Robust multi-model control of an autonomous wind power system

NASA Astrophysics Data System (ADS)

Cutululis, Nicolas Antonio; Ceanga, Emil; Hansen, Anca Daniela; Sørensen, Poul

2006-09-01

This article presents a robust multi-model control structure for a wind power system that uses a variable speed wind turbine (VSWT) driving a permanent magnet synchronous generator (PMSG) connected to a local grid. The control problem consists in maximizing the energy captured from the wind for varying wind speeds. The VSWT-PMSG linearized model analysis reveals the resonant nature of its dynamic at points on the optimal regimes characteristic (ORC). The natural frequency of the system and the damping factor are strongly dependent on the operating point on the ORC. Under these circumstances a robust multi-model control structure is designed. The simulation results prove the viability of the proposed control structure. Copyright

Robust blood-glucose control using Mathematica.

PubMed

Kovács, Levente; Paláncz, Béla; Benyó, Balázs; Török, László; Benyó, Zoltán

2006-01-01

A robust control design on frequency domain using Mathematica is presented for regularization of glucose level in type I diabetes persons under intensive care. The method originally proposed under Mathematica by Helton and Merino, --now with an improved disturbance rejection constraint inequality--is employed, using a three-state minimal patient model. The robustness of the resulted high-order linear controller is demonstrated by nonlinear closed loop simulation in state-space, in case of standard meal disturbances and is compared with H infinity design implemented with the mu-toolbox of Matlab. The controller designed with model parameters represented the most favorable plant dynamics from the point of view of control purposes, can operate properly even in case of parameter values of the worst-case scenario.

Robust Control Design via Linear Programming

NASA Technical Reports Server (NTRS)

Keel, L. H.; Bhattacharyya, S. P.

1998-01-01

This paper deals with the problem of synthesizing or designing a feedback controller of fixed dynamic order. The closed loop specifications considered here are given in terms of a target performance vector representing a desired set of closed loop transfer functions connecting various signals. In general these point targets are unattainable with a fixed order controller. By enlarging the target from a fixed point set to an interval set the solvability conditions with a fixed order controller are relaxed and a solution is more easily enabled. Results from the parametric robust control literature can be used to design the interval target family so that the performance deterioration is acceptable, even when plant uncertainty is present. It is shown that it is possible to devise a computationally simple linear programming approach that attempts to meet the desired closed loop specifications.

Real-time PCR machine system modeling and a systematic approach for the robust design of a real-time PCR-on-a-chip system.

PubMed

Lee, Da-Sheng

2010-01-01

Chip-based DNA quantification systems are widespread, and used in many point-of-care applications. However, instruments for such applications may not be maintained or calibrated regularly. Since machine reliability is a key issue for normal operation, this study presents a system model of the real-time Polymerase Chain Reaction (PCR) machine to analyze the instrument design through numerical experiments. Based on model analysis, a systematic approach was developed to lower the variation of DNA quantification and achieve a robust design for a real-time PCR-on-a-chip system. Accelerated lift testing was adopted to evaluate the reliability of the chip prototype. According to the life test plan, this proposed real-time PCR-on-a-chip system was simulated to work continuously for over three years with similar reproducibility in DNA quantification. This not only shows the robustness of the lab-on-a-chip system, but also verifies the effectiveness of our systematic method for achieving a robust design.

Statistical plant set estimation using Schroeder-phased multisinusoidal input design

NASA Technical Reports Server (NTRS)

Bayard, D. S.

1992-01-01

A frequency domain method is developed for plant set estimation. The estimation of a plant 'set' rather than a point estimate is required to support many methods of modern robust control design. The approach here is based on using a Schroeder-phased multisinusoid input design which has the special property of placing input energy only at the discrete frequency points used in the computation. A detailed analysis of the statistical properties of the frequency domain estimator is given, leading to exact expressions for the probability distribution of the estimation error, and many important properties. It is shown that, for any nominal parametric plant estimate, one can use these results to construct an overbound on the additive uncertainty to any prescribed statistical confidence. The 'soft' bound thus obtained can be used to replace 'hard' bounds presently used in many robust control analysis and synthesis methods.

The Engineering of Engineering Education: Curriculum Development from a Designer's Point of View

ERIC Educational Resources Information Center

Rompelman, Otto; De Graaff, Erik

2006-01-01

Engineers have a set of powerful tools at their disposal for designing robust and reliable technical systems. In educational design these tools are seldom applied. This paper explores the application of concepts from the systems approach in an educational context. The paradigms of design methodology and systems engineering appear to be suitable…

Efficient robust doubly adaptive regularized regression with applications.

PubMed

Karunamuni, Rohana J; Kong, Linglong; Tu, Wei

2018-01-01

We consider the problem of estimation and variable selection for general linear regression models. Regularized regression procedures have been widely used for variable selection, but most existing methods perform poorly in the presence of outliers. We construct a new penalized procedure that simultaneously attains full efficiency and maximum robustness. Furthermore, the proposed procedure satisfies the oracle properties. The new procedure is designed to achieve sparse and robust solutions by imposing adaptive weights on both the decision loss and the penalty function. The proposed method of estimation and variable selection attains full efficiency when the model is correct and, at the same time, achieves maximum robustness when outliers are present. We examine the robustness properties using the finite-sample breakdown point and an influence function. We show that the proposed estimator attains the maximum breakdown point. Furthermore, there is no loss in efficiency when there are no outliers or the error distribution is normal. For practical implementation of the proposed method, we present a computational algorithm. We examine the finite-sample and robustness properties using Monte Carlo studies. Two datasets are also analyzed.

Statistics based sampling for controller and estimator design

NASA Astrophysics Data System (ADS)

Tenne, Dirk

The purpose of this research is the development of statistical design tools for robust feed-forward/feedback controllers and nonlinear estimators. This dissertation is threefold and addresses the aforementioned topics nonlinear estimation, target tracking and robust control. To develop statistically robust controllers and nonlinear estimation algorithms, research has been performed to extend existing techniques, which propagate the statistics of the state, to achieve higher order accuracy. The so-called unscented transformation has been extended to capture higher order moments. Furthermore, higher order moment update algorithms based on a truncated power series have been developed. The proposed techniques are tested on various benchmark examples. Furthermore, the unscented transformation has been utilized to develop a three dimensional geometrically constrained target tracker. The proposed planar circular prediction algorithm has been developed in a local coordinate framework, which is amenable to extension of the tracking algorithm to three dimensional space. This tracker combines the predictions of a circular prediction algorithm and a constant velocity filter by utilizing the Covariance Intersection. This combined prediction can be updated with the subsequent measurement using a linear estimator. The proposed technique is illustrated on a 3D benchmark trajectory, which includes coordinated turns and straight line maneuvers. The third part of this dissertation addresses the design of controller which include knowledge of parametric uncertainties and their distributions. The parameter distributions are approximated by a finite set of points which are calculated by the unscented transformation. This set of points is used to design robust controllers which minimize a statistical performance of the plant over the domain of uncertainty consisting of a combination of the mean and variance. The proposed technique is illustrated on three benchmark problems. The first relates to the design of prefilters for a linear and nonlinear spring-mass-dashpot system and the second applies a feedback controller to a hovering helicopter. Lastly, the statistical robust controller design is devoted to a concurrent feed-forward/feedback controller structure for a high-speed low tension tape drive.

Robust crossfeed design for hovering rotorcraft. M.S. Thesis

NASA Technical Reports Server (NTRS)

Catapang, David R.

1993-01-01

Control law design for rotorcraft fly-by-wire systems normally attempts to decouple angular responses using fixed-gain crossfeeds. This approach can lead to poor decoupling over the frequency range of pilot inputs and increase the load on the feedback loops. In order to improve the decoupling performance, dynamic crossfeeds may be adopted. Moreover, because of the large changes that occur in rotorcraft dynamics due to small changes about the nominal design condition, especially for near-hovering flight, the crossfeed design must be 'robust.' A new low-order matching method is presented here to design robost crossfeed compensators for multi-input, multi-output (MIMO) systems. The technique identifies degrees-of-freedom that can be decoupled using crossfeeds, given an anticipated set of parameter variations for the range of flight conditions of concern. Cross-coupling is then reduced for degrees-of-freedom that can use crossfeed compensation by minimizing off-axis response magnitude average and variance. Results are presented for the analysis of pitch, roll, yaw, and heave coupling of the UH-60 Black Hawk helicopter in near-hovering flight. Robust crossfeeds are designed that show significant improvement in decoupling performance and robustness over nominal, single design point, compensators. The design method and results are presented in an easily-used graphical format that lends significant physical insight to the design procedure. This plant pre-compensation technique is an appropriate preliminary step to the design of robust feedback control laws for rotorcraft.

Neutrality and evolvability of designed protein sequences

NASA Astrophysics Data System (ADS)

Bhattacherjee, Arnab; Biswas, Parbati

2010-07-01

The effect of foldability on protein’s evolvability is analyzed by a two-prong approach consisting of a self-consistent mean-field theory and Monte Carlo simulations. Theory and simulation models representing protein sequences with binary patterning of amino acid residues compatible with a particular foldability criteria are used. This generalized foldability criterion is derived using the high temperature cumulant expansion approximating the free energy of folding. The effect of cumulative point mutations on these designed proteins is studied under neutral condition. The robustness, protein’s ability to tolerate random point mutations is determined with a selective pressure of stability (ΔΔG) for the theory designed sequences, which are found to be more robust than that of Monte Carlo and mean-field-biased Monte Carlo generated sequences. The results show that this foldability criterion selects viable protein sequences more effectively compared to the Monte Carlo method, which has a marked effect on how the selective pressure shapes the evolutionary sequence space. These observations may impact de novo sequence design and its applications in protein engineering.

