01

This paper proposes a learning from demonstration system based on a motion feature, called phase transfer sequence. The system aims to synthesize the knowledge on humanoid whole body motions learned during teacher-supported interactions, and apply this knowledge during different physical interactions between a robot and its surroundings. The phase transfer sequence represents the temporal order of the changing points in multiple time sequences. It encodes the dynamical aspects of the sequences so as to absorb the gaps in timing and amplitude derived from interaction changes. The phase transfer sequence was evaluated in reinforcement learning of sitting-up and walking motions conducted by a real humanoid robot and compatible simulator. In both tasks, the robotic motions were less dependent on physical interactions when learned by the proposed feature than by conventional similarity measurements. Phase transfer sequence also enhanced the convergence speed of motion learning. Our proposed feature is original primarily because it absorbs the gaps caused by changes of the originally acquired physical interactions, thereby enhancing the learning speed in subsequent interactions.

Revised motion estimation algorithm for PROPELLER MRI.

PubMed

Pipe, James G; Gibbs, Wende N; Li, Zhiqiang; Karis, John P; Schar, Michael; Zwart, Nicholas R

2014-08-01

To introduce a new algorithm for estimating data shifts (used for both rotation and translation estimates) for motion-corrected PROPELLER MRI. The method estimates shifts for all blades jointly, emphasizing blade-pair correlations that are both strong and more robust to noise. The heads of three volunteers were scanned using a PROPELLER acquisition while they exhibited various amounts of motion. All data were reconstructed twice, using motion estimates from the original and new algorithm. Two radiologists independently and blindly compared 216 image pairs from these scans, ranking the left image as substantially better or worse than, slightly better or worse than, or equivalent to the right image. In the aggregate of 432 scores, the new method was judged substantially better than the old method 11 times, and was never judged substantially worse. The new algorithm compared favorably with the old in its ability to estimate bulk motion in a limited study of volunteer motion. A larger study of patients is planned for future work. Copyright © 2013 Wiley Periodicals, Inc.

Quantifying and correcting motion artifacts in MRI

NASA Astrophysics Data System (ADS)

Bones, Philip J.; Maclaren, Julian R.; Millane, Rick P.; Watts, Richard

2006-08-01

Patient motion during magnetic resonance imaging (MRI) can produce significant artifacts in a reconstructed image. Since measurements are made in the spatial frequency domain ('k-space'), rigid-body translational motion results in phase errors in the data samples while rotation causes location errors. A method is presented to detect and correct these errors via a modified sampling strategy, thereby achieving more accurate image reconstruction. The strategy involves sampling vertical and horizontal strips alternately in k-space and employs phase correlation within the overlapping segments to estimate translational motion. An extension, also based on correlation, is employed to estimate rotational motion. Results from simulations with computer-generated phantoms suggest that the algorithm is robust up to realistic noise levels. The work is being extended to physical phantoms. Provided that a reference image is available and the object is of limited extent, it is shown that a measure related to the amount of energy outside the support can be used to objectively compare the severity of motion-induced artifacts.

Structure preserving clustering-object tracking via subgroup motion pattern segmentation

NASA Astrophysics Data System (ADS)

Fan, Zheyi; Zhu, Yixuan; Jiang, Jiao; Weng, Shuqin; Liu, Zhiwen

2018-01-01

Tracking clustering objects with similar appearances simultaneously in collective scenes is a challenging task in the field of collective motion analysis. Recent work on clustering-object tracking often suffers from poor tracking accuracy and terrible real-time performance due to the neglect or the misjudgment of the motion differences among objects. To address this problem, we propose a subgroup motion pattern segmentation framework based on a multilayer clustering structure and establish spatial constraints only among objects in the same subgroup, which entails having consistent motion direction and close spatial position. In addition, the subgroup segmentation results are updated dynamically because crowd motion patterns are changeable and affected by objects' destinations and scene structures. The spatial structure information combined with the appearance similarity information is used in the structure preserving object tracking framework to track objects. Extensive experiments conducted on several datasets containing multiple real-world crowd scenes validate the accuracy and the robustness of the presented algorithm for tracking objects in collective scenes.

Constructing binary black hole initial data with high mass ratios and spins

NASA Astrophysics Data System (ADS)

Ossokine, Serguei; Foucart, Francois; Pfeiffer, Harald; Szilagyi, Bela; Simulating Extreme Spacetimes Collaboration

2015-04-01

Binary black hole systems have now been successfully modelled in full numerical relativity by many groups. In order to explore high-mass-ratio (larger than 1:10), high-spin systems (above 0.9 of the maximal BH spin), we revisit the initial-data problem for binary black holes. The initial-data solver in the Spectral Einstein Code (SpEC) was not able to solve for such initial data reliably and robustly. I will present recent improvements to this solver, among them adaptive mesh refinement and control of motion of the center of mass of the binary, and will discuss the much larger region of parameter space this code can now address.

Some Novel Design Principles for Collective Behaviors in Mobile Robots

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

OSBOURN, GORDON C.

2002-09-01

We present a set of novel design principles to aid in the development of complex collective behaviors in fleets of mobile robots. The key elements are: the use of a graph algorithm that we have created, with certain proven properties, that guarantee scalable local communications for fleets of arbitrary size; the use of artificial forces to simplify the design of motion control; the use of certain proximity values in the graph algorithm to simplify the sharing of robust navigation and sensor information among the robots. We describe these design elements and present a computer simulation that illustrates the behaviors readilymore » achievable with these design tools.« less

Multishot Targeted PROPELLER Magnetic Resonance Imaging: Description of the Technique and Initial Applications

PubMed Central

Deng, Jie; Larson, Andrew C.

2010-01-01

Objectives To test the feasibility of combining inner-volume imaging (IVI) techniques with conventional multishot periodically rotated overlapping parallel lines with enhanced reconstruction (PROPELLER) techniques for targeted-PROPELLER magnetic resonance imaging. Materials and Methods Perpendicular section-selective gradients for spatially selective excitation and refocusing RF pulses were applied to limit the refocused field-of-view (FOV) along the phase-encoding direction for each rectangular blade image. We performed comparison studies in phantoms and normal volunteers by using targeted-PROPELLER methods for a wide range of imaging applications that commonly use turbo-spin-echo (TSE) approaches (brain, abdominal, vessel wall, cardiac). Results In these initial studies, we demonstrated the feasibility of using targeted-PROPELLER approaches to limit the imaging FOV thereby reducing the number of blades or permitting increased spatial resolution without commensurate increases in scan time. Both phantom and in vivo motion studies demonstrated the potential for more robust regional self-navigated motion correction compared with conventional full FOV PROPELLER methods. Conclusion We demonstrated that the reduced FOV targeted-PROPELLER technique offers the potential for reducing imaging time, increasing spatial resolution, and targeting specific areas for robust regional motion correction. PMID:19465860

Background recovery via motion-based robust principal component analysis with matrix factorization

NASA Astrophysics Data System (ADS)

Pan, Peng; Wang, Yongli; Zhou, Mingyuan; Sun, Zhipeng; He, Guoping

2018-03-01

Background recovery is a key technique in video analysis, but it still suffers from many challenges, such as camouflage, lighting changes, and diverse types of image noise. Robust principal component analysis (RPCA), which aims to recover a low-rank matrix and a sparse matrix, is a general framework for background recovery. The nuclear norm is widely used as a convex surrogate for the rank function in RPCA, which requires computing the singular value decomposition (SVD), a task that is increasingly costly as matrix sizes and ranks increase. However, matrix factorization greatly reduces the dimension of the matrix for which the SVD must be computed. Motion information has been shown to improve low-rank matrix recovery in RPCA, but this method still finds it difficult to handle original video data sets because of its batch-mode formulation and implementation. Hence, in this paper, we propose a motion-assisted RPCA model with matrix factorization (FM-RPCA) for background recovery. Moreover, an efficient linear alternating direction method of multipliers with a matrix factorization (FL-ADM) algorithm is designed for solving the proposed FM-RPCA model. Experimental results illustrate that the method provides stable results and is more efficient than the current state-of-the-art algorithms.

Multi-oriented windowed harmonic phase reconstruction for robust cardiac strain imaging.

PubMed

Cordero-Grande, Lucilio; Royuela-del-Val, Javier; Sanz-Estébanez, Santiago; Martín-Fernández, Marcos; Alberola-López, Carlos

2016-04-01

The purpose of this paper is to develop a method for direct estimation of the cardiac strain tensor by extending the harmonic phase reconstruction on tagged magnetic resonance images to obtain more precise and robust measurements. The extension relies on the reconstruction of the local phase of the image by means of the windowed Fourier transform and the acquisition of an overdetermined set of stripe orientations in order to avoid the phase interferences from structures outside the myocardium and the instabilities arising from the application of a gradient operator. Results have shown that increasing the number of acquired orientations provides a significant improvement in the reproducibility of the strain measurements and that the acquisition of an extended set of orientations also improves the reproducibility when compared with acquiring repeated samples from a smaller set of orientations. Additionally, biases in local phase estimation when using the original harmonic phase formulation are greatly diminished by the one here proposed. The ideas here presented allow the design of new methods for motion sensitive magnetic resonance imaging, which could simultaneously improve the resolution, robustness and accuracy of motion estimates. Copyright © 2015 Elsevier B.V. All rights reserved.

A novel machine learning-enabled framework for instantaneous heart rate monitoring from motion-artifact-corrupted electrocardiogram signals.

PubMed

Zhang, Qingxue; Zhou, Dian; Zeng, Xuan

2016-11-01

This paper proposes a novel machine learning-enabled framework to robustly monitor the instantaneous heart rate (IHR) from wrist-electrocardiography (ECG) signals continuously and heavily corrupted by random motion artifacts in wearable applications. The framework includes two stages, i.e. heartbeat identification and refinement, respectively. In the first stage, an adaptive threshold-based auto-segmentation approach is proposed to select out heartbeat candidates, including the real heartbeats and large amounts of motion-artifact-induced interferential spikes. Then twenty-six features are extracted for each candidate in time, spatial, frequency and statistical domains, and evaluated by a spare support vector machine (SVM) to select out ten critical features which can effectively reveal residual heartbeat information. Afterwards, an SVM model, created on the training data using the selected feature set, is applied to find high confident heartbeats from a large number of candidates in the testing data. In the second stage, the SVM classification results are further refined by two steps: (1) a rule-based classifier with two attributes named 'continuity check' and 'locality check' for outlier (false positives) removal, and (2) a heartbeat interpolation strategy for missing-heartbeat (false negatives) recovery. The framework is evaluated on a wrist-ECG dataset acquired by a semi-customized platform and also a public dataset. When the signal-to-noise ratio is as low as  -7 dB, the mean absolute error of the estimated IHR is 1.4 beats per minute (BPM) and the root mean square error is 6.5 BPM. The proposed framework greatly outperforms well-established approaches, demonstrating that it can effectively identify the heartbeats from ECG signals continuously corrupted by intense motion artifacts and robustly estimate the IHR. This study is expected to contribute to robust long-term wearable IHR monitoring for pervasive heart health and fitness management.

Robustness of the Voluntary Breath-Hold Approach for the Treatment of Peripheral Lung Tumors Using Hypofractionated Pencil Beam Scanning Proton Therapy

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

Dueck, Jenny, E-mail: jenny.dueck@psi.ch; Center for Proton Therapy, Paul Scherrer Institut, Villigen PSI; Niels Bohr Institute, University of Copenhagen, Copenhagen

Purpose: The safe clinical implementation of pencil beam scanning (PBS) proton therapy for lung tumors is complicated by the delivery uncertainties caused by breathing motion. The purpose of this feasibility study was to investigate whether a voluntary breath-hold technique could limit the delivery uncertainties resulting from interfractional motion. Methods and Materials: Data from 15 patients with peripheral lung tumors previously treated with stereotactic radiation therapy were included in this study. The patients had 1 computed tomographic (CT) scan in voluntary breath-hold acquired before treatment and 3 scans during the treatment course. PBS proton treatment plans with 2 fields (2F) andmore » 3 fields (3F), respectively, were calculated based on the planning CT scan and subsequently recalculated on the 3 repeated CT scans. Recalculated plans were considered robust if the V{sub 95%} (volume receiving ≥95% of the prescribed dose) of the gross target volume (GTV) was within 5% of what was expected from the planning CT data throughout the simulated treatment. Results: A total of 14/15 simulated treatments for both 2F and 3F met the robustness criteria. Reduced V{sub 95%} was associated with baseline shifts (2F, P=.056; 3F, P=.008) and tumor size (2F, P=.025; 3F, P=.025). Smaller tumors with large baseline shifts were also at risk for reduced V{sub 95%} (interaction term baseline/size: 2F, P=.005; 3F, P=.002). Conclusions: The breath-hold approach is a realistic clinical option for treating lung tumors with PBS proton therapy. Potential risk factors for reduced V{sub 95%} are small targets in combination with large baseline shifts. On the basis of these results, the baseline shift of the tumor should be monitored (eg, through image guided therapy), and appropriate measures should be taken accordingly. The intrafractional motion needs to be investigated to confirm that the breath-hold approach is robust.« less

Quantification of vocal fold motion using echography: application to recurrent nerve paralysis detection

NASA Astrophysics Data System (ADS)

Cohen, Mike-Ely; Lefort, Muriel; Bergeret-Cassagne, Héloïse; Hachi, Siham; Li, Ang; Russ, Gilles; Lazard, Diane; Menegaux, Fabrice; Leenhardt, Laurence; Trésallet, Christophe; Frouin, Frédérique

2015-03-01

Recurrent nerve paralysis (RP) is one of the most frequent complications of thyroid surgery. It reduces vocal fold mobility. Nasal endoscopy, a mini-invasive procedure, is the conventional way to detect RP. We suggest a new approach based on laryngeal ultrasound and a specific data analysis was designed to help with the automated detection of RP. Ten subjects were enrolled for this feasibility study: four controls, three patients with RP and three patients without RP according to nasal endoscopy. The ultrasound protocol was based on a ten seconds B-mode acquisition in a coronal plane during normal breathing. Image processing included three steps: 1) automated detection of two consecutive closing and opening images, corresponding to extreme positions of vocal folds in the sequence of B-mode images, using principal component analysis of the image sequence; 2) positioning of three landmarks and robust tracking of these points using a multi-pyramidal refined optical flow approach; 3) estimation of quantitative parameters indicating left and right fractions of mobility, and motion symmetry. Results provided by automated image processing were compared to those obtained by an expert. Detection of extreme images was accurate; tracking of landmarks was reliable in 80% of cases. Motion symmetry indices showed similar values for controls and patients without RP. Fraction of mobility was reduced in cases of RP. Thus, our CAD system helped in the detection of RP. Laryngeal ultrasound combined with appropriate image processing helped in the diagnosis of recurrent nerve paralysis and could be proposed as a first-line method.