Enhanced Attitude Control Experiment for SSTI Lewis Spacecraft

NASA Technical Reports Server (NTRS)

Maghami, Peoman G.

1997-01-01

The enhanced attitude control system experiment is a technology demonstration experiment on the NASA's small spacecraft technology initiative program's Lewis spacecraft to evaluate advanced attitude control strategies. The purpose of the enhanced attitude control system experiment is to evaluate the feasibility of designing and implementing robust multi-input/multi-output attitude control strategies for enhanced pointing performance of spacecraft to improve the quality of the measurements of the science instruments. Different control design strategies based on modern and robust control theories are being considered for the enhanced attitude control system experiment. This paper describes the experiment as well as the design and synthesis of a mixed H(sub 2)/H(sub infinity) controller for attitude control. The control synthesis uses a nonlinear programming technique to tune the controller parameters and impose robustness and performance constraints. Simulations are carried out to demonstrate the feasibility of the proposed attitude control design strategy. Introduction

Robust synergetic control design under inputs and states constraints

NASA Astrophysics Data System (ADS)

Rastegar, Saeid; Araújo, Rui; Sadati, Jalil

2018-03-01

In this paper, a novel robust-constrained control methodology for discrete-time linear parameter-varying (DT-LPV) systems is proposed based on a synergetic control theory (SCT) approach. It is shown that in DT-LPV systems without uncertainty, and for any unmeasured bounded additive disturbance, the proposed controller accomplishes the goal of stabilising the system by asymptotically driving the error of the controlled variable to a bounded set containing the origin and then maintaining it there. Moreover, given an uncertain DT-LPV system jointly subject to unmeasured and constrained additive disturbances, and constraints in states, input commands and reference signals (set points), then invariant set theory is used to find an appropriate polyhedral robust invariant region in which the proposed control framework is guaranteed to robustly stabilise the closed-loop system. Furthermore, this is achieved even for the case of varying non-zero control set points in such uncertain DT-LPV systems. The controller is characterised to have a simple structure leading to an easy implementation, and a non-complex design process. The effectiveness of the proposed method and the implications of the controller design on feasibility and closed-loop performance are demonstrated through application examples on the temperature control on a continuous-stirred tank reactor plant, on the control of a real-coupled DC motor plant, and on an open-loop unstable system example.

Feedforward/feedback control synthesis for performance and robustness

NASA Technical Reports Server (NTRS)

Wie, Bong; Liu, Qiang

1990-01-01

Both feedforward and feedback control approaches for uncertain dynamical systems are investigated. The control design objective is to achieve a fast settling time (high performance) and robustness (insensitivity) to plant modeling uncertainty. Preshapong of an ideal, time-optimal control input using a 'tapped-delay' filter is shown to provide a rapid maneuver with robust performance. A robust, non-minimum-phase feedback controller is synthesized with particular emphasis on its proper implementation for a non-zero set-point control problem. The proposed feedforward/feedback control approach is robust for a certain class of uncertain dynamical systems, since the control input command computed for a given desired output does not depend on the plant parameters.

Robust guaranteed cost tracking control of quadrotor UAV with uncertainties.

PubMed

Xu, Zhiwei; Nian, Xiaohong; Wang, Haibo; Chen, Yinsheng

2017-07-01

In this paper, a robust guaranteed cost controller (RGCC) is proposed for quadrotor UAV system with uncertainties to address set-point tracking problem. A sufficient condition of the existence for RGCC is derived by Lyapunov stability theorem. The designed RGCC not only guarantees the whole closed-loop system asymptotically stable but also makes the quadratic performance level built for the closed-loop system have an upper bound irrespective to all admissible parameter uncertainties. Then, an optimal robust guaranteed cost controller is developed to minimize the upper bound of performance level. Simulation results verify the presented control algorithms possess small overshoot and short setting time, with which the quadrotor has ability to perform set-point tracking task well. Copyright © 2017 ISA. Published by Elsevier Ltd. All rights reserved.

Real-time PCR Machine System Modeling and a Systematic Approach for the Robust Design of a Real-time PCR-on-a-Chip System

PubMed Central

Lee, Da-Sheng

2010-01-01

Chip-based DNA quantification systems are widespread, and used in many point-of-care applications. However, instruments for such applications may not be maintained or calibrated regularly. Since machine reliability is a key issue for normal operation, this study presents a system model of the real-time Polymerase Chain Reaction (PCR) machine to analyze the instrument design through numerical experiments. Based on model analysis, a systematic approach was developed to lower the variation of DNA quantification and achieve a robust design for a real-time PCR-on-a-chip system. Accelerated lift testing was adopted to evaluate the reliability of the chip prototype. According to the life test plan, this proposed real-time PCR-on-a-chip system was simulated to work continuously for over three years with similar reproducibility in DNA quantification. This not only shows the robustness of the lab-on-a-chip system, but also verifies the effectiveness of our systematic method for achieving a robust design. PMID:22315563

The Analysis of Design of Robust Nonlinear Estimators and Robust Signal Coding Schemes.

DTIC Science & Technology

1982-09-16

b - )’/ 12. between uniform and nonuniform quantizers. For the nonuni- Proof: If b - acca then form quantizer we can expect the mean-square error to...in the window greater than or equal to the value at We define f7 ’(s) as the n-times filtered signal p + 1; consequently, point p + 1 is the median and

Design of Optimally Robust Control Systems.

DTIC Science & Technology

1980-01-01

approach is that the optimization framework is an artificial device. While some design constraints can easily be incorporated into a single cost function...indicating that that point was indeed the solution. Also, an intellegent initial guess for k was important in order to avoid being hung up at the double

Robust hashing with local models for approximate similarity search.

PubMed

Song, Jingkuan; Yang, Yi; Li, Xuelong; Huang, Zi; Yang, Yang

2014-07-01

Similarity search plays an important role in many applications involving high-dimensional data. Due to the known dimensionality curse, the performance of most existing indexing structures degrades quickly as the feature dimensionality increases. Hashing methods, such as locality sensitive hashing (LSH) and its variants, have been widely used to achieve fast approximate similarity search by trading search quality for efficiency. However, most existing hashing methods make use of randomized algorithms to generate hash codes without considering the specific structural information in the data. In this paper, we propose a novel hashing method, namely, robust hashing with local models (RHLM), which learns a set of robust hash functions to map the high-dimensional data points into binary hash codes by effectively utilizing local structural information. In RHLM, for each individual data point in the training dataset, a local hashing model is learned and used to predict the hash codes of its neighboring data points. The local models from all the data points are globally aligned so that an optimal hash code can be assigned to each data point. After obtaining the hash codes of all the training data points, we design a robust method by employing l2,1 -norm minimization on the loss function to learn effective hash functions, which are then used to map each database point into its hash code. Given a query data point, the search process first maps it into the query hash code by the hash functions and then explores the buckets, which have similar hash codes to the query hash code. Extensive experimental results conducted on real-life datasets show that the proposed RHLM outperforms the state-of-the-art methods in terms of search quality and efficiency.

Liquid-Crystal Point-Diffraction Interferometer for Wave-Front Measurements

NASA Technical Reports Server (NTRS)

Mercer, Carolyn R.; Creath, Katherine

1996-01-01

A new instrument, the liquid-crystal point-diffraction interferometer (LCPDI), is developed for the measurement of phase objects. This instrument maintains the compact, robust design of Linnik's point-diffraction interferometer and adds to it a phase-stepping capability for quantitative interferogram analysis. The result is a compact, simple to align, environmentally insensitive interferometer capable of accurately measuring optical wave fronts with very high data density and with automated data reduction. We describe the theory and design of the LCPDI. A focus shift was measured with the LCPDI, and the results are compared with theoretical results,

Photonic crystals possessing multiple Weyl points and the experimental observation of robust surface states

PubMed Central

Chen, Wen-Jie; Xiao, Meng; Chan, C. T.

2016-01-01

Weyl points, as monopoles of Berry curvature in momentum space, have captured much attention recently in various branches of physics. Realizing topological materials that exhibit such nodal points is challenging and indeed, Weyl points have been found experimentally in transition metal arsenide and phosphide and gyroid photonic crystal whose structure is complex. If realizing even the simplest type of single Weyl nodes with a topological charge of 1 is difficult, then making a real crystal carrying higher topological charges may seem more challenging. Here we design, and fabricate using planar fabrication technology, a photonic crystal possessing single Weyl points (including type-II nodes) and multiple Weyl points with topological charges of 2 and 3. We characterize this photonic crystal and find nontrivial 2D bulk band gaps for a fixed kz and the associated surface modes. The robustness of these surface states against kz-preserving scattering is experimentally observed for the first time. PMID:27703140

On Improved Least Squares Regression and Artificial Neural Network Meta-Models for Simulation via Control Variates

DTIC Science & Technology

2016-09-15

18] under the context of robust parameter design for simulation. Bellucci’s technique is used in this research, primarily because the interior -point...Fundamentals of Radial Basis Neural Network (RBNN) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28 1.2.2.2 Design of Experiments...with Neural Nets . . . . . . . . . . . . . 31 1.2.2.3 Factorial Design . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32 1.2.2.4

Robust modular product family design

NASA Astrophysics Data System (ADS)

Jiang, Lan; Allada, Venkat

2001-10-01

This paper presents a modified Taguchi methodology to improve the robustness of modular product families against changes in customer requirements. The general research questions posed in this paper are: (1) How to effectively design a product family (PF) that is robust enough to accommodate future customer requirements. (2) How far into the future should designers look to design a robust product family? An example of a simplified vacuum product family is used to illustrate our methodology. In the example, customer requirements are selected as signal factors; future changes of customer requirements are selected as noise factors; an index called quality characteristic (QC) is set to evaluate the product vacuum family; and the module instance matrix (M) is selected as control factor. Initially a relation between the objective function (QC) and the control factor (M) is established, and then the feasible M space is systemically explored using a simplex method to determine the optimum M and the corresponding QC values. Next, various noise levels at different time points are introduced into the system. For each noise level, the optimal values of M and QC are computed and plotted on a QC-chart. The tunable time period of the control factor (the module matrix, M) is computed using the QC-chart. The tunable time period represents the maximum time for which a given control factor can be used to satisfy current and future customer needs. Finally, a robustness index is used to break up the tunable time period into suitable time periods that designers should consider while designing product families.

The Galileo scan platform pointing control system - A modern control theoretic viewpoint

NASA Technical Reports Server (NTRS)

Sevaston, G. E.; Macala, G. A.; Man, G. K.

1985-01-01

The current Galileo scan platform pointing control system (SPPCS) is described, and ways in which modern control concepts could serve to enhance it are considered. Of particular interest are: the multi-variable design model and overall control system architecture, command input filtering, feedback compensator and command input design, stability robustness constraint for both continuous time control systems and for sampled data control systems, and digital implementation of the control system. The proposed approach leads to the design of a system that is similar to current Galileo SPPCS configuration, but promises to be more systematic.

A Study on the Requirements for Fast Active Turbine Tip Clearance Control Systems

NASA Technical Reports Server (NTRS)

DeCastro, Jonathan A.; Melcher, Kevin J.

2004-01-01

This paper addresses the requirements of a control system for active turbine tip clearance control in a generic commercial turbofan engine through design and analysis. The control objective is to articulate the shroud in the high pressure turbine section in order to maintain a certain clearance set point given several possible engine transient events. The system must also exhibit reasonable robustness to modeling uncertainties and reasonable noise rejection properties. Two actuators were chosen to fulfill such a requirement, both of which possess different levels of technological readiness: electrohydraulic servovalves and piezoelectric stacks. Identification of design constraints, desired actuator parameters, and actuator limitations are addressed in depth; all of which are intimately tied with the hardware and controller design process. Analytical demonstrations of the performance and robustness characteristics of the two axisymmetric LQG clearance control systems are presented. Takeoff simulation results show that both actuators are capable of maintaining the clearance within acceptable bounds and demonstrate robustness to parameter uncertainty. The present model-based control strategy was employed to demonstrate the tradeoff between performance, control effort, and robustness and to implement optimal state estimation in a noisy engine environment with intent to eliminate ad hoc methods for designing reliable control systems.

Application of Probabilistic Methods for the Determination of an Economically Robust HSCT Configuration

NASA Technical Reports Server (NTRS)

Mavris, Dimitri N.; Bandte, Oliver; Schrage, Daniel P.

1996-01-01

This paper outlines an approach for the determination of economically viable robust design solutions using the High Speed Civil Transport (HSCT) as a case study. Furthermore, the paper states the advantages of a probability based aircraft design over the traditional point design approach. It also proposes a new methodology called Robust Design Simulation (RDS) which treats customer satisfaction as the ultimate design objective. RDS is based on a probabilistic approach to aerospace systems design, which views the chosen objective as a distribution function introduced by so called noise or uncertainty variables. Since the designer has no control over these variables, a variability distribution is defined for each one of them. The cumulative effect of all these distributions causes the overall variability of the objective function. For cases where the selected objective function depends heavily on these noise variables, it may be desirable to obtain a design solution that minimizes this dependence. The paper outlines a step by step approach on how to achieve such a solution for the HSCT case study and introduces an evaluation criterion which guarantees the highest customer satisfaction. This customer satisfaction is expressed by the probability of achieving objective function values less than a desired target value.

An LMI approach to design H(infinity) controllers for discrete-time nonlinear systems based on unified models.

PubMed

Liu, Meiqin; Zhang, Senlin

2008-10-01

A unified neural network model termed standard neural network model (SNNM) is advanced. Based on the robust L(2) gain (i.e. robust H(infinity) performance) analysis of the SNNM with external disturbances, a state-feedback control law is designed for the SNNM to stabilize the closed-loop system and eliminate the effect of external disturbances. The control design constraints are shown to be a set of linear matrix inequalities (LMIs) which can be easily solved by various convex optimization algorithms (e.g. interior-point algorithms) to determine the control law. Most discrete-time recurrent neural network (RNNs) and discrete-time nonlinear systems modelled by neural networks or Takagi and Sugeno (T-S) fuzzy models can be transformed into the SNNMs to be robust H(infinity) performance analyzed or robust H(infinity) controller synthesized in a unified SNNM's framework. Finally, some examples are presented to illustrate the wide application of the SNNMs to the nonlinear systems, and the proposed approach is compared with related methods reported in the literature.

Robust control of a parallel hybrid drivetrain with a CVT

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

Mayer, T.; Schroeder, D.

1996-09-01

In this paper the design of a robust control system for a parallel hybrid drivetrain is presented. The drivetrain is based on a continuously variable transmission (CVT) and is therefore a highly nonlinear multiple-input-multiple-output system (MIMO-System). Input-Output-Linearization offers the possibility of linearizing and of decoupling the system. Since for example the vehicle mass varies with the load and the efficiency of the gearbox depends strongly on the actual working point, an exact linearization of the plant will mostly fail. Therefore a robust control algorithm based on sliding mode is used to control the drivetrain.

Robust Spacecraft Component Detection in Point Clouds.

PubMed

Wei, Quanmao; Jiang, Zhiguo; Zhang, Haopeng

2018-03-21

Automatic component detection of spacecraft can assist in on-orbit operation and space situational awareness. Spacecraft are generally composed of solar panels and cuboidal or cylindrical modules. These components can be simply represented by geometric primitives like plane, cuboid and cylinder. Based on this prior, we propose a robust automatic detection scheme to automatically detect such basic components of spacecraft in three-dimensional (3D) point clouds. In the proposed scheme, cylinders are first detected in the iteration of the energy-based geometric model fitting and cylinder parameter estimation. Then, planes are detected by Hough transform and further described as bounded patches with their minimum bounding rectangles. Finally, the cuboids are detected with pair-wise geometry relations from the detected patches. After successive detection of cylinders, planar patches and cuboids, a mid-level geometry representation of the spacecraft can be delivered. We tested the proposed component detection scheme on spacecraft 3D point clouds synthesized by computer-aided design (CAD) models and those recovered by image-based reconstruction, respectively. Experimental results illustrate that the proposed scheme can detect the basic geometric components effectively and has fine robustness against noise and point distribution density.

Robust Spacecraft Component Detection in Point Clouds

PubMed Central

Wei, Quanmao; Jiang, Zhiguo

2018-01-01

Automatic component detection of spacecraft can assist in on-orbit operation and space situational awareness. Spacecraft are generally composed of solar panels and cuboidal or cylindrical modules. These components can be simply represented by geometric primitives like plane, cuboid and cylinder. Based on this prior, we propose a robust automatic detection scheme to automatically detect such basic components of spacecraft in three-dimensional (3D) point clouds. In the proposed scheme, cylinders are first detected in the iteration of the energy-based geometric model fitting and cylinder parameter estimation. Then, planes are detected by Hough transform and further described as bounded patches with their minimum bounding rectangles. Finally, the cuboids are detected with pair-wise geometry relations from the detected patches. After successive detection of cylinders, planar patches and cuboids, a mid-level geometry representation of the spacecraft can be delivered. We tested the proposed component detection scheme on spacecraft 3D point clouds synthesized by computer-aided design (CAD) models and those recovered by image-based reconstruction, respectively. Experimental results illustrate that the proposed scheme can detect the basic geometric components effectively and has fine robustness against noise and point distribution density. PMID:29561828

Robust decentralized control laws for the ACES structure

NASA Technical Reports Server (NTRS)

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

1991-01-01

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

Robust control of flexible space vehicles with minimum structural excitation: On-off pulse control of flexible space vehicles

NASA Technical Reports Server (NTRS)

Wie, Bong; Liu, Qiang

1992-01-01

Both feedback and feedforward control approaches for uncertain dynamical systems (in particular, with uncertainty in structural mode frequency) are investigated. The control objective is to achieve a fast settling time (high performance) and robustness (insensitivity) to plant uncertainty. Preshaping of an ideal, time optimal control input using a tapped-delay filter is shown to provide a fast settling time with robust performance. A robust, non-minimum-phase feedback controller is synthesized with particular emphasis on its proper implementation for a non-zero set-point control problem. It is shown that a properly designed, feedback controller performs well, as compared with a time optimal open loop controller with special preshaping for performance robustness. Also included are two separate papers by the same authors on this subject.