Brain activity correlates with emotional perception induced by dynamic avatars.

PubMed

Goldberg, Hagar; Christensen, Andrea; Flash, Tamar; Giese, Martin A; Malach, Rafael

2015-11-15

An accurate judgment of the emotional state of others is a prerequisite for successful social interaction and hence survival. Thus, it is not surprising that we are highly skilled at recognizing the emotions of others. Here we aimed to examine the neuronal correlates of emotion recognition from gait. To this end we created highly controlled dynamic body-movement stimuli based on real human motion-capture data (Roether et al., 2009). These animated avatars displayed gait in four emotional (happy, angry, fearful, and sad) and speed-matched neutral styles. For each emotional gait and its equivalent neutral gait, avatars were displayed at five morphing levels between the two. Subjects underwent fMRI scanning while classifying the emotions and the emotional intensity levels expressed by the avatars. Our results revealed robust brain selectivity to emotional compared to neutral gait stimuli in brain regions which are involved in emotion and biological motion processing, such as the extrastriate body area (EBA), fusiform body area (FBA), superior temporal sulcus (STS), and the amygdala (AMG). Brain activity in the amygdala reflected emotional awareness: for visually identical stimuli it showed amplified stronger response when the stimulus was perceived as emotional. Notably, in avatars gradually morphed along an emotional expression axis there was a parametric correlation between amygdala activity and emotional intensity. This study extends the mapping of emotional decoding in the human brain to the domain of highly controlled dynamic biological motion. Our results highlight an extensive level of brain processing of emotional information related to body language, which relies mostly on body kinematics. Copyright © 2015. Published by Elsevier Inc.

Event-Based Computation of Motion Flow on a Neuromorphic Analog Neural Platform

PubMed Central

Giulioni, Massimiliano; Lagorce, Xavier; Galluppi, Francesco; Benosman, Ryad B.

2016-01-01

Estimating the speed and direction of moving objects is a crucial component of agents behaving in a dynamic world. Biological organisms perform this task by means of the neural connections originating from their retinal ganglion cells. In artificial systems the optic flow is usually extracted by comparing activity of two or more frames captured with a vision sensor. Designing artificial motion flow detectors which are as fast, robust, and efficient as the ones found in biological systems is however a challenging task. Inspired by the architecture proposed by Barlow and Levick in 1965 to explain the spiking activity of the direction-selective ganglion cells in the rabbit's retina, we introduce an architecture for robust optical flow extraction with an analog neuromorphic multi-chip system. The task is performed by a feed-forward network of analog integrate-and-fire neurons whose inputs are provided by contrast-sensitive photoreceptors. Computation is supported by the precise time of spike emission, and the extraction of the optical flow is based on time lag in the activation of nearby retinal neurons. Mimicking ganglion cells our neuromorphic detectors encode the amplitude and the direction of the apparent visual motion in their output spiking pattern. Hereby we describe the architectural aspects, discuss its latency, scalability, and robustness properties and demonstrate that a network of mismatched delicate analog elements can reliably extract the optical flow from a simple visual scene. This work shows how precise time of spike emission used as a computational basis, biological inspiration, and neuromorphic systems can be used together for solving specific tasks. PMID:26909015

Event-Based Computation of Motion Flow on a Neuromorphic Analog Neural Platform.

PubMed

Giulioni, Massimiliano; Lagorce, Xavier; Galluppi, Francesco; Benosman, Ryad B

2016-01-01

Estimating the speed and direction of moving objects is a crucial component of agents behaving in a dynamic world. Biological organisms perform this task by means of the neural connections originating from their retinal ganglion cells. In artificial systems the optic flow is usually extracted by comparing activity of two or more frames captured with a vision sensor. Designing artificial motion flow detectors which are as fast, robust, and efficient as the ones found in biological systems is however a challenging task. Inspired by the architecture proposed by Barlow and Levick in 1965 to explain the spiking activity of the direction-selective ganglion cells in the rabbit's retina, we introduce an architecture for robust optical flow extraction with an analog neuromorphic multi-chip system. The task is performed by a feed-forward network of analog integrate-and-fire neurons whose inputs are provided by contrast-sensitive photoreceptors. Computation is supported by the precise time of spike emission, and the extraction of the optical flow is based on time lag in the activation of nearby retinal neurons. Mimicking ganglion cells our neuromorphic detectors encode the amplitude and the direction of the apparent visual motion in their output spiking pattern. Hereby we describe the architectural aspects, discuss its latency, scalability, and robustness properties and demonstrate that a network of mismatched delicate analog elements can reliably extract the optical flow from a simple visual scene. This work shows how precise time of spike emission used as a computational basis, biological inspiration, and neuromorphic systems can be used together for solving specific tasks.

Spatially constrained incoherent motion method improves diffusion-weighted MRI signal decay analysis in the liver and spleen

PubMed Central

Taimouri, Vahid; Afacan, Onur; Perez-Rossello, Jeannette M.; Callahan, Michael J.; Mulkern, Robert V.; Warfield, Simon K.; Freiman, Moti

2015-01-01

Purpose: To evaluate the effect of the spatially constrained incoherent motion (SCIM) method on improving the precision and robustness of fast and slow diffusion parameter estimates from diffusion-weighted MRI in liver and spleen in comparison to the independent voxel-wise intravoxel incoherent motion (IVIM) model. Methods: We collected diffusion-weighted MRI (DW-MRI) data of 29 subjects (5 healthy subjects and 24 patients with Crohn’s disease in the ileum). We evaluated parameters estimates’ robustness against different combinations of b-values (i.e., 4 b-values and 7 b-values) by comparing the variance of the estimates obtained with the SCIM and the independent voxel-wise IVIM model. We also evaluated the improvement in the precision of parameter estimates by comparing the coefficient of variation (CV) of the SCIM parameter estimates to that of the IVIM. Results: The SCIM method was more robust compared to IVIM (up to 70% in liver and spleen) for different combinations of b-values. Also, the CV values of the parameter estimations using the SCIM method were significantly lower compared to repeated acquisition and signal averaging estimated using IVIM, especially for the fast diffusion parameter in liver (CVIV IM = 46.61 ± 11.22, CVSCIM = 16.85 ± 2.160, p < 0.001) and spleen (CVIV IM = 95.15 ± 19.82, CVSCIM = 52.55 ± 1.91, p < 0.001). Conclusions: The SCIM method characterizes fast and slow diffusion more precisely compared to the independent voxel-wise IVIM model fitting in the liver and spleen. PMID:25832079

Application and assessment of a robust elastic motion correction algorithm to dynamic MRI.

PubMed

Herrmann, K-H; Wurdinger, S; Fischer, D R; Krumbein, I; Schmitt, M; Hermosillo, G; Chaudhuri, K; Krishnan, A; Salganicoff, M; Kaiser, W A; Reichenbach, J R

2007-01-01

The purpose of this study was to assess the performance of a new motion correction algorithm. Twenty-five dynamic MR mammography (MRM) data sets and 25 contrast-enhanced three-dimensional peripheral MR angiographic (MRA) data sets which were affected by patient motion of varying severeness were selected retrospectively from routine examinations. Anonymized data were registered by a new experimental elastic motion correction algorithm. The algorithm works by computing a similarity measure for the two volumes that takes into account expected signal changes due to the presence of a contrast agent while penalizing other signal changes caused by patient motion. A conjugate gradient method is used to find the best possible set of motion parameters that maximizes the similarity measures across the entire volume. Images before and after correction were visually evaluated and scored by experienced radiologists with respect to reduction of motion, improvement of image quality, disappearance of existing lesions or creation of artifactual lesions. It was found that the correction improves image quality (76% for MRM and 96% for MRA) and diagnosability (60% for MRM and 96% for MRA).

Circular motion geometry using minimal data.

PubMed

Jiang, Guang; Quan, Long; Tsui, Hung-Tat

2004-06-01

Circular motion or single axis motion is widely used in computer vision and graphics for 3D model acquisition. This paper describes a new and simple method for recovering the geometry of uncalibrated circular motion from a minimal set of only two points in four images. This problem has been previously solved using nonminimal data either by computing the fundamental matrix and trifocal tensor in three images or by fitting conics to tracked points in five or more images. It is first established that two sets of tracked points in different images under circular motion for two distinct space points are related by a homography. Then, we compute a plane homography from a minimal two points in four images. After that, we show that the unique pair of complex conjugate eigenvectors of this homography are the image of the circular points of the parallel planes of the circular motion. Subsequently, all other motion and structure parameters are computed from this homography in a straighforward manner. The experiments on real image sequences demonstrate the simplicity, accuracy, and robustness of the new method.

MotionExplorer: exploratory search in human motion capture data based on hierarchical aggregation.

PubMed

Bernard, Jürgen; Wilhelm, Nils; Krüger, Björn; May, Thorsten; Schreck, Tobias; Kohlhammer, Jörn

2013-12-01

We present MotionExplorer, an exploratory search and analysis system for sequences of human motion in large motion capture data collections. This special type of multivariate time series data is relevant in many research fields including medicine, sports and animation. Key tasks in working with motion data include analysis of motion states and transitions, and synthesis of motion vectors by interpolation and combination. In the practice of research and application of human motion data, challenges exist in providing visual summaries and drill-down functionality for handling large motion data collections. We find that this domain can benefit from appropriate visual retrieval and analysis support to handle these tasks in presence of large motion data. To address this need, we developed MotionExplorer together with domain experts as an exploratory search system based on interactive aggregation and visualization of motion states as a basis for data navigation, exploration, and search. Based on an overview-first type visualization, users are able to search for interesting sub-sequences of motion based on a query-by-example metaphor, and explore search results by details on demand. We developed MotionExplorer in close collaboration with the targeted users who are researchers working on human motion synthesis and analysis, including a summative field study. Additionally, we conducted a laboratory design study to substantially improve MotionExplorer towards an intuitive, usable and robust design. MotionExplorer enables the search in human motion capture data with only a few mouse clicks. The researchers unanimously confirm that the system can efficiently support their work.

Direct reconstruction of parametric images for brain PET with event-by-event motion correction: evaluation in two tracers across count levels

NASA Astrophysics Data System (ADS)

Germino, Mary; Gallezot, Jean-Dominque; Yan, Jianhua; Carson, Richard E.

2017-07-01

Parametric images for dynamic positron emission tomography (PET) are typically generated by an indirect method, i.e. reconstructing a time series of emission images, then fitting a kinetic model to each voxel time activity curve. Alternatively, ‘direct reconstruction’, incorporates the kinetic model into the reconstruction algorithm itself, directly producing parametric images from projection data. Direct reconstruction has been shown to achieve parametric images with lower standard error than the indirect method. Here, we present direct reconstruction for brain PET using event-by-event motion correction of list-mode data, applied to two tracers. Event-by-event motion correction was implemented for direct reconstruction in the Parametric Motion-compensation OSEM List-mode Algorithm for Resolution-recovery reconstruction. The direct implementation was tested on simulated and human datasets with tracers [11C]AFM (serotonin transporter) and [11C]UCB-J (synaptic density), which follow the 1-tissue compartment model. Rigid head motion was tracked with the Vicra system. Parametric images of K 1 and distribution volume (V T  =  K 1/k 2) were compared to those generated by the indirect method by regional coefficient of variation (CoV). Performance across count levels was assessed using sub-sampled datasets. For simulated and real datasets at high counts, the two methods estimated K 1 and V T with comparable accuracy. At lower count levels, the direct method was substantially more robust to outliers than the indirect method. Compared to the indirect method, direct reconstruction reduced regional K 1 CoV by 35-48% (simulated dataset), 39-43% ([11C]AFM dataset) and 30-36% ([11C]UCB-J dataset) across count levels (averaged over regions at matched iteration); V T CoV was reduced by 51-58%, 54-60% and 30-46%, respectively. Motion correction played an important role in the dataset with larger motion: correction increased regional V T by 51% on average in the [11C]UCB-J dataset. Direct reconstruction of dynamic brain PET with event-by-event motion correction is achievable and dramatically more robust to noise in V T images than the indirect method.