A variable-gain output feedback control design approach

NASA Technical Reports Server (NTRS)

Haylo, Nesim

1989-01-01

A multi-model design technique to find a variable-gain control law defined over the whole operating range is proposed. The design is formulated as an optimal control problem which minimizes a cost function weighing the performance at many operating points. The solution is obtained by embedding into the Multi-Configuration Control (MCC) problem, a multi-model robust control design technique. In contrast to conventional gain scheduling which uses a curve fit of single model designs, the optimal variable-gain control law stabilizes the plant at every operating point included in the design. An iterative algorithm to compute the optimal control gains is presented. The methodology has been successfully applied to reconfigurable aircraft flight control and to nonlinear flight control systems.

A phase-stepped point diffraction interferometer using liquid crystals

NASA Technical Reports Server (NTRS)

Mercer, Carolyn R.; Creath, Katherine; Rashidnia, Nasser

1995-01-01

A new instrument, the liquid crystal point diffraction interferometer (LCPDI), has been developed for the measurement of phase objects. This instrument maintains the compact, robust design of Linnik's point diffraction interferometer (PDI) and adds to it phase stepping capability for quantitative interferogram analysis. The result is a compact, simple to align, environmentally insensitive interferometer capable of accurately measuring optical wavefronts with high data density and with automated data reduction. The design of the LCPDI is briefly discussed. An algorithm is presented for eliminating phase measurement error caused by object beam intensity variation from frame-to-frame. The LCPDI is demonstrated by measuring the temperature distribution across a heated chamber filled with silicone oil. The measured results are compared to independently measured results and show excellent agreement with them. It is expected that this instrument will have application in the fluid sciences as a diagnostic tool, particularly in space based applications where autonomy, robustness, and compactness are desirable qualities. It should also be useful for the testing of optical elements, provided a master is available for comparison.

Uncertainty analysis and robust trajectory linearization control of a flexible air-breathing hypersonic vehicle

NASA Astrophysics Data System (ADS)

Pu, Zhiqiang; Tan, Xiangmin; Fan, Guoliang; Yi, Jianqiang

2014-08-01

Flexible air-breathing hypersonic vehicles feature significant uncertainties which pose huge challenges to robust controller designs. In this paper, four major categories of uncertainties are analyzed, that is, uncertainties associated with flexible effects, aerodynamic parameter variations, external environmental disturbances, and control-oriented modeling errors. A uniform nonlinear uncertainty model is explored for the first three uncertainties which lumps all uncertainties together and consequently is beneficial for controller synthesis. The fourth uncertainty is additionally considered in stability analysis. Based on these analyses, the starting point of the control design is to decompose the vehicle dynamics into five functional subsystems. Then a robust trajectory linearization control (TLC) scheme consisting of five robust subsystem controllers is proposed. In each subsystem controller, TLC is combined with the extended state observer (ESO) technique for uncertainty compensation. The stability of the overall closed-loop system with the four aforementioned uncertainties and additional singular perturbations is analyzed. Particularly, the stability of nonlinear ESO is also discussed from a Liénard system perspective. At last, simulations demonstrate the great control performance and the uncertainty rejection ability of the robust scheme.

Decentralized robust nonlinear model predictive controller for unmanned aerial systems

NASA Astrophysics Data System (ADS)

Garcia Garreton, Gonzalo A.

The nonlinear and unsteady nature of aircraft aerodynamics together with limited practical range of controls and state variables make the use of the linear control theory inadequate especially in the presence of external disturbances, such as wind. In the classical approach, aircraft are controlled by multiple inner and outer loops, designed separately and sequentially. For unmanned aerial systems in particular, control technology must evolve to a point where autonomy is extended to the entire mission flight envelope. This requires advanced controllers that have sufficient robustness, track complex trajectories, and use all the vehicles control capabilities at higher levels of accuracy. In this work, a robust nonlinear model predictive controller is designed to command and control an unmanned aerial system to track complex tight trajectories in the presence of internal and external perturbance. The Flight System developed in this work achieves the above performance by using: 1. A nonlinear guidance algorithm that enables the vehicle to follow an arbitrary trajectory shaped by moving points; 2. A formulation that embeds the guidance logic and trajectory information in the aircraft model, avoiding cross coupling and control degradation; 3. An artificial neural network, designed to adaptively estimate and provide aerodynamic and propulsive forces in real-time; and 4. A mixed sensitivity approach that enhances the robustness for a nonlinear model predictive controller overcoming the effect of un-modeled dynamics, external disturbances such as wind, and measurement additive perturbations, such as noise and biases. These elements have been integrated and tested in simulation and with previously stored flight test data and shown to be feasible.

Improving Large Cetacean Implantable Satellite Tag Designs to Maximize Tag Robustness and Minimize Health Effects to Individual Animals

DTIC Science & Technology

2015-09-30

Olympia, WA, 98501 & National Marine Mammal Laboratory Alaska Fisheries Science Center, NOAA Fisheries 7600 Sand Point Way NE Seattle, WA...to Maximize Tag Robustness and Minimize Health Effects to Individual Animals Alexandre N. Zerbini Cascadia Research Collective 218 ½ 4 th Ave W...available to the marine mammal community after the conclusion of the project. This study has been carried out by scientists and engineers from eight

Design for robustness of unique, multi-component engineering systems

NASA Astrophysics Data System (ADS)

Shelton, Kenneth A.

2007-12-01

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

Progress on LMJ targets for ignition

NASA Astrophysics Data System (ADS)

Cherfils-Clérouin, C.; Boniface, C.; Bonnefille, M.; Fremerye, P.; Galmiche, D.; Gauthier, P.; Giorla, J.; Lambert, F.; Laffite, S.; Liberatore, S.; Loiseau, P.; Malinie, G.; Masse, L.; Masson-Laborde, P. E.; Monteil, M. C.; Poggi, F.; Seytor, P.; Wagon, F.; Willien, J. L.

2010-08-01

Targets designed to produce ignition on the Laser MegaJoule are presented. The LMJ experimental plans include the attempt of ignition and burn of an ICF capsule with 160 laser beams, delivering up to 1.4MJ and 380TW. New targets needing reduced laser energy with only a small decrease in robustness have then been designed for this purpose. Working specifically on the coupling efficiency parameter, i.e. the ratio of the energy absorbed by the capsule to the laser energy, has led to the design of a rugby-shaped cocktail hohlraum. 1D and 2D robustness evaluations of these different targets shed light on critical points for ignition, that can be traded off by tightening some specifications or by preliminary experimental and numerical tuning experiments.

Robust spherical direct-drive design for NI

NASA Astrophysics Data System (ADS)

Masse, Laurent; Hurricane, O.; Michel, P.; Nora, R.; Tabak, M.; Lawrence Livermore Natl Lab Team

2016-10-01

Achieving ignition in a direct-drive or indirect-drive cryogenic implosion is a tremendous challenge. Both approaches need to deal with physic and technologic issues. During the past years, the indirect drive effort on the National Ignition Facility (NIF) has revealed unpredicted lost of performances that force to think to more robust designs and to dig into detailed physics aspects. Encouraging results have been obtained using a strong first shock during the implosion of CH ablator ignition capsules. These ``high-foot'' implosion results in a significantly lower ablation Rayleigh-Taylor instability growth than that of the NIC point design capsule. The trade-off with this design is a higher fuel adiabat that limits both fuel compression and theoretical capsule yield. The purpose of designing this capsule is to recover a more ideal one-dimensional implosion that is in closer agreement to simulation predictions. In the same spirit of spending energy on margin, at the coast of decreased performance, we are presenting here a study on ``robust'' spherical direct drive design for NIF. This 2-Shock direct drive pulse shape results in a high adiabat (>3) and low convergence (<17) implosion designed to produce a near 1D-like implosion. We take a particular attention to design a robust implosion with respect to long-wavelength non uniformity seeded by power imbalance and target offset. This work was performed under the auspices of the Lawrence Livermore National Security, LLC, (LLNS) under Contract No. DE-AC52-07NA27344.

LMI Based Robust Blood Glucose Regulation in Type-1 Diabetes Patient with Daily Multi-meal Ingestion

NASA Astrophysics Data System (ADS)

Mandal, S.; Bhattacharjee, A.; Sutradhar, A.

2014-04-01

This paper illustrates the design of a robust output feedback H ∞ controller for the nonlinear glucose-insulin (GI) process in a type-1 diabetes patient to deliver insulin through intravenous infusion device. The H ∞ design specification have been realized using the concept of linear matrix inequality (LMI) and the LMI approach has been used to quadratically stabilize the GI process via output feedback H ∞ controller. The controller has been designed on the basis of full 19th order linearized state-space model generated from the modified Sorensen's nonlinear model of GI process. The resulting controller has been tested with the nonlinear patient model (the modified Sorensen's model) in presence of patient parameter variations and other uncertainty conditions. The performance of the controller was assessed in terms of its ability to track the normoglycemic set point of 81 mg/dl with a typical multi-meal disturbance throughout a day that yields robust performance and noise rejection.

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

NASA Technical Reports Server (NTRS)

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

1992-01-01

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

Data-Division-Specific Robustness and Power of Randomization Tests for ABAB Designs

ERIC Educational Resources Information Center

Manolov, Rumen; Solanas, Antonio; Bulte, Isis; Onghena, Patrick

2010-01-01

This study deals with the statistical properties of a randomization test applied to an ABAB design in cases where the desirable random assignment of the points of change in phase is not possible. To obtain information about each possible data division, the authors carried out a conditional Monte Carlo simulation with 100,000 samples for each…

Mitigation of Remedial Action Schemes by Decentralized Robust Governor Control

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

Elizondo, Marcelo A.; Marinovici, Laurentiu D.; Lian, Jianming

This paper presents transient stability improvement by a new distributed hierarchical control architecture (DHC). The integration of remedial action schemes (RAS) to the distributed hierarchical control architecture is studied. RAS in power systems are designed to maintain stability and avoid undesired system conditions by rapidly switching equipment and/or changing operating points according to predetermined rules. The acceleration trend relay currently in use in the US western interconnection is an example of RAS that trips generators to maintain transient stability. The link between RAS and DHC is through fast acting robust turbine/governor control that can also improve transient stability. In thismore » paper, the influence of the decentralized robust turbine/governor control on the design of RAS is studied. Benefits of combining these two schemes are increasing power transfer capability and mitigation of RAS generator tripping actions; the later benefit is shown through simulations.« less

Interval Analysis Approach to Prototype the Robust Control of the Laboratory Overhead Crane

NASA Astrophysics Data System (ADS)

Smoczek, J.; Szpytko, J.; Hyla, P.

2014-07-01

The paper describes the software-hardware equipment and control-measurement solutions elaborated to prototype the laboratory scaled overhead crane control system. The novelty approach to crane dynamic system modelling and fuzzy robust control scheme design is presented. The iterative procedure for designing a fuzzy scheduling control scheme is developed based on the interval analysis of discrete-time closed-loop system characteristic polynomial coefficients in the presence of rope length and mass of a payload variation to select the minimum set of operating points corresponding to the midpoints of membership functions at which the linear controllers are determined through desired poles assignment. The experimental results obtained on the laboratory stand are presented.

Analysis and design of gain scheduled control systems. Ph.D. Thesis

NASA Technical Reports Server (NTRS)

Shamma, Jeff S.

1988-01-01

Gain scheduling, as an idea, is to construct a global feedback control system for a time varying and/or nonlinear plant from a collection of local time invariant designs. However in the absence of a sound analysis, these designs come with no guarantees on the robustness, performance, or even nominal stability of the overall gain schedule design. Such an analysis is presented for three types of gain scheduling situations: (1) a linear parameter varying plant scheduling on its exogenous parameters, (2) a nonlinear plant scheduling on a prescribed reference trajectory, and (3) a nonlinear plant scheduling on the current plant output. Conditions are given which guarantee that the stability, robustness, and performance properties of the fixed operating point designs carry over to the global gain scheduled designs, such as the scheduling variable should vary slowly and capture the plants nonlinearities. Finally, an alternate design framework is proposed which removes the slowing varying restriction or gain scheduled systems. This framework addresses some fundamental feedback issues previously ignored in standard gain.

Conversion of Component-Based Point Definition to VSP Model and Higher Order Meshing

NASA Technical Reports Server (NTRS)

Ordaz, Irian

2011-01-01

Vehicle Sketch Pad (VSP) has become a powerful conceptual and parametric geometry tool with numerous export capabilities for third-party analysis codes as well as robust surface meshing capabilities for computational fluid dynamics (CFD) analysis. However, a capability gap currently exists for reconstructing a fully parametric VSP model of a geometry generated by third-party software. A computer code called GEO2VSP has been developed to close this gap and to allow the integration of VSP into a closed-loop geometry design process with other third-party design tools. Furthermore, the automated CFD surface meshing capability of VSP are demonstrated for component-based point definition geometries in a conceptual analysis and design framework.

An efficient adaptive sampling strategy for global surrogate modeling with applications in multiphase flow simulation

NASA Astrophysics Data System (ADS)

Mo, S.; Lu, D.; Shi, X.; Zhang, G.; Ye, M.; Wu, J.

2016-12-01

Surrogate models have shown remarkable computational efficiency in hydrological simulations involving design space exploration, sensitivity analysis, uncertainty quantification, etc. The central task of constructing a global surrogate models is to achieve a prescribed approximation accuracy with as few original model executions as possible, which requires a good design strategy to optimize the distribution of data points in the parameter domains and an effective stopping criterion to automatically terminate the design process when desired approximation accuracy is achieved. This study proposes a novel adaptive sampling strategy, which starts from a small number of initial samples and adaptively selects additional samples by balancing the collection in unexplored regions and refinement in interesting areas. We define an efficient and effective evaluation metric basing on Taylor expansion to select the most promising potential samples from candidate points, and propose a robust stopping criterion basing on the approximation accuracy at new points to guarantee the achievement of desired accuracy. The numerical results of several benchmark analytical functions indicate that the proposed approach is more computationally efficient and robust than the widely used maximin distance design and two other well-known adaptive sampling strategies. The application to two complicated multiphase flow problems further demonstrates the efficiency and effectiveness of our method in constructing global surrogate models for high-dimensional and highly nonlinear problems. Acknowledgements: This work was financially supported by the National Nature Science Foundation of China grants No. 41030746 and 41172206.

Two Point Exponential Approximation Method for structural optimization of problems with frequency constraints

NASA Technical Reports Server (NTRS)

Fadel, G. M.

1991-01-01

The point exponential approximation method was introduced by Fadel et al. (Fadel, 1990), and tested on structural optimization problems with stress and displacement constraints. The reports in earlier papers were promising, and the method, which consists of correcting Taylor series approximations using previous design history, is tested in this paper on optimization problems with frequency constraints. The aim of the research is to verify the robustness and speed of convergence of the two point exponential approximation method when highly non-linear constraints are used.

Sliding Mode Approaches for Robust Control, State Estimation, Secure Communication, and Fault Diagnosis in Nuclear Systems

NASA Astrophysics Data System (ADS)

Ablay, Gunyaz

Using traditional control methods for controller design, parameter estimation and fault diagnosis may lead to poor results with nuclear systems in practice because of approximations and uncertainties in the system models used, possibly resulting in unexpected plant unavailability. This experience has led to an interest in development of robust control, estimation and fault diagnosis methods. One particularly robust approach is the sliding mode control methodology. Sliding mode approaches have been of great interest and importance in industry and engineering in the recent decades due to their potential for producing economic, safe and reliable designs. In order to utilize these advantages, sliding mode approaches are implemented for robust control, state estimation, secure communication and fault diagnosis in nuclear plant systems. In addition, a sliding mode output observer is developed for fault diagnosis in dynamical systems. To validate the effectiveness of the methodologies, several nuclear plant system models are considered for applications, including point reactor kinetics, xenon concentration dynamics, an uncertain pressurizer model, a U-tube steam generator model and a coupled nonlinear nuclear reactor model.

Using Design Capability Indices to Satisfy Ranged Sets of Design Requirements

NASA Technical Reports Server (NTRS)

Chen, Wei; Allen, Janet K.; Simpson, Timothy W.; Mistree, Farrokh

1996-01-01

For robust design it is desirable to allow the design requirements to vary within a certain range rather than setting point targets. This is particularly important during the early stages of design when little is known about the system and its requirements. Toward this end, design capability indices are developed in this paper to assess the capability of a family of designs, represented by a range of top-level design specifications, to satisfy a ranged set of design requirements. Design capability indices are based on process capability indices from statistical process control and provide a single objective, alternate approach to the use of Taguchi's signal-to- noise ratio which is often used for robust design. Successful implementation of design capability indices ensures that a family of designs conforms to a given ranged set of design requirements. To demonstrate an application and the usefulness of design capability indices, the design of a solar powered irrigation system is presented. Our focus in this paper is on the development and implementation of design capability indices as an alternate approach to the use of the signal-to-noise ratio and not on the results of the example problem, per se.

Estimating open population site occupancy from presence-absence data lacking the robust design.

PubMed

Dail, D; Madsen, L

2013-03-01

Many animal monitoring studies seek to estimate the proportion of a study area occupied by a target population. The study area is divided into spatially distinct sites where the detected presence or absence of the population is recorded, and this is repeated in time for multiple seasons. However, when occupied sites are detected with probability p < 1, the lack of a detection does not imply lack of occupancy. MacKenzie et al. (2003, Ecology 84, 2200-2207) developed a multiseason model for estimating seasonal site occupancy (ψt ) while accounting for unknown p. Their model performs well when observations are collected according to the robust design, where multiple sampling occasions occur during each season; the repeated sampling aids in the estimation p. However, their model does not perform as well when the robust design is lacking. In this paper, we propose an alternative likelihood model that yields improved seasonal estimates of p and Ψt in the absence of the robust design. We construct the marginal likelihood of the observed data by conditioning on, and summing out, the latent number of occupied sites during each season. A simulation study shows that in cases without the robust design, the proposed model estimates p with less bias than the MacKenzie et al. model and hence improves the estimates of Ψt . We apply both models to a data set consisting of repeated presence-absence observations of American robins (Turdus migratorius) with yearly survey periods. The two models are compared to a third estimator available when the repeated counts (from the same study) are considered, with the proposed model yielding estimates of Ψt closest to estimates from the point count model. Copyright © 2013, The International Biometric Society.