A generic flexible and robust approach for intelligent real-time video-surveillance systems

NASA Astrophysics Data System (ADS)

Desurmont, Xavier; Delaigle, Jean-Francois; Bastide, Arnaud; Macq, Benoit

2004-05-01

In this article we present a generic, flexible and robust approach for an intelligent real-time video-surveillance system. A previous version of the system was presented in [1]. The goal of these advanced tools is to provide help to operators by detecting events of interest in visual scenes and highlighting alarms and compute statistics. The proposed system is a multi-camera platform able to handle different standards of video inputs (composite, IP, IEEE1394 ) and which can basically compress (MPEG4), store and display them. This platform also integrates advanced video analysis tools, such as motion detection, segmentation, tracking and interpretation. The design of the architecture is optimised to playback, display, and process video flows in an efficient way for video-surveillance application. The implementation is distributed on a scalable computer cluster based on Linux and IP network. It relies on POSIX threads for multitasking scheduling. Data flows are transmitted between the different modules using multicast technology and under control of a TCP-based command network (e.g. for bandwidth occupation control). We report here some results and we show the potential use of such a flexible system in third generation video surveillance system. We illustrate the interest of the system in a real case study, which is the indoor surveillance.

Real time optimal guidance of low-thrust spacecraft: an application of nonlinear model predictive control.

PubMed

Arrieta-Camacho, Juan José; Biegler, Lorenz T

2005-12-01

Real time optimal guidance is considered for a class of low thrust spacecraft. In particular, nonlinear model predictive control (NMPC) is utilized for computing the optimal control actions required to transfer a spacecraft from a low Earth orbit to a mission orbit. The NMPC methodology presented is able to cope with unmodeled disturbances. The dynamics of the transfer are modeled using a set of modified equinoctial elements because they do not exhibit singularities for zero inclination and zero eccentricity. The idea behind NMPC is the repeated solution of optimal control problems; at each time step, a new control action is computed. The optimal control problem is solved using a direct method-fully discretizing the equations of motion. The large scale nonlinear program resulting from the discretization procedure is solved using IPOPT--a primal-dual interior point algorithm. Stability and robustness characteristics of the NMPC algorithm are reviewed. A numerical example is presented that encourages further development of the proposed methodology: the transfer from low-Earth orbit to a molniya orbit.

Biomimetic photo-actuation: sensing, control and actuation in sun-tracking plants.

PubMed

Dicker, M P M; Rossiter, J M; Bond, I P; Weaver, P M

2014-09-01

Although the actuation mechanisms that drive plant movement have been investigated from a biomimetic perspective, few studies have looked at the wider sensing and control systems that regulate this motion. This paper examines photo-actuation-actuation induced by, and controlled with light-through a review of the sun-tracking functions of the Cornish Mallow. The sun-tracking movement of the Cornish Mallow leaf results from an extraordinarily complex-yet extremely elegant-process of signal perception, generation, filtering and control. Inspired by this process, a concept for a simplified biomimetic analogue of this leaf is proposed: a multifunctional structure employing chemical sensing, signal transmission, and control of composite hydrogel actuators. We present this multifunctional structure, and show that the success of the concept will require improved selection of materials and structural design. This device has application in the solar-tracking of photovoltaic panels for increased energy yield. More broadly it is envisaged that the concept of chemical sensing and control can be expanded beyond photo-actuation to many other stimuli, resulting in new classes of robust solid-state devices.

Frogs Jump Forward: Semantic Knowledge Influences the Perception of Element Motion in the Ternus Display.

PubMed

Hsu, Patty; Taylor, J Eric T; Pratt, Jay

2015-01-01

The Ternus effect is a robust illusion of motion that produces element motion at short interstimulus intervals (ISIs; < 50 ms) and group motion at longer ISIs (> 50 ms). Previous research has shown that the nature of the stimuli (e.g., similarity, grouping), not just ISI, can influence the likelihood of perceiving element or group motion. We examined if semantic knowledge can also influence what type of illusory motion is perceived. In Experiment I, we used a modified Ternus display with pictures of frogs in a jump-ready pose facing forwards or backwards to the direction of illusory motion. Participants perceived more element motion with the forward-facing frogs and more group motion with the backward-facing frogs. Experiment 2 tested whether this effect would still occur with line drawings of frogs, or if a more life-like image was necessary. Experiment 3 tested whether this effect was due to visual asymmetries inherent in the jumping pose. Experiment 4 tested whether frogs in a "non-jumping," sedentary pose would replicate the original effect. These experiments elucidate the role of semantic knowledge in the Ternus effect. Prior knowledge of the movement of certain animate objects, in this case, frogs can also bias the perception of element or group motion.

Modeling repetitive motions using structured light.

PubMed

Xu, Yi; Aliaga, Daniel G

2010-01-01

Obtaining models of dynamic 3D objects is an important part of content generation for computer graphics. Numerous methods have been extended from static scenarios to model dynamic scenes. If the states or poses of the dynamic object repeat often during a sequence (but not necessarily periodically), we call such a repetitive motion. There are many objects, such as toys, machines, and humans, undergoing repetitive motions. Our key observation is that when a motion-state repeats, we can sample the scene under the same motion state again but using a different set of parameters; thus, providing more information of each motion state. This enables robustly acquiring dense 3D information difficult for objects with repetitive motions using only simple hardware. After the motion sequence, we group temporally disjoint observations of the same motion state together and produce a smooth space-time reconstruction of the scene. Effectively, the dynamic scene modeling problem is converted to a series of static scene reconstructions, which are easier to tackle. The varying sampling parameters can be, for example, structured-light patterns, illumination directions, and viewpoints resulting in different modeling techniques. Based on this observation, we present an image-based motion-state framework and demonstrate our paradigm using either a synchronized or an unsynchronized structured-light acquisition method.

Default perception of high-speed motion

PubMed Central

Wexler, Mark; Glennerster, Andrew; Cavanagh, Patrick; Ito, Hiroyuki; Seno, Takeharu

2013-01-01

When human observers are exposed to even slight motion signals followed by brief visual transients—stimuli containing no detectable coherent motion signals—they perceive large and salient illusory jumps. This visually striking effect, which we call “high phi,” challenges well-entrenched assumptions about the perception of motion, namely the minimal-motion principle and the breakdown of coherent motion perception with steps above an upper limit called dmax. Our experiments with transients, such as texture randomization or contrast reversal, show that the magnitude of the jump depends on spatial frequency and transient duration—but not on the speed of the inducing motion signals—and the direction of the jump depends on the duration of the inducer. Jump magnitude is robust across jump directions and different types of transient. In addition, when a texture is actually displaced by a large step beyond the upper step size limit of dmax, a breakdown of coherent motion perception is expected; however, in the presence of an inducer, observers again perceive coherent displacements at or just above dmax. In summary, across a large variety of stimuli, we find that when incoherent motion noise is preceded by a small bias, instead of perceiving little or no motion—as suggested by the minimal-motion principle—observers perceive jumps whose amplitude closely follows their own dmax limits. PMID:23572578

A reliability study on brain activation during active and passive arm movements supported by an MRI-compatible robot.

PubMed

Estévez, Natalia; Yu, Ningbo; Brügger, Mike; Villiger, Michael; Hepp-Reymond, Marie-Claude; Riener, Robert; Kollias, Spyros

2014-11-01

In neurorehabilitation, longitudinal assessment of arm movement related brain function in patients with motor disability is challenging due to variability in task performance. MRI-compatible robots monitor and control task performance, yielding more reliable evaluation of brain function over time. The main goals of the present study were first to define the brain network activated while performing active and passive elbow movements with an MRI-compatible arm robot (MaRIA) in healthy subjects, and second to test the reproducibility of this activation over time. For the fMRI analysis two models were compared. In model 1 movement onset and duration were included, whereas in model 2 force and range of motion were added to the analysis. Reliability of brain activation was tested with several statistical approaches applied on individual and group activation maps and on summary statistics. The activated network included mainly the primary motor cortex, primary and secondary somatosensory cortex, superior and inferior parietal cortex, medial and lateral premotor regions, and subcortical structures. Reliability analyses revealed robust activation for active movements with both fMRI models and all the statistical methods used. Imposed passive movements also elicited mainly robust brain activation for individual and group activation maps, and reliability was improved by including additional force and range of motion using model 2. These findings demonstrate that the use of robotic devices, such as MaRIA, can be useful to reliably assess arm movement related brain activation in longitudinal studies and may contribute in studies evaluating therapies and brain plasticity following injury in the nervous system.

Dynamic Parameters of the 2015 Nepal Gorkha Mw7.8 Earthquake Constrained by Multi-observations

NASA Astrophysics Data System (ADS)

Weng, H.; Yang, H.

2017-12-01

Dynamic rupture model can provide much detailed insights into rupture physics that is capable of assessing future seismic risk. Many studies have attempted to constrain the slip-weakening distance, an important parameter controlling friction behavior of rock, for several earthquakes based on dynamic models, kinematic models, and direct estimations from near-field ground motion. However, large uncertainties of the values of the slip-weakening distance still remain, mostly because of the intrinsic trade-offs between the slip-weakening distance and fault strength. Here we use a spontaneously dynamic rupture model to constrain the frictional parameters of the 25 April 2015 Mw7.8 Nepal earthquake, by combining with multiple seismic observations such as high-rate cGPS data, strong motion data, and kinematic source models. With numerous tests we find the trade-off patterns of final slip, rupture speed, static GPS ground displacements, and dynamic ground waveforms are quite different. Combining all the seismic constraints we can conclude a robust solution without a substantial trade-off of average slip-weakening distance, 0.6 m, in contrast to previous kinematical estimation of 5 m. To our best knowledge, this is the first time to robustly determine the slip-weakening distance on seismogenic fault from seismic observations. The well-constrained frictional parameters may be used for future dynamic models to assess seismic hazard, such as estimating the peak ground acceleration (PGA) etc. Similar approach could also be conducted for other great earthquakes, enabling broad estimations of the dynamic parameters in global perspectives that can better reveal the intrinsic physics of earthquakes.

Multiple attractors and critical parameters and how to find them numerically: the right, the wrong and the gambling way

NASA Astrophysics Data System (ADS)

True, Hans

2013-03-01

In recent years, several authors have proposed 'easier numerical methods' to find the critical speed in railway dynamical problems. Actually, the methods do function in some cases, but in most cases it is really a gamble. In this article, the methods are discussed and the pros and contras are commented upon. I also address the questions when a linearisation is allowed and the curious fact that the hunting motion is more robust than the ideal stationary-state motion on the track. Concepts such as 'multiple attractors', 'subcritical and supercritical bifurcations', 'permitted linearisation', 'the danger of running at supercritical speeds' and 'chaotic motion' are addressed.

Phase-based motion magnification video for monitoring of vital signals using the Hermite transform

NASA Astrophysics Data System (ADS)

Brieva, Jorge; Moya-Albor, Ernesto

2017-11-01

In this paper we present a new Eulerian phase-based motion magnification technique using the Hermite Transform (HT) decomposition that is inspired in the Human Vision System (HVS). We test our method in one sequence of the breathing of a newborn baby and on a video sequence that shows the heartbeat on the wrist. We detect and magnify the heart pulse applying our technique. Our motion magnification approach is compared to the Laplacian phase based approach by means of quantitative metrics (based on the RMS error and the Fourier transform) to measure the quality of both reconstruction and magnification. In addition a noise robustness analysis is performed for the two methods.

Non-smooth Hopf-type bifurcations arising from impact–friction contact events in rotating machinery

PubMed Central

Mora, Karin; Budd, Chris; Glendinning, Paul; Keogh, Patrick

2014-01-01

We analyse the novel dynamics arising in a nonlinear rotor dynamic system by investigating the discontinuity-induced bifurcations corresponding to collisions with the rotor housing (touchdown bearing surface interactions). The simplified Föppl/Jeffcott rotor with clearance and mass unbalance is modelled by a two degree of freedom impact–friction oscillator, as appropriate for a rigid rotor levitated by magnetic bearings. Two types of motion observed in experiments are of interest in this paper: no contact and repeated instantaneous contact. We study how these are affected by damping and stiffness present in the system using analytical and numerical piecewise-smooth dynamical systems methods. By studying the impact map, we show that these types of motion arise at a novel non-smooth Hopf-type bifurcation from a boundary equilibrium bifurcation point for certain parameter values. A local analysis of this bifurcation point allows us a complete understanding of this behaviour in a general setting. The analysis identifies criteria for the existence of such smooth and non-smooth bifurcations, which is an essential step towards achieving reliable and robust controllers that can take compensating action. PMID:25383034

Intrinsic Patterns of Human Activity

NASA Astrophysics Data System (ADS)

Hu, Kun; Ivanov, Plamen Ch.; Chen, Zhi; Hilton, Michael; Stanley, H. Eugene; Shea, Steven

2003-03-01

Activity is one of the defining features of life. Control of human activity is complex, being influenced by many factors both extrinsic and intrinsic to the body. The most obvious extrinsic factors that affect activity are the daily schedule of planned events, such as work and recreation, as well as reactions to unforeseen or random events. These extrinsic factors may account for the apparently random fluctuations in human motion observed over short time scales. The most obvious intrinsic factors are the body clocks including the circadian pacemaker that influences our sleep/wake cycle and ultradian oscillators with shorter time scales [2, 3]. These intrinsic rhythms may account for the underlying regularity in average activity level over longer periods of up to 24 h. Here we ask if the known extrinsic and intrinsic factors fully account for all complex features observed in recordings of human activity. To this end, we measure activity over two weeks from forearm motion in subjects undergoing their regular daily routine. Utilizing concepts from statistical physics, we demonstrate that during wakefulness human activity possesses previously unrecognized complex dynamic patterns. These patterns of activity are characterized by robust fractal and nonlinear dynamics including a universal probability distribution and long-range power-law correlations that are stable over a wide range of time scales (from minutes to hours). Surprisingly, we find that these dynamic patterns are unaffected by changes in the average activity level that occur within individual subjects throughout the day and on different days of the week, and between subjects. Moreover, we find that these patterns persist when the same subjects undergo time-isolation laboratory experiments designed to account for the phase of the circadian pacemaker, and control the known extrinsic factors by restricting behaviors and manipulating scheduled events including the sleep/wake cycle. We attribute these newly discovered patterns to a robust intrinsic multi-scale dynamic regulation of human activity that is independent of known extrinsic factors, and independent from the circadian and ultradian rhythms.

An approach to multivariable control of manipulators

NASA Technical Reports Server (NTRS)

Seraji, H.

1987-01-01

The paper presents simple schemes for multivariable control of multiple-joint robot manipulators in joint and Cartesian coordinates. The joint control scheme consists of two independent multivariable feedforward and feedback controllers. The feedforward controller is the minimal inverse of the linearized model of robot dynamics and contains only proportional-double-derivative (PD2) terms - implying feedforward from the desired position, velocity and acceleration. This controller ensures that the manipulator joint angles track any reference trajectories. The feedback controller is of proportional-integral-derivative (PID) type and is designed to achieve pole placement. This controller reduces any initial tracking error to zero as desired and also ensures that robust steady-state tracking of step-plus-exponential trajectories is achieved by the joint angles. Simple and explicit expressions of computation of the feedforward and feedback gains are obtained based on the linearized model of robot dynamics. This leads to computationally efficient schemes for either on-line gain computation or off-line gain scheduling to account for variations in the linearized robot model due to changes in the operating point. The joint control scheme is extended to direct control of the end-effector motion in Cartesian space. Simulation results are given for illustration.

Designing robust control laws using genetic algorithms

NASA Technical Reports Server (NTRS)

Marrison, Chris

1994-01-01

The purpose of this research is to create a method of finding practical, robust control laws. The robustness of a controller is judged by Stochastic Robustness metrics and the level of robustness is optimized by searching for design parameters that minimize a robustness cost function.

Human short-latency ocular vergence responses produced by interocular velocity differences

PubMed Central

Sheliga, B. M.; Quaia, C.; FitzGibbon, E. J.; Cumming, B. G.

2016-01-01

We studied human short-latency vergence eye movements to a novel stimulus that produces interocular velocity differences without a changing disparity signal. Sinusoidal luminance gratings moved in opposite directions (left vs. right; up vs. down) in the two eyes. The grating seen by each eye underwent ¼-wavelength shifts with each image update. This arrangement eliminated changing disparity cues, since the phase difference between the eyes alternated between 0° and 180°. We nevertheless observed robust short-latency vergence responses (VRs), whose sign was consistent with the interocular velocity differences (IOVDs), indicating that the IOVD cue in isolation can evoke short-latency VRs. The IOVD cue was effective only when the images seen by the two eyes overlapped in space. We observed equally robust VRs for opposite horizontal motions (left in one eye, right in the other) and opposite vertical motions (up in one eye, down in the other). Whereas the former are naturally generated by objects moving in depth, the latter are not part of our normal experience. To our knowledge, this is the first demonstration of a behavioral consequence of vertical IOVD. This may reflect the fact that some neurons in area MT are sensitive to these motion signals (Czuba, Huk, Cormack, & Kohn, 2014). VRs were the strongest for spatial frequencies in the range of 0.35–1 c/°, much higher than the optimal spatial frequencies for evoking ocular-following responses observed during frontoparallel motion. This suggests that the two motion signals are detected by different neuronal populations. We also produced IOVD using moving uncorrelated one-dimensional white-noise stimuli. In this case the most effective stimuli have low speed, as predicted if the drive originates in neurons tuned to high spatial frequencies (Sheliga, Quaia, FitzGibbon, & Cumming, 2016). PMID:27548089

Compensating for intersegmental dynamics across the shoulder, elbow, and wrist joints during feedforward and feedback control.

PubMed

Maeda, Rodrigo S; Cluff, Tyler; Gribble, Paul L; Pruszynski, J Andrew

2017-10-01

Moving the arm is complicated by mechanical interactions that arise between limb segments. Such intersegmental dynamics cause torques applied at one joint to produce movement at multiple joints, and in turn, the only way to create single joint movement is by applying torques at multiple joints. We investigated whether the nervous system accounts for intersegmental limb dynamics across the shoulder, elbow, and wrist joints during self-initiated planar reaching and when countering external mechanical perturbations. Our first experiment tested whether the timing and amplitude of shoulder muscle activity account for interaction torques produced during single-joint elbow movements from different elbow initial orientations and over a range of movement speeds. We found that shoulder muscle activity reliably preceded movement onset and elbow agonist activity, and was scaled to compensate for the magnitude of interaction torques arising because of forearm rotation. Our second experiment tested whether elbow muscles compensate for interaction torques introduced by single-joint wrist movements. We found that elbow muscle activity preceded movement onset and wrist agonist muscle activity, and thus the nervous system predicted interaction torques arising because of hand rotation. Our third and fourth experiments tested whether shoulder muscles compensate for interaction torques introduced by different hand orientations during self-initiated elbow movements and to counter mechanical perturbations that caused pure elbow motion. We found that the nervous system predicted the amplitude and direction of interaction torques, appropriately scaling the amplitude of shoulder muscle activity during self-initiated elbow movements and rapid feedback control. Taken together, our results demonstrate that the nervous system robustly accounts for intersegmental dynamics and that the process is similar across the proximal to distal musculature of the arm as well as between feedforward (i.e., self-initiated) and feedback (i.e., reflexive) control. NEW & NOTEWORTHY Intersegmental dynamics complicate the mapping between applied joint torques and the resulting joint motions. We provide evidence that the nervous system robustly predicts these intersegmental limb dynamics across the shoulder, elbow, and wrist joints during reaching and when countering external perturbations. Copyright © 2017 the American Physiological Society.

Monitoring of breathing motion in image-guided PBS proton therapy: comparative analysis of optical and electromagnetic technologies.

PubMed

Fattori, Giovanni; Safai, Sairos; Carmona, Pablo Fernández; Peroni, Marta; Perrin, Rosalind; Weber, Damien Charles; Lomax, Antony John

2017-03-31

Motion monitoring is essential when treating non-static tumours with pencil beam scanned protons. 4D medical imaging typically relies on the detected body surface displacement, considered as a surrogate of the patient's anatomical changes, a concept similarly applied by most motion mitigation techniques. In this study, we investigate benefits and pitfalls of optical and electromagnetic tracking, key technologies for non-invasive surface motion monitoring, in the specific environment of image-guided, gantry-based proton therapy. Polaris SPECTRA optical tracking system and the Aurora V3 electromagnetic tracking system from Northern Digital Inc. (NDI, Waterloo, CA) have been compared both technically, by measuring tracking errors and system latencies under laboratory conditions, and clinically, by assessing their practicalities and sensitivities when used with imaging devices and PBS treatment gantries. Additionally, we investigated the impact of using different surrogate signals, from different systems, on the reconstructed 4D CT images. Even though in controlled laboratory conditions both technologies allow for the localization of static fiducials with sub-millimetre jitter and low latency (31.6 ± 1 msec worst case), significant dynamic and environmental distortions limit the potential of the electromagnetic approach in a clinical setting. The measurement error in case of close proximity to a CT scanner is up to 10.5 mm and precludes its use for the monitoring of respiratory motion during 4DCT acquisitions. Similarly, the motion of the treatment gantry distorts up to 22 mm the tracking result. Despite the line of sight requirement, the optical solution offers the best potential, being the most robust against environmental factors and providing the highest spatial accuracy. The significant difference in the temporal location of the reconstructed phase points is used to speculate on the need to apply the same monitoring system for imaging and treatment to ensure the consistency of detected phases.

Upper-limb prosthetic control using wearable multichannel mechanomyography.

PubMed

Wilson, Samuel; Vaidyanathan, Ravi

2017-07-01

In this paper we introduce a robust multi-channel wearable sensor system for capturing user intent to control robotic hands. The interface is based on a fusion of inertial measurement and mechanomyography (MMG), which measures the vibrations of muscle fibres during motion. MMG is immune to issues such as sweat, skin impedance, and the need for a reference signal that is common to electromyography (EMG). The main contributions of this work are: 1) the hardware design of a fused inertial and MMG measurement system that can be worn on the arm, 2) a unified algorithm for detection, segmentation, and classification of muscle movement corresponding to hand gestures, and 3) experiments demonstrating the real-time control of a commercial prosthetic hand (Bebionic Version 2). Results show recognition of seven gestures, achieving an offline classification accuracy of 83.5% performed on five healthy subjects and one transradial amputee. The gesture recognition was then tested in real time on subsets of two and five gestures, with an average accuracy of 93.3% and 62.2% respectively. To our knowledge this is the first applied MMG based control system for practical prosthetic control.

Reconfigurable engineered motile semiconductor microparticles.

PubMed

Ohiri, Ugonna; Shields, C Wyatt; Han, Koohee; Tyler, Talmage; Velev, Orlin D; Jokerst, Nan

2018-05-03

Locally energized particles form the basis for emerging classes of active matter. The design of active particles has led to their controlled locomotion and assembly. The next generation of particles should demonstrate robust control over their active assembly, disassembly, and reconfiguration. Here we introduce a class of semiconductor microparticles that can be comprehensively designed (in size, shape, electric polarizability, and patterned coatings) using standard microfabrication tools. These custom silicon particles draw energy from external electric fields to actively propel, while interacting hydrodynamically, and sequentially assemble and disassemble on demand. We show that a number of electrokinetic effects, such as dielectrophoresis, induced charge electrophoresis, and diode propulsion, can selectively power the microparticle motions and interactions. The ability to achieve on-demand locomotion, tractable fluid flows, synchronized motility, and reversible assembly using engineered silicon microparticles may enable advanced applications that include remotely powered microsensors, artificial muscles, reconfigurable neural networks and computational systems.

Vision and air flow combine to streamline flying honeybees

PubMed Central

Taylor, Gavin J.; Luu, Tien; Ball, David; Srinivasan, Mandyam V.

2013-01-01

Insects face the challenge of integrating multi-sensory information to control their flight. Here we study a ‘streamlining' response in honeybees, whereby honeybees raise their abdomen to reduce drag. We find that this response, which was recently reported to be mediated by optic flow, is also strongly modulated by the presence of air flow simulating a head wind. The Johnston's organs in the antennae were found to play a role in the measurement of the air speed that is used to control the streamlining response. The response to a combination of visual motion and wind is complex and can be explained by a model that incorporates a non-linear combination of the two stimuli. The use of visual and mechanosensory cues increases the strength of the streamlining response when the stimuli are present concurrently. We propose this multisensory integration will make the response more robust to transient disturbances in either modality. PMID:24019053

Probing the shear viscosity of an active nematic film

NASA Astrophysics Data System (ADS)

Guillamat, Pau; Ignés-Mullol, Jordi; Shankar, Suraj; Marchetti, M. Cristina; Sagués, Francesc

2016-12-01

In vitro reconstituted active systems, such as the adenosine triphosphate (ATP)-driven microtubule bundle suspension developed by the Dogic group [T. Sanchez, D. T. Chen, S. J. DeCamp, M. Heymann, and Z. Dogic, Nature (London) 491, 431 (2012), 10.1038/nature11591], provide a fertile testing ground for elucidating the phenomenology of active liquid crystalline states. Controlling such novel phases of matter crucially depends on our knowledge of their material and physical properties. In this Rapid Communication, we show that the shear viscosity of an active nematic film can be probed by varying its hydrodynamic coupling to a bounding oil layer. Using the motion of disclinations as intrinsic tracers of the flow field and a hydrodynamic model, we obtain an estimate for the shear viscosity of the nematic film. Knowing this now provides us with an additional handle for robust and precision tunable control of the emergent dynamics of active fluids.

Development of the segment alignment maintenance system (SAMS) for the Hobby-Eberly Telescope

NASA Astrophysics Data System (ADS)

Booth, John A.; Adams, Mark T.; Ames, Gregory H.; Fowler, James R.; Montgomery, Edward E.; Rakoczy, John M.

2000-07-01

A sensing and control system for maintaining optical alignment of ninety-one 1-meter mirror segments forming the Hobby-Eberly Telescope (HET) primary mirror array is now under development. The Segment Alignment Maintenance System (SAMS) is designed to sense relative shear motion between each segment edge pair and calculated individual segment tip, tilt, and piston position errors. Error information is sent to the HET primary mirror control system, which corrects the physical position of each segment as often as once per minute. Development of SAMS is required to meet optical images quality specifications for the telescope. Segment misalignment over time is though to be due to thermal inhomogeneity within the steel mirror support truss. Challenging problems of sensor resolution, dynamic range, mechanical mounting, calibration, stability, robust algorithm development, and system integration must be overcome to achieve a successful operational solution.

A real-time, practical sensor fault-tolerant module for robust EMG pattern recognition.