Linear control of oscillator and amplifier flows*

NASA Astrophysics Data System (ADS)

Schmid, Peter J.; Sipp, Denis

2016-08-01

Linear control applied to fluid systems near an equilibrium point has important applications for many flows of industrial or fundamental interest. In this article we give an exposition of tools and approaches for the design of control strategies for globally stable or unstable flows. For unstable oscillator flows a feedback configuration and a model-based approach is proposed, while for stable noise-amplifier flows a feedforward setup and an approach based on system identification is advocated. Model reduction and robustness issues are addressed for the oscillator case; statistical learning techniques are emphasized for the amplifier case. Effective suppression of global and convective instabilities could be demonstrated for either case, even though the system-identification approach results in a superior robustness to off-design conditions.

Automatic and Robust Delineation of the Fiducial Points of the Seismocardiogram Signal for Non-invasive Estimation of Cardiac Time Intervals.

PubMed

Khosrow-Khavar, Farzad; Tavakolian, Kouhyar; Blaber, Andrew; Menon, Carlo

2016-10-12

The purpose of this research was to design a delineation algorithm that could detect specific fiducial points of the seismocardiogram (SCG) signal with or without using the electrocardiogram (ECG) R-wave as the reference point. The detected fiducial points were used to estimate cardiac time intervals. Due to complexity and sensitivity of the SCG signal, the algorithm was designed to robustly discard the low-quality cardiac cycles, which are the ones that contain unrecognizable fiducial points. The algorithm was trained on a dataset containing 48,318 manually annotated cardiac cycles. It was then applied to three test datasets: 65 young healthy individuals (dataset 1), 15 individuals above 44 years old (dataset 2), and 25 patients with previous heart conditions (dataset 3). The algorithm accomplished high prediction accuracy with the rootmean- square-error of less than 5 ms for all the test datasets. The algorithm overall mean detection rate per individual recordings (DRI) were 74, 68, and 42 percent for the three test datasets when concurrent ECG and SCG were used. For the standalone SCG case, the mean DRI was 32, 14 and 21 percent. When the proposed algorithm applied to concurrent ECG and SCG signals, the desired fiducial points of the SCG signal were successfully estimated with a high detection rate. For the standalone case, however, the algorithm achieved high prediction accuracy and detection rate for only the young individual dataset. The presented algorithm could be used for accurate and non-invasive estimation of cardiac time intervals.

ATLAST and JWST Segmented Telescope Design Considerations

NASA Technical Reports Server (NTRS)

Feinberg, Lee

2016-01-01

To the extent it makes sense, leverage JWST (James Webb Space Telescope) knowledge, designs, architectures. GSE (Ground Support Equipment) good starting point. Develop a full end-to-end architecture that closes. Try to avoid recreating the wheel except where needed. Optimize from there (mainly for stability and coronagraphy). Develop a scalable design reference mission (9.2 meters). Do just enough work to understand launch break points in aperture size Demonstrate 10 pm (phase modulation) stability is achievable on a design reference mission. A really key design driver is the most robust stability possible!!! Make design compatible with starshades. While segmented coronagraphs with high throughput and large bandpasses are important, make the system serviceable so you can evolve the instruments. Keep it room temperature to minimize the costs associated with cryo. Focus resources on the contrast problem. Start with the architecture and connect it to the technology needs.

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

NASA Technical Reports Server (NTRS)

Milich, David Albert

1988-01-01

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

DWT-based stereoscopic image watermarking

NASA Astrophysics Data System (ADS)

Chammem, A.; Mitrea, M.; Pr"teux, F.

2011-03-01

Watermarking already imposed itself as an effective and reliable solution for conventional multimedia content protection (image/video/audio/3D). By persistently (robustly) and imperceptibly (transparently) inserting some extra data into the original content, the illegitimate use of data can be detected without imposing any annoying constraint to a legal user. The present paper deals with stereoscopic image protection by means of watermarking techniques. That is, we first investigate the peculiarities of the visual stereoscopic content from the transparency and robustness point of view. Then, we advance a new watermarking scheme designed so as to reach the trade-off between transparency and robustness while ensuring a prescribed quantity of inserted information. Finally, this method is evaluated on two stereoscopic image corpora (natural image and medical data).

FireProt: Energy- and Evolution-Based Computational Design of Thermostable Multiple-Point Mutants.

PubMed

Bednar, David; Beerens, Koen; Sebestova, Eva; Bendl, Jaroslav; Khare, Sagar; Chaloupkova, Radka; Prokop, Zbynek; Brezovsky, Jan; Baker, David; Damborsky, Jiri

2015-11-01

There is great interest in increasing proteins' stability to enhance their utility as biocatalysts, therapeutics, diagnostics and nanomaterials. Directed evolution is a powerful, but experimentally strenuous approach. Computational methods offer attractive alternatives. However, due to the limited reliability of predictions and potentially antagonistic effects of substitutions, only single-point mutations are usually predicted in silico, experimentally verified and then recombined in multiple-point mutants. Thus, substantial screening is still required. Here we present FireProt, a robust computational strategy for predicting highly stable multiple-point mutants that combines energy- and evolution-based approaches with smart filtering to identify additive stabilizing mutations. FireProt's reliability and applicability was demonstrated by validating its predictions against 656 mutations from the ProTherm database. We demonstrate that thermostability of the model enzymes haloalkane dehalogenase DhaA and γ-hexachlorocyclohexane dehydrochlorinase LinA can be substantially increased (ΔTm = 24°C and 21°C) by constructing and characterizing only a handful of multiple-point mutants. FireProt can be applied to any protein for which a tertiary structure and homologous sequences are available, and will facilitate the rapid development of robust proteins for biomedical and biotechnological applications.

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

NASA Astrophysics Data System (ADS)

Ajmeri, Moina; Ali, Ahmad

2017-06-01

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

Frequency Domain Design of Robust Controllers for Space Structures

DTIC Science & Technology

1989-08-01

A natural assumption for structural problems [1] is that A0 is self -adjoint with compact resolvent and discrete (real) spectrum which is bounded from...the same controller using only 256 points. The curves are very similiar, but in both cases, the low frequency end of the respose is under-sampled due

Experimental study of adaptive pointing and tracking for large flexible space structures

NASA Technical Reports Server (NTRS)

Boussalis, D.; Bayard, D. S.; Ih, C.; Wang, S. J.; Ahmed, A.

1991-01-01

This paper describes an experimental study of adaptive pointing and tracking control for flexible spacecraft conducted on a complex ground experiment facility. The algorithm used in this study is based on a multivariable direct model reference adaptive control law. Several experimental validation studies were performed earlier using this algorithm for vibration damping and robust regulation, with excellent results. The current work extends previous studies by addressing the pointing and tracking problem. As is consistent with an adaptive control framework, the plant is assumed to be poorly known to the extent that only system level knowledge of its dynamics is available. Explicit bounds on the steady-state pointing error are derived as functions of the adaptive controller design parameters. It is shown that good tracking performance can be achieved in an experimental setting by adjusting adaptive controller design weightings according to the guidelines indicated by the analytical expressions for the error.

Progress on LMJ targets for ignition

NASA Astrophysics Data System (ADS)

Cherfils-Clérouin, C.; Boniface, C.; Bonnefille, M.; Dattolo, E.; Galmiche, D.; Gauthier, P.; Giorla, J.; Laffite, S.; Liberatore, S.; Loiseau, P.; Malinie, G.; Masse, L.; Masson-Laborde, P. E.; Monteil, M. C.; Poggi, F.; Seytor, P.; Wagon, F.; Willien, J. L.

2009-12-01

Targets designed to produce ignition on the Laser Megajoule (LMJ) are being simulated in order to set specifications for target fabrication. The LMJ experimental plans include the attempt of ignition and burn of an ICF capsule with 160 laser beams, delivering up to 1.4 MJ and 380 TW. New targets needing reduced laser energy with only a small decrease in robustness have then been designed for this purpose. Working specifically on the coupling efficiency parameter, i.e. the ratio of the energy absorbed by the capsule to the laser energy, has led to the design of a rugby-ball shaped cocktail hohlraum; with these improvements, a target based on the 240-beam A1040 capsule can be included in the 160-beam laser energy-power space. Robustness evaluations of these different targets shed light on critical points for ignition, which can trade off by tightening some specifications or by preliminary experimental and numerical tuning experiments.

Robust fractional order sliding mode control of doubly-fed induction generator (DFIG)-based wind turbines.

PubMed

Ebrahimkhani, Sadegh

2016-07-01

Wind power plants have nonlinear dynamics and contain many uncertainties such as unknown nonlinear disturbances and parameter uncertainties. Thus, it is a difficult task to design a robust reliable controller for this system. This paper proposes a novel robust fractional-order sliding mode (FOSM) controller for maximum power point tracking (MPPT) control of doubly fed induction generator (DFIG)-based wind energy conversion system. In order to enhance the robustness of the control system, uncertainties and disturbances are estimated using a fractional order uncertainty estimator. In the proposed method a continuous control strategy is developed to achieve the chattering free fractional order sliding-mode control, and also no knowledge of the uncertainties and disturbances or their bound is assumed. The boundedness and convergence properties of the closed-loop signals are proven using Lyapunov׳s stability theory. Simulation results in the presence of various uncertainties were carried out to evaluate the effectiveness and robustness of the proposed control scheme. Copyright © 2016 ISA. Published by Elsevier Ltd. All rights reserved.