PubMed

Zhang, Xiaorong; Huang, He

2015-02-19

Unreliability of surface EMG recordings over time is a challenge for applying the EMG pattern recognition (PR)-controlled prostheses in clinical practice. Our previous study proposed a sensor fault-tolerant module (SFTM) by utilizing redundant information in multiple EMG signals. The SFTM consists of multiple sensor fault detectors and a self-recovery mechanism that can identify anomaly in EMG signals and remove the recordings of the disturbed signals from the input of the pattern classifier to recover the PR performance. While the proposed SFTM has shown great promise, the previous design is impractical. A practical SFTM has to be fast enough, lightweight, automatic, and robust under different conditions with or without disturbances. This paper presented a real-time, practical SFTM towards robust EMG PR. A novel fast LDA retraining algorithm and a fully automatic sensor fault detector based on outlier detection were developed, which allowed the SFTM to promptly detect disturbances and recover the PR performance immediately. These components of SFTM were then integrated with the EMG PR module and tested on five able-bodied subjects and a transradial amputee in real-time for classifying multiple hand and wrist motions under different conditions with different disturbance types and levels. The proposed fast LDA retraining algorithm significantly shortened the retraining time from nearly 1 s to less than 4 ms when tested on the embedded system prototype, which demonstrated the feasibility of a nearly "zero-delay" SFTM that is imperceptible to the users. The results of the real-time tests suggested that the SFTM was able to handle different types of disturbances investigated in this study and significantly improve the classification performance when one or multiple EMG signals were disturbed. In addition, the SFTM could also maintain the system's classification performance when there was no disturbance. This paper presented a real-time, lightweight, and automatic SFTM, which paved the way for reliable and robust EMG PR for prosthesis control.

Validation results of specifications for motion control interoperability

NASA Astrophysics Data System (ADS)

Szabo, Sandor; Proctor, Frederick M.

1997-01-01

The National Institute of Standards and Technology (NIST) is participating in the Department of Energy Technologies Enabling Agile Manufacturing (TEAM) program to establish interface standards for machine tool, robot, and coordinate measuring machine controllers. At NIST, the focus is to validate potential application programming interfaces (APIs) that make it possible to exchange machine controller components with a minimal impact on the rest of the system. This validation is taking place in the enhanced machine controller (EMC) consortium and is in cooperation with users and vendors of motion control equipment. An area of interest is motion control, including closed-loop control of individual axes and coordinated path planning. Initial tests of the motion control APIs are complete. The APIs were implemented on two commercial motion control boards that run on two different machine tools. The results for a baseline set of APIs look promising, but several issues were raised. These include resolving differing approaches in how motions are programmed and defining a standard measurement of performance for motion control. This paper starts with a summary of the process used in developing a set of specifications for motion control interoperability. Next, the EMC architecture and its classification of motion control APIs into two classes, Servo Control and Trajectory Planning, are reviewed. Selected APIs are presented to explain the basic functionality and some of the major issues involved in porting the APIs to other motion controllers. The paper concludes with a summary of the main issues and ways to continue the standards process.

STS-99 Shuttle Radar Topography Mission Stability and Control

NASA Technical Reports Server (NTRS)

Hamelin, Jennifer L.; Jackson, Mark C.; Kirchwey, Christopher B.; Pileggi, Roberto A.

2001-01-01

The Shuttle Radar Topography Mission (SRTM) flew aboard Space Shuttle Endeavor February 2000 and used interferometry to map 80% of the Earth's landmass. SRTM employed a 200-foot deployable mast structure to extend a second antenna away from the main antenna located in the Shuttle payload bay. Mapping requirements demanded precision pointing and orbital trajectories from the Shuttle on-orbit Flight Control System (PCS). Mast structural dynamics interaction with the FCS impacted stability and performance of the autopilot for attitude maneuvers and pointing during mapping operations. A damper system added to ensure that mast tip motion remained with in the limits of the outboard antenna tracking system while mapping also helped to mitigate structural dynamic interaction with the FCS autopilot. Late changes made to the payload damper system, which actually failed on-orbit, required a redesign and verification of the FCS autopilot filtering schemes necessary to ensure rotational control stability. In-flight measurements using three sensors were used to validate models and gauge the accuracy and robustness of the pre-mission notch filter design.

Exploring the neural bases of goal-directed motor behavior using fully resolved simulations

NASA Astrophysics Data System (ADS)

Patel, Namu; Patankar, Neelesh A.

2016-11-01

Undulatory swimming is an ideal problem for understanding the neural architecture for motor control and movement; a vertebrate's robust morphology and adaptive locomotive gait allows the swimmer to navigate complex environments. Simple mathematical models for neurally activated muscle contractions have been incorporated into a swimmer immersed in fluid. Muscle contractions produce bending moments which determine the swimming kinematics. The neurobiology of goal-directed locomotion is explored using fast, efficient, and fully resolved constraint-based immersed boundary simulations. Hierarchical control systems tune the strength, frequency, and duty cycle for neural activation waves to produce multifarious swimming gaits or synergies. Simulation results are used to investigate why the basal ganglia and other control systems may command a particular neural pattern to accomplish a task. Using simple neural models, the effect of proprioceptive feedback on refining the body motion is demonstrated. Lastly, the ability for a learned swimmer to successfully navigate a complex environment is tested. This work is supported by NSF CBET 1066575 and NSF CMMI 0941674.

Satellite Dynamic Damping via Active Force Control Augmentation

NASA Astrophysics Data System (ADS)

Varatharajoo, Renuganth

2012-07-01

An approach that incorporates the Active Force Control (AFC) technique into a conventional Proportional-Derivative (PD) controller is proposed for a satellite active dynamic damping towards a full attitude control. The AFC method has been established to facilitate a robust motion control of dynamical systems in the presence of disturbances, parametric uncertainties and changes that are commonly prevalent in the real-world environment. The usefulness of the method can be extended by introducing intelligent mechanisms to approximate the mass or inertia matrix of the dynamic system to trigger the compensation effect of the controller. AFC is a technique that relies on the appropriate estimation of the inertial or mass parameters of the dynamic system and the measurements of the acceleration and force signals induced by the system if practical implementation is ever considered. In AFC, it is shown that the system subjected to a number of disturbances remains stable and robust via the compensating action of the control strategy. We demonstrate that it is possible to design a spacecraft attitude feedback controller that will ensure the system dynamics set point remains unchanged even in the presence of the disturbances provided that the actual disturbances can be modeled effectively. In order to further facilitate this analysis, a combined energy and attitude control system (CEACS) is proposed as a model satellite attitude control actuator. All the governing equations are established and the proposed satellite attitude control architecture is made amenable to numerical treatments. The results show that the PD-AFC attitude damping performances are superiorly better than that of the solely PD type. It is also shown that the tunings of the AFC system gains are crucial to ensure a better attitude damping performance and this process is mandatory for AFC systems. Finally, the results demonstrate an important satellite dynamic damping enhancement capability using the AFC technique. Keywords: Satellite, Dynamic Damping, Attitude Control, AFC Technique,

A spin echo sequence with a single-sided bipolar diffusion gradient pulse to obtain snapshot diffusion weighted images in moving media

NASA Astrophysics Data System (ADS)

Freidlin, R. Z.; Kakareka, J. W.; Pohida, T. J.; Komlosh, M. E.; Basser, P. J.

2012-08-01

In vivo MRI data can be corrupted by motion. Motion artifacts are particularly troublesome in Diffusion Weighted MRI (DWI), since the MR signal attenuation due to Brownian motion can be much less than the signal loss due to dephasing from other types of complex tissue motion, which can significantly degrade the estimation of self-diffusion coefficients, diffusion tensors, etc. This paper describes a snapshot DWI sequence, which utilizes a novel single-sided bipolar diffusion sensitizing gradient pulse within a spin echo sequence. The proposed method shortens the diffusion time by applying a single refocused bipolar diffusion gradient on one side of a refocusing RF pulse, instead of a set of diffusion sensitizing gradients, separated by a refocusing RF pulse, while reducing the impact of magnetic field inhomogeneity by using a spin echo sequence. A novel MRI phantom that can exhibit a range of complex motions was designed to demonstrate the robustness of the proposed DWI sequence.

Moving object detection using dynamic motion modelling from UAV aerial images.

PubMed

Saif, A F M Saifuddin; Prabuwono, Anton Satria; Mahayuddin, Zainal Rasyid

2014-01-01

Motion analysis based moving object detection from UAV aerial image is still an unsolved issue due to inconsideration of proper motion estimation. Existing moving object detection approaches from UAV aerial images did not deal with motion based pixel intensity measurement to detect moving object robustly. Besides current research on moving object detection from UAV aerial images mostly depends on either frame difference or segmentation approach separately. There are two main purposes for this research: firstly to develop a new motion model called DMM (dynamic motion model) and secondly to apply the proposed segmentation approach SUED (segmentation using edge based dilation) using frame difference embedded together with DMM model. The proposed DMM model provides effective search windows based on the highest pixel intensity to segment only specific area for moving object rather than searching the whole area of the frame using SUED. At each stage of the proposed scheme, experimental fusion of the DMM and SUED produces extracted moving objects faithfully. Experimental result reveals that the proposed DMM and SUED have successfully demonstrated the validity of the proposed methodology.

A Rotational Motion Perception Neural Network Based on Asymmetric Spatiotemporal Visual Information Processing.

PubMed

Hu, Bin; Yue, Shigang; Zhang, Zhuhong

All complex motion patterns can be decomposed into several elements, including translation, expansion/contraction, and rotational motion. In biological vision systems, scientists have found that specific types of visual neurons have specific preferences to each of the three motion elements. There are computational models on translation and expansion/contraction perceptions; however, little has been done in the past to create computational models for rotational motion perception. To fill this gap, we proposed a neural network that utilizes a specific spatiotemporal arrangement of asymmetric lateral inhibited direction selective neural networks (DSNNs) for rotational motion perception. The proposed neural network consists of two parts-presynaptic and postsynaptic parts. In the presynaptic part, there are a number of lateral inhibited DSNNs to extract directional visual cues. In the postsynaptic part, similar to the arrangement of the directional columns in the cerebral cortex, these direction selective neurons are arranged in a cyclic order to perceive rotational motion cues. In the postsynaptic network, the delayed excitation from each direction selective neuron is multiplied by the gathered excitation from this neuron and its unilateral counterparts depending on which rotation, clockwise (cw) or counter-cw (ccw), to perceive. Systematic experiments under various conditions and settings have been carried out and validated the robustness and reliability of the proposed neural network in detecting cw or ccw rotational motion. This research is a critical step further toward dynamic visual information processing.All complex motion patterns can be decomposed into several elements, including translation, expansion/contraction, and rotational motion. In biological vision systems, scientists have found that specific types of visual neurons have specific preferences to each of the three motion elements. There are computational models on translation and expansion/contraction perceptions; however, little has been done in the past to create computational models for rotational motion perception. To fill this gap, we proposed a neural network that utilizes a specific spatiotemporal arrangement of asymmetric lateral inhibited direction selective neural networks (DSNNs) for rotational motion perception. The proposed neural network consists of two parts-presynaptic and postsynaptic parts. In the presynaptic part, there are a number of lateral inhibited DSNNs to extract directional visual cues. In the postsynaptic part, similar to the arrangement of the directional columns in the cerebral cortex, these direction selective neurons are arranged in a cyclic order to perceive rotational motion cues. In the postsynaptic network, the delayed excitation from each direction selective neuron is multiplied by the gathered excitation from this neuron and its unilateral counterparts depending on which rotation, clockwise (cw) or counter-cw (ccw), to perceive. Systematic experiments under various conditions and settings have been carried out and validated the robustness and reliability of the proposed neural network in detecting cw or ccw rotational motion. This research is a critical step further toward dynamic visual information processing.

Praying Mantis Bending Core Breakoff and Retention Mechanism

NASA Technical Reports Server (NTRS)

Badescu, Mircea; Sherrit, Stewart; Bar-Cohen, Yoseph; Bao, Xiaoqi; Lindermann, Randel A.

2011-01-01

Sampling cores requires the controlled breakoff of the core at a known location with respect to the drill end. An additional problem is designing a mechanism that can be implemented at a small scale, yet is robust and versatile enough to be used for a variety of core samples. The new design consists of a set of tubes (a drill tube, an outer tube, and an inner tube) and means of sliding the inner and outer tubes axially relative to each other. Additionally, a sample tube can be housed inside the inner tube for storing the sample. The inner tube fits inside the outer tube, which fits inside the drill tube. The inner and outer tubes can move axially relative to each other. The inner tube presents two lamellae with two opposing grabbing teeth and one pushing tooth. The pushing tooth is offset axially from the grabbing teeth. The teeth can move radially and their motion is controlled by the outer tube. The outer tube presents two lamellae with radial extrusions to control the inner tube lamellae motion. In breaking the core, the mechanism creates two support points (the grabbing teeth and the bit tip) and one push point. The core is broken in bending. The grabbing teeth can also act as a core retention mechanism. The praying mantis that is disclosed herein is an active core breaking/retention mechanism that requires only one additional actuator other than the drilling actuator. It can break cores that are attached to the borehole bottom as

Development of Methods to Evaluate Safer Flight Characteristics

NASA Technical Reports Server (NTRS)

Basciano, Thomas E., Jr.; Erickson, Jon D.

1997-01-01

The goal of the proposed research is to begin development of a simulation that models the flight characteristics of the Simplified Aid For EVA Rescue (SAFER) pack. Development of such a simulation was initiated to ultimately study the effect an Orbital Replacement Unit (ORU) has on SAFER dynamics. A major function of this program will be to calculate fuel consumption for many ORUs with different masses and locations. This will ultimately determine the maximum ORU mass an astronaut can carry and still perform a self-rescue without jettisoning the unit. A second primary goal is to eventually simulate relative motion (vibration) between the ORU and astronaut. After relative motion is accurately modeled it will be possible to evaluate the robustness of the control system and optimize performance as needed. The first stage in developing the simulation is the ability to model a standardized, total, self-rescue scenario, making it possible to accurately compare different program runs. In orbit an astronaut has only limited data and will not be able to follow the most fuel efficient trajectory; therefore, it is important to correctly model the procedures an astronaut would use in orbit so that good fuel consumption data can be obtained. Once this part of the program is well tested and verified, the vibration (relative motion) of the ORU with respect to the astronaut can be studied.

High degree-of-freedom dynamic manipulation

NASA Astrophysics Data System (ADS)

Murphy, Michael P.; Stephens, Benjamin; Abe, Yeuhi; Rizzi, Alfred A.

2012-06-01

The creation of high degree of freedom dynamic mobile manipulation techniques and behaviors will allow robots to accomplish difficult tasks in the field. We are investigating the use of the body and legs of legged robots to improve the strength, velocity, and workspace of an integrated manipulator to accomplish dynamic manipulation. This is an especially challenging task, as all of the degrees of freedom are active at all times, the dynamic forces generated are high, and the legged system must maintain robust balance throughout the duration of the tasks. To accomplish this goal, we are utilizing trajectory optimization techniques to generate feasible open-loop behaviors for our 28 dof quadruped robot (BigDog) by planning the trajectories in a 13 dimensional space. Covariance Matrix Adaptation techniques are utilized to optimize for several criteria such as payload capability and task completion speed while also obeying constraints such as torque and velocity limits, kinematic limits, and center of pressure location. These open-loop behaviors are then used to generate feed-forward terms, which are subsequently used online to improve tracking and maintain low controller gains. Some initial results on one of our existing balancing quadruped robots with an additional human-arm-like manipulator are demonstrated on robot hardware, including dynamic lifting and throwing of heavy objects 16.5kg cinder blocks, using motions that resemble a human athlete more than typical robotic motions. Increased payload capacity is accomplished through coordinated body motion.

Realtime motion planning for a mobile robot in an unknown environment using a neurofuzzy based approach

NASA Astrophysics Data System (ADS)

Zheng, Taixiong

2005-12-01

A neuro-fuzzy network based approach for robot motion in an unknown environment was proposed. In order to control the robot motion in an unknown environment, the behavior of the robot was classified into moving to the goal and avoiding obstacles. Then, according to the dynamics of the robot and the behavior character of the robot in an unknown environment, fuzzy control rules were introduced to control the robot motion. At last, a 6-layer neuro-fuzzy network was designed to merge from what the robot sensed to robot motion control. After being trained, the network may be used for robot motion control. Simulation results show that the proposed approach is effective for robot motion control in unknown environment.

CameraHRV: robust measurement of heart rate variability using a camera

NASA Astrophysics Data System (ADS)

Pai, Amruta; Veeraraghavan, Ashok; Sabharwal, Ashutosh

2018-02-01

The inter-beat-interval (time period of the cardiac cycle) changes slightly for every heartbeat; this variation is measured as Heart Rate Variability (HRV). HRV is presumed to occur due to interactions between the parasym- pathetic and sympathetic nervous system. Therefore, it is sometimes used as an indicator of the stress level of an individual. HRV also reveals some clinical information about cardiac health. Currently, HRV is accurately measured using contact devices such as a pulse oximeter. However, recent research in the field of non-contact imaging Photoplethysmography (iPPG) has made vital sign measurements using just the video recording of any exposed skin (such as a person's face) possible. The current signal processing methods for extracting HRV using peak detection perform well for contact-based systems but have poor performance for the iPPG signals. The main reason for this poor performance is the fact that current methods are sensitive to large noise sources which are often present in iPPG data. Further, current methods are not robust to motion artifacts that are common in iPPG systems. We developed a new algorithm, CameraHRV, for robustly extracting HRV even in low SNR such as is common with iPPG recordings. CameraHRV combined spatial combination and frequency demodulation to obtain HRV from the instantaneous frequency of the iPPG signal. CameraHRV outperforms other current methods of HRV estimation. Ground truth data was obtained from FDA-approved pulse oximeter for validation purposes. CameraHRV on iPPG data showed an error of 6 milliseconds for low motion and varying skin tone scenarios. The improvement in error was 14%. In case of high motion scenarios like reading, watching and talking, the error was 10 milliseconds.

Modeling and Bayesian parameter estimation for shape memory alloy bending actuators

NASA Astrophysics Data System (ADS)

Crews, John H.; Smith, Ralph C.

2012-04-01

In this paper, we employ a homogenized energy model (HEM) for shape memory alloy (SMA) bending actuators. Additionally, we utilize a Bayesian method for quantifying parameter uncertainty. The system consists of a SMA wire attached to a flexible beam. As the actuator is heated, the beam bends, providing endoscopic motion. The model parameters are fit to experimental data using an ordinary least-squares approach. The uncertainty in the fit model parameters is then quantified using Markov Chain Monte Carlo (MCMC) methods. The MCMC algorithm provides bounds on the parameters, which will ultimately be used in robust control algorithms. One purpose of the paper is to test the feasibility of the Random Walk Metropolis algorithm, the MCMC method used here.

Social inclusion enhances biological motion processing: A functional near-infrared spectroscopy study

PubMed Central

Bolling, Danielle Z.; Pelphrey, Kevin A.; Kaiser, Martha D.

2012-01-01

Humans are especially tuned to the movements of other people. Neural correlates of this social attunement have been proposed to lie in and around the right posterior superior temporal sulcus (STS) region, which robustly responds to biological motion in contrast to a variety of non-biological motions. This response persists even when no form information is provided, as in point-light displays (PLDs). The aim of the current study was to assess the ability of functional near-infrared spectroscopy (fNIRS) to reliably measure brain responses to PLDs of biological motion, and determine the sensitivity of these responses to interpersonal contextual factors. To establish reliability, we measured brain activation to biological motion with fNIRS and functional magnetic resonance imaging (fMRI) during two separate sessions in an identical group of 12 participants. To establish sensitivity, brain responses to biological motion measured with fNIRS were subjected to an additional social manipulation where participants were either socially included or excluded before viewing PLDs of biological motion. Results revealed comparable brain responses to biological motion using fMRI and fNIRS in the right supramarginal gyrus. Further, social inclusion increased brain responses to biological motion in right supramarginal gyrus and posterior STS. Thus, fNIRS can reliably measure brain responses to biological motion and can detect social experience-dependent modulations of these brain responses. PMID:22941501

Double-Windows-Based Motion Recognition in Multi-Floor Buildings Assisted by a Built-In Barometer.

PubMed

Liu, Maolin; Li, Huaiyu; Wang, Yuan; Li, Fei; Chen, Xiuwan

2018-04-01

Accelerometers, gyroscopes and magnetometers in smartphones are often used to recognize human motions. Since it is difficult to distinguish between vertical motions and horizontal motions in the data provided by these built-in sensors, the vertical motion recognition accuracy is relatively low. The emergence of a built-in barometer in smartphones improves the accuracy of motion recognition in the vertical direction. However, there is a lack of quantitative analysis and modelling of the barometer signals, which is the basis of barometer's application to motion recognition, and a problem of imbalanced data also exists. This work focuses on using the barometers inside smartphones for vertical motion recognition in multi-floor buildings through modelling and feature extraction of pressure signals. A novel double-windows pressure feature extraction method, which adopts two sliding time windows of different length, is proposed to balance recognition accuracy and response time. Then, a random forest classifier correlation rule is further designed to weaken the impact of imbalanced data on recognition accuracy. The results demonstrate that the recognition accuracy can reach 95.05% when pressure features and the improved random forest classifier are adopted. Specifically, the recognition accuracy of the stair and elevator motions is significantly improved with enhanced response time. The proposed approach proves effective and accurate, providing a robust strategy for increasing accuracy of vertical motions.

Global Motions of the Nuclear Pore Complex: Insights from Elastic Network Models

PubMed Central

Lezon, Timothy R.; Sali, Andrej; Bahar, Ivet

2009-01-01

The nuclear pore complex (NPC) is the gate to the nucleus. Recent determination of the configuration of proteins in the yeast NPC at ∼5 nm resolution permits us to study the NPC global dynamics using coarse-grained structural models. We investigate these large-scale motions by using an extended elastic network model (ENM) formalism applied to several coarse-grained representations of the NPC. Two types of collective motions (global modes) are predicted by the ENMs to be intrinsically favored by the NPC architecture: global bending and extension/contraction from circular to elliptical shapes. These motions are shown to be robust against tested variations in the representation of the NPC, and are largely captured by a simple model of a toroid with axially varying mass density. We demonstrate that spoke multiplicity significantly affects the accessible number of symmetric low-energy modes of motion; the NPC-like toroidal structures composed of 8 spokes have access to highly cooperative symmetric motions that are inaccessible to toroids composed of 7 or 9 spokes. The analysis reveals modes of motion that may facilitate macromolecular transport through the NPC, consistent with previous experimental observations. PMID:19730674

Global motions of the nuclear pore complex: insights from elastic network models.

PubMed

Lezon, Timothy R; Sali, Andrej; Bahar, Ivet

2009-09-01

The nuclear pore complex (NPC) is the gate to the nucleus. Recent determination of the configuration of proteins in the yeast NPC at approximately 5 nm resolution permits us to study the NPC global dynamics using coarse-grained structural models. We investigate these large-scale motions by using an extended elastic network model (ENM) formalism applied to several coarse-grained representations of the NPC. Two types of collective motions (global modes) are predicted by the ENMs to be intrinsically favored by the NPC architecture: global bending and extension/contraction from circular to elliptical shapes. These motions are shown to be robust against tested variations in the representation of the NPC, and are largely captured by a simple model of a toroid with axially varying mass density. We demonstrate that spoke multiplicity significantly affects the accessible number of symmetric low-energy modes of motion; the NPC-like toroidal structures composed of 8 spokes have access to highly cooperative symmetric motions that are inaccessible to toroids composed of 7 or 9 spokes. The analysis reveals modes of motion that may facilitate macromolecular transport through the NPC, consistent with previous experimental observations.

Iterative motion compensation approach for ultrasonic thermal imaging

NASA Astrophysics Data System (ADS)

Fleming, Ioana; Hager, Gregory; Guo, Xiaoyu; Kang, Hyun Jae; Boctor, Emad

2015-03-01

As thermal imaging attempts to estimate very small tissue motion (on the order of tens of microns), it can be negatively influenced by signal decorrelation. Patient's breathing and cardiac cycle generate shifts in the RF signal patterns. Other sources of movement could be found outside the patient's body, like transducer slippage or small vibrations due to environment factors like electronic noise. Here, we build upon a robust displacement estimation method for ultrasound elastography and we investigate an iterative motion compensation algorithm, which can detect and remove non-heat induced tissue motion at every step of the ablation procedure. The validation experiments are performed on laboratory induced ablation lesions in ex-vivo tissue. The ultrasound probe is either held by the operator's hand or supported by a robotic arm. We demonstrate the ability to detect and remove non-heat induced tissue motion in both settings. We show that removing extraneous motion helps unmask the effects of heating. Our strain estimation curves closely mirror the temperature changes within the tissue. While previous results in the area of motion compensation were reported for experiments lasting less than 10 seconds, our algorithm was tested on experiments that lasted close to 20 minutes.

An effective and robust method for tracking multiple fish in video image based on fish head detection.

PubMed

Qian, Zhi-Ming; Wang, Shuo Hong; Cheng, Xi En; Chen, Yan Qiu

2016-06-23

Fish tracking is an important step for video based analysis of fish behavior. Due to severe body deformation and mutual occlusion of multiple swimming fish, accurate and robust fish tracking from video image sequence is a highly challenging problem. The current tracking methods based on motion information are not accurate and robust enough to track the waving body and handle occlusion. In order to better overcome these problems, we propose a multiple fish tracking method based on fish head detection. The shape and gray scale characteristics of the fish image are employed to locate the fish head position. For each detected fish head, we utilize the gray distribution of the head region to estimate the fish head direction. Both the position and direction information from fish detection are then combined to build a cost function of fish swimming. Based on the cost function, global optimization method can be applied to associate the target between consecutive frames. Results show that our method can accurately detect the position and direction information of fish head, and has a good tracking performance for dozens of fish. The proposed method can successfully obtain the motion trajectories for dozens of fish so as to provide more precise data to accommodate systematic analysis of fish behavior.

Inspiration for wing design: how forelimb specialization enables active flight in modern vertebrates.

PubMed

Chin, Diana D; Matloff, Laura Y; Stowers, Amanda Kay; Tucci, Emily R; Lentink, David

2017-06-01

Harnessing flight strategies refined by millions of years of evolution can help expedite the design of more efficient, manoeuvrable and robust flying robots. This review synthesizes recent advances and highlights remaining gaps in our understanding of how bird and bat wing adaptations enable effective flight. Included in this discussion is an evaluation of how current robotic analogues measure up to their biological sources of inspiration. Studies of vertebrate wings have revealed skeletal systems well suited for enduring the loads required during flight, but the mechanisms that drive coordinated motions between bones and connected integuments remain ill-described. Similarly, vertebrate flight muscles have adapted to sustain increased wing loading, but a lack of in vivo studies limits our understanding of specific muscular functions. Forelimb adaptations diverge at the integument level, but both bird feathers and bat membranes yield aerodynamic surfaces with a level of robustness unparalleled by engineered wings. These morphological adaptations enable a diverse range of kinematics tuned for different flight speeds and manoeuvres. By integrating vertebrate flight specializations-particularly those that enable greater robustness and adaptability-into the design and control of robotic wings, engineers can begin narrowing the wide margin that currently exists between flying robots and vertebrates. In turn, these robotic wings can help biologists create experiments that would be impossible in vivo . © 2017 The Author(s).

A Multi-Sensor Fusion MAV State Estimation from Long-Range Stereo, IMU, GPS and Barometric Sensors.