Robust Temperature Control of a Thermoelectric Cooler via μ -Synthesis

NASA Astrophysics Data System (ADS)

Kürkçü, Burak; Kasnakoğlu, Coşku

2018-02-01

In this work robust temperature control of a thermoelectric cooler (TEC) via μ -synthesis is studied. An uncertain dynamical model for the TEC that is suitable for robust control methods is derived. The model captures variations in operating point due to current, load and temperature changes. A temperature controller is designed utilizing μ -synthesis, a powerful method guaranteeing robust stability and performance. For comparison two well-known control methods, namely proportional-integral-derivative (PID) and internal model control (IMC), are also realized to benchmark the proposed approach. It is observed that the stability and performance on the nominal model are satisfactory for all cases. On the other hand, under perturbations the responses of PID and IMC deteriorate and even become unstable. In contrast, the μ -synthesis controller succeeds in keeping system stability and achieving good performance under all perturbations within the operating range, while at the same time providing good disturbance rejection.

A Unifying Mathematical Framework for Genetic Robustness, Environmental Robustness, Network Robustness and their Trade-offs on Phenotype Robustness in Biological Networks. Part III: Synthetic Gene Networks in Synthetic Biology

PubMed Central

Chen, Bor-Sen; Lin, Ying-Po

2013-01-01

Robust stabilization and environmental disturbance attenuation are ubiquitous systematic properties that are observed in biological systems at many different levels. The underlying principles for robust stabilization and environmental disturbance attenuation are universal to both complex biological systems and sophisticated engineering systems. In many biological networks, network robustness should be large enough to confer: intrinsic robustness for tolerating intrinsic parameter fluctuations; genetic robustness for buffering genetic variations; and environmental robustness for resisting environmental disturbances. Network robustness is needed so phenotype stability of biological network can be maintained, guaranteeing phenotype robustness. Synthetic biology is foreseen to have important applications in biotechnology and medicine; it is expected to contribute significantly to a better understanding of functioning of complex biological systems. This paper presents a unifying mathematical framework for investigating the principles of both robust stabilization and environmental disturbance attenuation for synthetic gene networks in synthetic biology. Further, from the unifying mathematical framework, we found that the phenotype robustness criterion for synthetic gene networks is the following: if intrinsic robustness + genetic robustness + environmental robustness ≦ network robustness, then the phenotype robustness can be maintained in spite of intrinsic parameter fluctuations, genetic variations, and environmental disturbances. Therefore, the trade-offs between intrinsic robustness, genetic robustness, environmental robustness, and network robustness in synthetic biology can also be investigated through corresponding phenotype robustness criteria from the systematic point of view. Finally, a robust synthetic design that involves network evolution algorithms with desired behavior under intrinsic parameter fluctuations, genetic variations, and environmental disturbances, is also proposed, together with a simulation example. PMID:23515190

A Unifying Mathematical Framework for Genetic Robustness, Environmental Robustness, Network Robustness and their Trade-offs on Phenotype Robustness in Biological Networks. Part III: Synthetic Gene Networks in Synthetic Biology.

PubMed

Chen, Bor-Sen; Lin, Ying-Po

2013-01-01

Robust stabilization and environmental disturbance attenuation are ubiquitous systematic properties that are observed in biological systems at many different levels. The underlying principles for robust stabilization and environmental disturbance attenuation are universal to both complex biological systems and sophisticated engineering systems. In many biological networks, network robustness should be large enough to confer: intrinsic robustness for tolerating intrinsic parameter fluctuations; genetic robustness for buffering genetic variations; and environmental robustness for resisting environmental disturbances. Network robustness is needed so phenotype stability of biological network can be maintained, guaranteeing phenotype robustness. Synthetic biology is foreseen to have important applications in biotechnology and medicine; it is expected to contribute significantly to a better understanding of functioning of complex biological systems. This paper presents a unifying mathematical framework for investigating the principles of both robust stabilization and environmental disturbance attenuation for synthetic gene networks in synthetic biology. Further, from the unifying mathematical framework, we found that the phenotype robustness criterion for synthetic gene networks is the following: if intrinsic robustness + genetic robustness + environmental robustness ≦ network robustness, then the phenotype robustness can be maintained in spite of intrinsic parameter fluctuations, genetic variations, and environmental disturbances. Therefore, the trade-offs between intrinsic robustness, genetic robustness, environmental robustness, and network robustness in synthetic biology can also be investigated through corresponding phenotype robustness criteria from the systematic point of view. Finally, a robust synthetic design that involves network evolution algorithms with desired behavior under intrinsic parameter fluctuations, genetic variations, and environmental disturbances, is also proposed, together with a simulation example.

Turbopump Performance Improved by Evolutionary Algorithms

NASA Technical Reports Server (NTRS)

Oyama, Akira; Liou, Meng-Sing

2002-01-01

The development of design optimization technology for turbomachinery has been initiated using the multiobjective evolutionary algorithm under NASA's Intelligent Synthesis Environment and Revolutionary Aeropropulsion Concepts programs. As an alternative to the traditional gradient-based methods, evolutionary algorithms (EA's) are emergent design-optimization algorithms modeled after the mechanisms found in natural evolution. EA's search from multiple points, instead of moving from a single point. In addition, they require no derivatives or gradients of the objective function, leading to robustness and simplicity in coupling any evaluation codes. Parallel efficiency also becomes very high by using a simple master-slave concept for function evaluations, since such evaluations often consume the most CPU time, such as computational fluid dynamics. Application of EA's to multiobjective design problems is also straightforward because EA's maintain a population of design candidates in parallel. Because of these advantages, EA's are a unique and attractive approach to real-world design optimization problems.

Robust and Cost-Efficient Communication Based on SNMP in Mobile Networks

NASA Astrophysics Data System (ADS)

Ryu, Sang-Hoon; Baik, Doo-Kwon

A main challenge in the design of this mobile network is the development of dynamic routing protocols that can efficiently find routes between two communicating nodes. Multimedia streaming services are receiving considerable interest in the mobile network business. An entire mobile network may change its point of attachment to the Internet. The mobile network is operated by a basic specification to support network mobility called Network Mobility (NEMO) Basic Support. However, NEMO basic Support mechanism has some problem in continuous communication. In this paper, we propose robust and cost-efficient algorithm. And we simulate proposed method and conclude some remarks.

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

NASA Technical Reports Server (NTRS)

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

2001-01-01

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

Robust design of a 2-DOF GMV controller: a direct self-tuning and fuzzy scheduling approach.

PubMed

Silveira, Antonio S; Rodríguez, Jaime E N; Coelho, Antonio A R

2012-01-01

This paper presents a study on self-tuning control strategies with generalized minimum variance control in a fixed two degree of freedom structure-or simply GMV2DOF-within two adaptive perspectives. One, from the process model point of view, using a recursive least squares estimator algorithm for direct self-tuning design, and another, using a Mamdani fuzzy GMV2DOF parameters scheduling technique based on analytical and physical interpretations from robustness analysis of the system. Both strategies are assessed by simulation and real plants experimentation environments composed of a damped pendulum and an under development wind tunnel from the Department of Automation and Systems of the Federal University of Santa Catarina. Copyright © 2011 ISA. Published by Elsevier Ltd. All rights reserved.

A model to assess the Mars Telecommunications Network relay robustness

NASA Technical Reports Server (NTRS)

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

2005-01-01

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

Digital robust active control law synthesis for large order systems using constrained optimization

NASA Technical Reports Server (NTRS)

Mukhopadhyay, Vivek

1987-01-01

This paper presents a direct digital control law synthesis procedure for a large order, sampled data, linear feedback system using constrained optimization techniques to meet multiple design requirements. A linear quadratic Gaussian type cost function is minimized while satisfying a set of constraints on the design loads and responses. General expressions for gradients of the cost function and constraints, with respect to the digital control law design variables are derived analytically and computed by solving a set of discrete Liapunov equations. The designer can choose the structure of the control law and the design variables, hence a stable classical control law as well as an estimator-based full or reduced order control law can be used as an initial starting point. Selected design responses can be treated as constraints instead of lumping them into the cost function. This feature can be used to modify a control law, to meet individual root mean square response limitations as well as minimum single value restrictions. Low order, robust digital control laws were synthesized for gust load alleviation of a flexible remotely piloted drone aircraft.

All-fiber Mach-Zehnder interferometer for tunable two quasi-continuous points' temperature sensing in seawater.

PubMed

Liu, Tianqi; Wang, Jing; Liao, Yipeng; Wang, Xin; Wang, Shanshan

2018-04-30

An all-fiber Mach-Zehnder interferometer (MZI) for two quasi-continuous points' temperature sensing in seawater is proposed. Based on the beam propagation theory, transmission spectrum is designed to present two sets of clear and independent interferences. Following this design, MZI is fabricated and two points' temperature sensing in seawater are demonstrated with sensitivities of 42.69pm/°C and 39.17pm/°C, respectively. By further optimization, sensitivity of 80.91pm/°C can be obtained, which is 3-10 times higher than fiber Bragg gratings and microfiber resonator, and higher than almost all similar MZI based temperature sensors. In addition, factors affecting sensitivities are also discussed and verified in experiment. The two points' temperature sensing demonstrated here show advantages of simple and compact construction, robust structure, easy fabrication, high sensitivity, immunity to salinity and tunable distance of 1-20 centimeters between two points, which may provide references for macroscopic oceanic research and other sensing applications based on MZIs.