PubMed

Song, Yu; Nuske, Stephen; Scherer, Sebastian

2016-12-22

State estimation is the most critical capability for MAV (Micro-Aerial Vehicle) localization, autonomous obstacle avoidance, robust flight control and 3D environmental mapping. There are three main challenges for MAV state estimation: (1) it can deal with aggressive 6 DOF (Degree Of Freedom) motion; (2) it should be robust to intermittent GPS (Global Positioning System) (even GPS-denied) situations; (3) it should work well both for low- and high-altitude flight. In this paper, we present a state estimation technique by fusing long-range stereo visual odometry, GPS, barometric and IMU (Inertial Measurement Unit) measurements. The new estimation system has two main parts, a stochastic cloning EKF (Extended Kalman Filter) estimator that loosely fuses both absolute state measurements (GPS, barometer) and the relative state measurements (IMU, visual odometry), and is derived and discussed in detail. A long-range stereo visual odometry is proposed for high-altitude MAV odometry calculation by using both multi-view stereo triangulation and a multi-view stereo inverse depth filter. The odometry takes the EKF information (IMU integral) for robust camera pose tracking and image feature matching, and the stereo odometry output serves as the relative measurements for the update of the state estimation. Experimental results on a benchmark dataset and our real flight dataset show the effectiveness of the proposed state estimation system, especially for the aggressive, intermittent GPS and high-altitude MAV flight.

SU-E-T-510: Interplay Between Spots Sizes, Spot / Line Spacing and Motion in Spot Scanning Proton Therapy

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

Lee, TK

Purpose In proton beam configuration for spot scanning proton therapy (SSPT), one can define the spacing between spots and lines of scanning as a ratio of given spot size. If the spacing increases, the number of spots decreases which can potentially decrease scan time, and so can whole treatment time, and vice versa. However, if the spacing is too large, the uniformity of scanned field decreases. Also, the field uniformity can be affected by motion during SSPT beam delivery. In the present study, the interplay between spot/ line spacing and motion is investigated. Methods We used four Gaussian-shape spot sizesmore » with 0.5cm, 1.0cm, 1.5cm, and 2.0cm FWHM, three spot/line spacing that creates uniform field profile which are 1/3*FWHM, σ/3*FWHM and 2/3*FWHM, and three random motion amplitudes within, +/−0.3mm, +/−0.5mm, and +/−1.0mm. We planned with 2Gy uniform single layer of 10×10cm2 and 20×20cm2 fields. Then, mean dose within 80% area of given field size, contrubuting MU per each spot assuming 1cGy/MU calibration for all spot sizes, number of spots and uniformity were calculated. Results The plans with spot/line spacing equal to or smaller than 2/3*FWHM without motion create ∼100% uniformity. However, it was found that the uniformity decreases with increased spacing, and it is more pronounced with smaller spot sizes, but is not affected by scanned field sizes. Conclusion It was found that the motion during proton beam delivery can alter the dose uniformity and the amount of alteration changes with spot size which changes with energy and spot/line spacing. Currently, robust evaluation in TPS (e.g. Eclipse system) performs range uncertainty evaluation using isocenter shift and CT calibration error. Based on presented study, it is recommended to add interplay effect evaluation to robust evaluation process. For future study, the additional interplay between the energy layers and motion is expected to present volumetric effect.« less

Guaranteeing Isochronous Control of Networked Motion Control Systems Using Phase Offset Adjustment

PubMed Central

Kim, Ikhwan; Kim, Taehyoun

2015-01-01

Guaranteeing isochronous transfer of control commands is an essential function for networked motion control systems. The adoption of real-time Ethernet (RTE) technologies may be profitable in guaranteeing deterministic transfer of control messages. However, unpredictable behavior of software in the motion controller often results in unexpectedly large deviation in control message transmission intervals, and thus leads to imprecise motion. This paper presents a simple and efficient heuristic to guarantee the end-to-end isochronous control with very small jitter. The key idea of our approach is to adjust the phase offset of control message transmission time in the motion controller by investigating the behavior of motion control task. In realizing the idea, we performed a pre-runtime analysis to determine a safe and reliable phase offset and applied the phase offset to the runtime code of motion controller by customizing an open-source based integrated development environment (IDE). We also constructed an EtherCAT-based motion control system testbed and performed extensive experiments on the testbed to verify the effectiveness of our approach. The experimental results show that our heuristic is highly effective even for low-end embedded controller implemented in open-source software components under various configurations of control period and the number of motor drives. PMID:26076407

Symmetry-breaking phase transitions in highly concentrated semen

PubMed Central

Creppy, Adama; Plouraboué, Franck; Praud, Olivier; Druart, Xavier; Cazin, Sébastien; Yu, Hui

2016-01-01

New experimental evidence of self-motion of a confined active suspension is presented. Depositing fresh semen sample in an annular shaped microfluidic chip leads to a spontaneous vortex state of the fluid at sufficiently large sperm concentration. The rotation occurs unpredictably clockwise or counterclockwise and is robust and stable. Furthermore, for highly active and concentrated semen, richer dynamics can occur such as self-sustained or damped rotation oscillations. Experimental results obtained with systematic dilution provide a clear evidence of a phase transition towards collective motion associated with local alignment of spermatozoa akin to the Vicsek model. A macroscopic theory based on previously derived self-organized hydrodynamics models is adapted to this context and provides predictions consistent with the observed stationary motion. PMID:27733694

Exercise Sensing and Pose Recovery Inference Tool (ESPRIT) - A Compact Stereo-based Motion Capture Solution For Exercise Monitoring

NASA Technical Reports Server (NTRS)

Lee, Mun Wai

2015-01-01

Crew exercise is important during long-duration space flight not only for maintaining health and fitness but also for preventing adverse health problems, such as losses in muscle strength and bone density. Monitoring crew exercise via motion capture and kinematic analysis aids understanding of the effects of microgravity on exercise and helps ensure that exercise prescriptions are effective. Intelligent Automation, Inc., has developed ESPRIT to monitor exercise activities, detect body markers, extract image features, and recover three-dimensional (3D) kinematic body poses. The system relies on prior knowledge and modeling of the human body and on advanced statistical inference techniques to achieve robust and accurate motion capture. In Phase I, the company demonstrated motion capture of several exercises, including walking, curling, and dead lifting. Phase II efforts focused on enhancing algorithms and delivering an ESPRIT prototype for testing and demonstration.

Estimation of contour motion and deformation for nonrigid object tracking

NASA Astrophysics Data System (ADS)

Shao, Jie; Porikli, Fatih; Chellappa, Rama

2007-08-01

We present an algorithm for nonrigid contour tracking in heavily cluttered background scenes. Based on the properties of nonrigid contour movements, a sequential framework for estimating contour motion and deformation is proposed. We solve the nonrigid contour tracking problem by decomposing it into three subproblems: motion estimation, deformation estimation, and shape regulation. First, we employ a particle filter to estimate the global motion parameters of the affine transform between successive frames. Then we generate a probabilistic deformation map to deform the contour. To improve robustness, multiple cues are used for deformation probability estimation. Finally, we use a shape prior model to constrain the deformed contour. This enables us to retrieve the occluded parts of the contours and accurately track them while allowing shape changes specific to the given object types. Our experiments show that the proposed algorithm significantly improves the tracker performance.

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.

Robust object tacking based on self-adaptive search area

NASA Astrophysics Data System (ADS)

Dong, Taihang; Zhong, Sheng

2018-02-01

Discriminative correlation filter (DCF) based trackers have recently achieved excellent performance with great computational efficiency. However, DCF based trackers suffer boundary effects, which result in the unstable performance in challenging situations exhibiting fast motion. In this paper, we propose a novel method to mitigate this side-effect in DCF based trackers. We change the search area according to the prediction of target motion. When the object moves fast, broad search area could alleviate boundary effects and reserve the probability of locating object. When the object moves slowly, narrow search area could prevent effect of useless background information and improve computational efficiency to attain real-time performance. This strategy can impressively soothe boundary effects in situations exhibiting fast motion and motion blur, and it can be used in almost all DCF based trackers. The experiments on OTB benchmark show that the proposed framework improves the performance compared with the baseline trackers.

An efficient motion-resistant method for wearable pulse oximeter.

PubMed

Yan, Yong-Sheng; Zhang, Yuan-Ting

2008-05-01

Reduction of motion artifact and power saving are crucial in designing a wearable pulse oximeter for long-term telemedicine application. In this paper, a novel algorithm, minimum correlation discrete saturation transform (MCDST) has been developed for the estimation of arterial oxygen saturation (SaO2), based on an optical model derived from photon diffusion analysis. The simulation shows that the new algorithm MCDST is more robust under low SNRs than the clinically verified motion-resistant algorithm discrete saturation transform (DST). Further, the experiment with different severity of motions demonstrates that MCDST has a slightly better performance than DST algorithm. Moreover, MCDST is more computationally efficient than DST because the former uses linear algebra instead of the time-consuming adaptive filter used by latter, which indicates that MCDST can reduce the required power consumption and circuit complexity of the implementation. This is vital for wearable devices, where the physical size and long battery life are crucial.

Spatial detection of tv channel logos as outliers from the content

NASA Astrophysics Data System (ADS)

Ekin, Ahmet; Braspenning, Ralph

2006-01-01

This paper proposes a purely image-based TV channel logo detection algorithm that can detect logos independently from their motion and transparency features. The proposed algorithm can robustly detect any type of logos, such as transparent and animated, without requiring any temporal constraints whereas known methods have to wait for the occurrence of large motion in the scene and assume stationary logos. The algorithm models logo pixels as outliers from the actual scene content that is represented by multiple 3-D histograms in the YC BC R space. We use four scene histograms corresponding to each of the four corners because the content characteristics change from one image corner to another. A further novelty of the proposed algorithm is that we define image corners and the areas where we compute the scene histograms by a cinematic technique called Golden Section Rule that is used by professionals. The robustness of the proposed algorithm is demonstrated over a dataset of representative TV content.

Robustness of Quadratic Hedging Strategies in Finance via Backward Stochastic Differential Equations with Jumps

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

Di Nunno, Giulia, E-mail: giulian@math.uio.no; Khedher, Asma, E-mail: asma.khedher@tum.de; Vanmaele, Michèle, E-mail: michele.vanmaele@ugent.be

We consider a backward stochastic differential equation with jumps (BSDEJ) which is driven by a Brownian motion and a Poisson random measure. We present two candidate-approximations to this BSDEJ and we prove that the solution of each candidate-approximation converges to the solution of the original BSDEJ in a space which we specify. We use this result to investigate in further detail the consequences of the choice of the model to (partial) hedging in incomplete markets in finance. As an application, we consider models in which the small variations in the price dynamics are modeled with a Poisson random measure withmore » infinite activity and models in which these small variations are modeled with a Brownian motion or are cut off. Using the convergence results on BSDEJs, we show that quadratic hedging strategies are robust towards the approximation of the market prices and we derive an estimation of the model risk.« less

14 CFR 29.779 - Motion and effect of cockpit controls.

Code of Federal Regulations, 2012 CFR

2012-01-01

... 14 Aeronautics and Space 1 2012-01-01 2012-01-01 false Motion and effect of cockpit controls. 29... Accommodations § 29.779 Motion and effect of cockpit controls. Cockpit controls must be designed so that they... collective pitch control, must operate with a sense of motion which corresponds to the effect on the...

14 CFR 27.779 - Motion and effect of cockpit controls.

Code of Federal Regulations, 2011 CFR

2011-01-01

... 14 Aeronautics and Space 1 2011-01-01 2011-01-01 false Motion and effect of cockpit controls. 27... Accommodations § 27.779 Motion and effect of cockpit controls. Cockpit controls must be designed so that they... collective pitch control, must operate with a sense of motion which corresponds to the effect on the...

14 CFR 29.779 - Motion and effect of cockpit controls.

Code of Federal Regulations, 2011 CFR

2011-01-01

... 14 Aeronautics and Space 1 2011-01-01 2011-01-01 false Motion and effect of cockpit controls. 29... Accommodations § 29.779 Motion and effect of cockpit controls. Cockpit controls must be designed so that they... collective pitch control, must operate with a sense of motion which corresponds to the effect on the...

14 CFR 29.779 - Motion and effect of cockpit controls.

Code of Federal Regulations, 2013 CFR

2013-01-01

... 14 Aeronautics and Space 1 2013-01-01 2013-01-01 false Motion and effect of cockpit controls. 29... Accommodations § 29.779 Motion and effect of cockpit controls. Cockpit controls must be designed so that they... collective pitch control, must operate with a sense of motion which corresponds to the effect on the...

14 CFR 27.779 - Motion and effect of cockpit controls.

Code of Federal Regulations, 2012 CFR

2012-01-01

... 14 Aeronautics and Space 1 2012-01-01 2012-01-01 false Motion and effect of cockpit controls. 27... Accommodations § 27.779 Motion and effect of cockpit controls. Cockpit controls must be designed so that they... collective pitch control, must operate with a sense of motion which corresponds to the effect on the...

14 CFR 27.779 - Motion and effect of cockpit controls.

Code of Federal Regulations, 2010 CFR

2010-01-01

... 14 Aeronautics and Space 1 2010-01-01 2010-01-01 false Motion and effect of cockpit controls. 27... Accommodations § 27.779 Motion and effect of cockpit controls. Cockpit controls must be designed so that they... collective pitch control, must operate with a sense of motion which corresponds to the effect on the...

14 CFR 29.779 - Motion and effect of cockpit controls.

Code of Federal Regulations, 2014 CFR

2014-01-01

... 14 Aeronautics and Space 1 2014-01-01 2014-01-01 false Motion and effect of cockpit controls. 29... Accommodations § 29.779 Motion and effect of cockpit controls. Cockpit controls must be designed so that they... collective pitch control, must operate with a sense of motion which corresponds to the effect on the...

14 CFR 27.779 - Motion and effect of cockpit controls.

Code of Federal Regulations, 2014 CFR

2014-01-01

... 14 Aeronautics and Space 1 2014-01-01 2014-01-01 false Motion and effect of cockpit controls. 27... Accommodations § 27.779 Motion and effect of cockpit controls. Cockpit controls must be designed so that they... collective pitch control, must operate with a sense of motion which corresponds to the effect on the...

14 CFR 29.779 - Motion and effect of cockpit controls.

Code of Federal Regulations, 2010 CFR

2010-01-01

... 14 Aeronautics and Space 1 2010-01-01 2010-01-01 false Motion and effect of cockpit controls. 29... Accommodations § 29.779 Motion and effect of cockpit controls. Cockpit controls must be designed so that they... collective pitch control, must operate with a sense of motion which corresponds to the effect on the...

14 CFR 27.779 - Motion and effect of cockpit controls.

Code of Federal Regulations, 2013 CFR

2013-01-01

... 14 Aeronautics and Space 1 2013-01-01 2013-01-01 false Motion and effect of cockpit controls. 27... Accommodations § 27.779 Motion and effect of cockpit controls. Cockpit controls must be designed so that they... collective pitch control, must operate with a sense of motion which corresponds to the effect on the...

Inner-volume echo volumar imaging (IVEVI) for robust fetal brain imaging.

PubMed

Nunes, Rita G; Ferrazzi, Giulio; Price, Anthony N; Hutter, Jana; Gaspar, Andreia S; Rutherford, Mary A; Hajnal, Joseph V

2018-07-01

Fetal functional MRI studies using conventional 2-dimensional single-shot echo-planar imaging sequences may require discarding a large data fraction as a result of fetal and maternal motion. Increasing the temporal resolution using echo volumar imaging (EVI) could provide an effective alternative strategy. Echo volumar imaging was combined with inner volume (IV) imaging (IVEVI) to locally excite the fetal brain and acquire full 3-dimensional images, fast enough to freeze most fetal head motion. IVEVI was implemented by modifying a standard multi-echo echo-planar imaging sequence. A spin echo with orthogonal excitation and refocusing ensured localized excitation. To introduce T2* weighting and to save time, the k-space center was shifted relative to the spin echo. Both single and multi-shot variants were tested. Acoustic noise was controlled by adjusting the amplitude and switching frequency of the readout gradient. Image-based shimming was used to minimize B 0 inhomogeneities within the fetal brain. The sequence was first validated in an adult. Eight fetuses were scanned using single-shot IVEVI at a 3.5 × 3.5 × 5.0 mm 3 resolution with a readout duration of 383 ms. Multishot IVEVI showed reduced geometric distortions along the second phase-encode direction. Fetal EVI remains challenging. Although effective echo times comparable to the T2* values of fetal cortical gray matter at 3 T could be achieved, controlling acoustic noise required longer readouts, leading to substantial distortions in single-shot images. Although multishot variants enabled us to reduce susceptibility-induced geometric distortions, sensitivity to motion was increased. Future studies should therefore focus on improvements to multishot variants. Magn Reson Med 80:279-285, 2018. © 2017 International Society for Magnetic Resonance in Medicine. © 2017 International Society for Magnetic Resonance in Medicine.

Optimising UAV topographic surveys processed with structure-from-motion: Ground control quality, quantity and bundle adjustment

NASA Astrophysics Data System (ADS)

James, M. R.; Robson, S.; d'Oleire-Oltmanns, S.; Niethammer, U.

2017-03-01

Structure-from-motion (SfM) algorithms greatly facilitate the production of detailed topographic models from photographs collected using unmanned aerial vehicles (UAVs). However, the survey quality achieved in published geomorphological studies is highly variable, and sufficient processing details are never provided to understand fully the causes of variability. To address this, we show how survey quality and consistency can be improved through a deeper consideration of the underlying photogrammetric methods. We demonstrate the sensitivity of digital elevation models (DEMs) to processing settings that have not been discussed in the geomorphological literature, yet are a critical part of survey georeferencing, and are responsible for balancing the contributions of tie and control points. We provide a Monte Carlo approach to enable geomorphologists to (1) carefully consider sources of survey error and hence increase the accuracy of SfM-based DEMs and (2) minimise the associated field effort by robust determination of suitable lower-density deployments of ground control. By identifying appropriate processing settings and highlighting photogrammetric issues such as over-parameterisation during camera self-calibration, processing artefacts are reduced and the spatial variability of error minimised. We demonstrate such DEM improvements with a commonly-used SfM-based software (PhotoScan), which we augment with semi-automated and automated identification of ground control points (GCPs) in images, and apply to two contrasting case studies - an erosion gully survey (Taroudant, Morocco) and an active landslide survey (Super-Sauze, France). In the gully survey, refined processing settings eliminated step-like artefacts of up to 50 mm in amplitude, and overall DEM variability with GCP selection improved from 37 to 16 mm. In the much more challenging landslide case study, our processing halved planimetric error to 0.1 m, effectively doubling the frequency at which changes in landslide velocity could be detected. In both case studies, the Monte Carlo approach provided a robust demonstration that field effort could by substantially reduced by only deploying approximately half the number of GCPs, with minimal effect on the survey quality. To reduce processing artefacts and promote confidence in SfM-based geomorphological surveys, published results should include processing details which include the image residuals for both tie points and GCPs, and ensure that these are considered appropriately within the workflow.

Pulsed dynamical decoupling for fast and robust two-qubit gates on trapped ions

NASA Astrophysics Data System (ADS)

Arrazola, I.; Casanova, J.; Pedernales, J. S.; Wang, Z.-Y.; Solano, E.; Plenio, M. B.

2018-05-01

We propose a pulsed dynamical decoupling protocol as the generator of tunable, fast, and robust quantum phase gates between two microwave-driven trapped-ion hyperfine qubits. The protocol consists of sequences of π pulses acting on ions that are oriented along an externally applied magnetic-field gradient. In contrast to existing approaches, in our design the two vibrational modes of the ion chain cooperate under the influence of the external microwave driving to achieve significantly increased gate speeds. Our scheme is robust against the dominant noise sources, which are errors on the magnetic-field and microwave pulse intensities, as well as motional heating, predicting two-qubit gates with fidelities above 99.9% in tens of microseconds.

Modeling and control of flexible space platforms with articulated payloads

NASA Technical Reports Server (NTRS)

Graves, Philip C.; Joshi, Suresh M.

1989-01-01

The first steps in developing a methodology for spacecraft control-structure interaction (CSI) optimization are identification and classification of anticipated missions, and the development of tractable mathematical models in each mission class. A mathematical model of a generic large flexible space platform (LFSP) with multiple independently pointed rigid payloads is considered. The objective is not to develop a general purpose numerical simulation, but rather to develop an analytically tractable mathematical model of such composite systems. The equations of motion for a single payload case are derived, and are linearized about zero steady-state. The resulting model is then extended to include multiple rigid payloads, yielding the desired analytical form. The mathematical models developed clearly show the internal inertial/elastic couplings, and are therefore suitable for analytical and numerical studies. A simple decentralized control law is proposed for fine pointing the payloads and LFSP attitude control, and simulation results are presented for an example problem. The decentralized controller is shown to be adequate for the example problem chosen, but does not, in general, guarantee stability. A centralized dissipative controller is then proposed, requiring a symmetric form of the composite system equations. Such a controller guarantees robust closed loop stability despite unmodeled elastic dynamics and parameter uncertainties.

Experimental implementation of acoustic impedance control by a 2D network of distributed smart cells

NASA Astrophysics Data System (ADS)

David, P.; Collet, M.; Cote, J.-M.

2010-03-01

New miniaturization and integration capabilities available from emerging microelectromechanical system (MEMS) technology will allow silicon-based artificial skins involving thousands of elementary actuators to be developed in the near future. Smart structures combining large arrays of elementary motion pixels are thus being studied so that fundamental properties could be dynamically adjusted. This paper investigates the acoustical capabilities of a network of distributed transducers connected with a suitable controlling strategy. The research aims at designing an integrated active interface for sound attenuation by using suitable changes of acoustical impedance. The control strategy is based on partial differential equations (PDE) and the multiscaled physics of electromechanical elements. Specific techniques based on PDE control theory have provided a simple boundary control equation able to annihilate the reflections of acoustic waves. To experimentally implement the method, the control strategy is discretized as a first order time-space operator. The obtained quasi-collocated architecture, composed of a large number of sensors and actuators, provides high robustness and stability. The experimental results demonstrate how a well controlled active skin can substantially modify sound reflectivity of the acoustical interface and reduce the propagation of acoustic waves.

Contrast gain control in first- and second-order motion perception.

PubMed

Lu, Z L; Sperling, G

1996-12-01

A novel pedestal-plus-test paradigm is used to determine the nonlinear gain-control properties of the first-order (luminance) and the second-order (texture-contrast) motion systems, that is, how these systems' responses to motion stimuli are reduced by pedestals and other masking stimuli. Motion-direction thresholds were measured for test stimuli consisting of drifting luminance and texture-contrast-modulation stimuli superimposed on pedestals of various amplitudes. (A pedestal is a static sine-wave grating of the same type and same spatial frequency as the moving test grating.) It was found that first-order motion-direction thresholds are unaffected by small pedestals, but at pedestal contrasts above 1-2% (5-10 x pedestal threshold), motion thresholds increase proportionally to pedestal amplitude (a Weber law). For first-order stimuli, pedestal masking is specific to the spatial frequency of the test. On the other hand, motion-direction thresholds for texture-contrast stimuli are independent of pedestal amplitude (no gain control whatever) throughout the accessible pedestal amplitude range (from 0 to 40%). However, when baseline carrier contrast increases (with constant pedestal modulation amplitude), motion thresholds increase, showing that gain control in second-order motion is determined not by the modulator (as in first-order motion) but by the carrier. Note that baseline contrast of the carrier is inherently independent of spatial frequency of the modulator. The drastically different gain-control properties of the two motion systems and prior observations of motion masking and motion saturation are all encompassed in a functional theory. The stimulus inputs to both first- and second-order motion process are normalized by feedforward, shunting gain control. The different properties arise because the modulator is used to control the first-order gain and the carrier is used to control the second-order gain.

Constrained motion estimation-based error resilient coding for HEVC

NASA Astrophysics Data System (ADS)

Guo, Weihan; Zhang, Yongfei; Li, Bo

2018-04-01

Unreliable communication channels might lead to packet losses and bit errors in the videos transmitted through it, which will cause severe video quality degradation. This is even worse for HEVC since more advanced and powerful motion estimation methods are introduced to further remove the inter-frame dependency and thus improve the coding efficiency. Once a Motion Vector (MV) is lost or corrupted, it will cause distortion in the decoded frame. More importantly, due to motion compensation, the error will propagate along the motion prediction path, accumulate over time, and significantly degrade the overall video presentation quality. To address this problem, we study the problem of encoder-sider error resilient coding for HEVC and propose a constrained motion estimation scheme to mitigate the problem of error propagation to subsequent frames. The approach is achieved by cutting off MV dependencies and limiting the block regions which are predicted by temporal motion vector. The experimental results show that the proposed method can effectively suppress the error propagation caused by bit errors of motion vector and can improve the robustness of the stream in the bit error channels. When the bit error probability is 10-5, an increase of the decoded video quality (PSNR) by up to1.310dB and on average 0.762 dB can be achieved, compared to the reference HEVC.

Improving robustness against electrode shift of high density EMG for myoelectric control through common spatial patterns.

PubMed

Pan, Lizhi; Zhang, Dingguo; Jiang, Ning; Sheng, Xinjun; Zhu, Xiangyang

2015-12-02

Most prosthetic myoelectric control studies have concentrated on low density (less than 16 electrodes, LD) electromyography (EMG) signals, due to its better clinical applicability and low computation complexity compared with high density (more than 16 electrodes, HD) EMG signals. Since HD EMG electrodes have been developed more conveniently to wear with respect to the previous versions recently, HD EMG signals become an alternative for myoelectric prostheses. The electrode shift, which may occur during repositioning or donning/doffing of the prosthetic socket, is one of the main reasons for degradation in classification accuracy (CA). HD EMG signals acquired from the forearm of the subjects were used for pattern recognition-based myoelectric control in this study. Multiclass common spatial patterns (CSP) with two types of schemes, namely one versus one (CSP-OvO) and one versus rest (CSP-OvR), were used for feature extraction to improve the robustness against electrode shift for myoelectric control. Shift transversal (ST1 and ST2) and longitudinal (SL1 and SL2) to the direction of the muscle fibers were taken into consideration. We tested nine intact-limb subjects for eleven hand and wrist motions. The CSP features (CSP-OvO and CSP-OvR) were compared with three commonly used features, namely time-domain (TD) features, time-domain autoregressive (TDAR) features and variogram (Variog) features. Compared with the TD features, the CSP features significantly improved the CA over 10 % in all shift configurations (ST1, ST2, SL1 and SL2). Compared with the TDAR features, a. the CSP-OvO feature significantly improved the average CA over 5 % in all shift configurations; b. the CSP-OvR feature significantly improved the average CA in shift configurations ST1, SL1 and SL2. Compared with the Variog features, the CSP features significantly improved the average CA in longitudinal shift configurations (SL1 and SL2). The results demonstrated that the CSP features significantly improved the robustness against electrode shift for myoelectric control with respect to the commonly used features.