A methodology for double patterning compliant split and design

NASA Astrophysics Data System (ADS)

Wiaux, Vincent; Verhaegen, Staf; Iwamoto, Fumio; Maenhoudt, Mireille; Matsuda, Takashi; Postnikov, Sergei; Vandenberghe, Geert

2008-11-01

Double Patterning allows to further extend the use of water immersion lithography at its maximum numerical aperture NA=1.35. Splitting of design layers to recombine through Double Patterning (DP) enables an effective resolution enhancement. Single polygons may need to be split up (cut) depending on the pattern density and its 2D content. The split polygons recombine at the so-called 'stitching points'. These stitching points may affect the yield due to the sensitivity to process variations. We describe a methodology to ensure a robust double patterning by identifying proper split- and design- guidelines. Using simulations and experimental data, we discuss in particular metal1 first interconnect layers of random LOGIC and DRAM applications at 45nm half-pitch (hp) and 32nm hp where DP may become the only timely patterning solution.

Robust Segmentation of Planar and Linear Features of Terrestrial Laser Scanner Point Clouds Acquired from Construction Sites.

PubMed

Maalek, Reza; Lichti, Derek D; Ruwanpura, Janaka Y

2018-03-08

Automated segmentation of planar and linear features of point clouds acquired from construction sites is essential for the automatic extraction of building construction elements such as columns, beams and slabs. However, many planar and linear segmentation methods use scene-dependent similarity thresholds that may not provide generalizable solutions for all environments. In addition, outliers exist in construction site point clouds due to data artefacts caused by moving objects, occlusions and dust. To address these concerns, a novel method for robust classification and segmentation of planar and linear features is proposed. First, coplanar and collinear points are classified through a robust principal components analysis procedure. The classified points are then grouped using a new robust clustering method, the robust complete linkage method. A robust method is also proposed to extract the points of flat-slab floors and/or ceilings independent of the aforementioned stages to improve computational efficiency. The applicability of the proposed method is evaluated in eight datasets acquired from a complex laboratory environment and two construction sites at the University of Calgary. The precision, recall, and accuracy of the segmentation at both construction sites were 96.8%, 97.7% and 95%, respectively. These results demonstrate the suitability of the proposed method for robust segmentation of planar and linear features of contaminated datasets, such as those collected from construction sites.

Robust Segmentation of Planar and Linear Features of Terrestrial Laser Scanner Point Clouds Acquired from Construction Sites

PubMed Central

Maalek, Reza; Lichti, Derek D; Ruwanpura, Janaka Y

2018-01-01

Automated segmentation of planar and linear features of point clouds acquired from construction sites is essential for the automatic extraction of building construction elements such as columns, beams and slabs. However, many planar and linear segmentation methods use scene-dependent similarity thresholds that may not provide generalizable solutions for all environments. In addition, outliers exist in construction site point clouds due to data artefacts caused by moving objects, occlusions and dust. To address these concerns, a novel method for robust classification and segmentation of planar and linear features is proposed. First, coplanar and collinear points are classified through a robust principal components analysis procedure. The classified points are then grouped using a new robust clustering method, the robust complete linkage method. A robust method is also proposed to extract the points of flat-slab floors and/or ceilings independent of the aforementioned stages to improve computational efficiency. The applicability of the proposed method is evaluated in eight datasets acquired from a complex laboratory environment and two construction sites at the University of Calgary. The precision, recall, and accuracy of the segmentation at both construction sites were 96.8%, 97.7% and 95%, respectively. These results demonstrate the suitability of the proposed method for robust segmentation of planar and linear features of contaminated datasets, such as those collected from construction sites. PMID:29518062

A robust interrupted time series model for analyzing complex health care intervention data.

PubMed

Cruz, Maricela; Bender, Miriam; Ombao, Hernando

2017-12-20

Current health policy calls for greater use of evidence-based care delivery services to improve patient quality and safety outcomes. Care delivery is complex, with interacting and interdependent components that challenge traditional statistical analytic techniques, in particular, when modeling a time series of outcomes data that might be "interrupted" by a change in a particular method of health care delivery. Interrupted time series (ITS) is a robust quasi-experimental design with the ability to infer the effectiveness of an intervention that accounts for data dependency. Current standardized methods for analyzing ITS data do not model changes in variation and correlation following the intervention. This is a key limitation since it is plausible for data variability and dependency to change because of the intervention. Moreover, present methodology either assumes a prespecified interruption time point with an instantaneous effect or removes data for which the effect of intervention is not fully realized. In this paper, we describe and develop a novel robust interrupted time series (robust-ITS) model that overcomes these omissions and limitations. The robust-ITS model formally performs inference on (1) identifying the change point; (2) differences in preintervention and postintervention correlation; (3) differences in the outcome variance preintervention and postintervention; and (4) differences in the mean preintervention and postintervention. We illustrate the proposed method by analyzing patient satisfaction data from a hospital that implemented and evaluated a new nursing care delivery model as the intervention of interest. The robust-ITS model is implemented in an R Shiny toolbox, which is freely available to the community. Copyright © 2017 John Wiley & Sons, Ltd.

Design of a broadband active silencer using μ-synthesis

NASA Astrophysics Data System (ADS)

Bai, Mingsian R.; Zeung, Pingshun

2004-01-01

A robust spatially feedforward controller is developed for broadband attenuation of noise in ducts. To meet the requirements of robust performance and robust stability in the presence of plant uncertainties, a μ-synthesis procedure via D- K iteration is exploited to obtain the optimal controller. This approach considers uncertainties as modelling errors of the nominal plant in high frequency and is implemented using a floating point digital signal processor (DSP). Experimental investigation was undertaken on a finite-length duct to justify the proposed controller. The μ- controller is compared to other control algorithms such as the H2 method, the H∞ method and the filtered-U least mean square (FULMS) algorithm. Experimental results indicate that the proposed system has attained 25.8 dB maximal attenuation in the band 250-650 Hz.

Effect Sizes and their Intervals: The Two-Level Repeated Measures Case

ERIC Educational Resources Information Center

Algina, James; Keselman, H. J.; Penfield, Randall D.

2005-01-01

Probability coverage for eight different confidence intervals (CIs) of measures of effect size (ES) in a two-level repeated measures design was investigated. The CIs and measures of ES differed with regard to whether they used least squares or robust estimates of central tendency and variability, whether the end critical points of the interval…

A Fixed Point VHDL Component Library for a High Efficiency Reconfigurable Radio Design Methodology

NASA Technical Reports Server (NTRS)

Hoy, Scott D.; Figueiredo, Marco A.

2006-01-01

Advances in Field Programmable Gate Array (FPGA) technologies enable the implementation of reconfigurable radio systems for both ground and space applications. The development of such systems challenges the current design paradigms and requires more robust design techniques to meet the increased system complexity. Among these techniques is the development of component libraries to reduce design cycle time and to improve design verification, consequently increasing the overall efficiency of the project development process while increasing design success rates and reducing engineering costs. This paper describes the reconfigurable radio component library developed at the Software Defined Radio Applications Research Center (SARC) at Goddard Space Flight Center (GSFC) Microwave and Communications Branch (Code 567). The library is a set of fixed-point VHDL components that link the Digital Signal Processing (DSP) simulation environment with the FPGA design tools. This provides a direct synthesis path based on the latest developments of the VHDL tools as proposed by the BEE VBDL 2004 which allows for the simulation and synthesis of fixed-point math operations while maintaining bit and cycle accuracy. The VHDL Fixed Point Reconfigurable Radio Component library does not require the use of the FPGA vendor specific automatic component generators and provide a generic path from high level DSP simulations implemented in Mathworks Simulink to any FPGA device. The access to the component synthesizable, source code provides full design verification capability:

Origin of bistability underlying mammalian cell cycle entry

PubMed Central

Yao, Guang; Tan, Cheemeng; West, Mike; Nevins, Joseph R; You, Lingchong

2011-01-01

Precise control of cell proliferation is fundamental to tissue homeostasis and differentiation. Mammalian cells commit to proliferation at the restriction point (R-point). It has long been recognized that the R-point is tightly regulated by the Rb–E2F signaling pathway. Our recent work has further demonstrated that this regulation is mediated by a bistable switch mechanism. Nevertheless, the essential regulatory features in the Rb–E2F pathway that create this switching property have not been defined. Here we analyzed a library of gene circuits comprising all possible link combinations in a simplified Rb–E2F network. We identified a minimal circuit that is able to generate robust, resettable bistability. This minimal circuit contains a feed-forward loop coupled with a mutual-inhibition feedback loop, which forms an AND-gate control of the E2F activation. Underscoring its importance, experimental disruption of this circuit abolishes maintenance of the activated E2F state, supporting its importance for the bistability of the Rb–E2F system. Our findings suggested basic design principles for the robust control of the bistable cell cycle entry at the R-point. PMID:21525871

Design of rocker switches for work-vehicles--an application of Kansei Engineering.

PubMed

Schütte, Simon; Eklund, Jörgen

2005-09-01

Rocker switches used in vehicles meet high demands partly due to the increased focus on customer satisfaction. Previous studies focused on ergonomics and usability rather than design for emotions and affection. The aim of this study was to determine how and to what extent engineering properties influence the perception of rocker switches. Secondary aims were to compare two types of rating scales and to determine consistency over time of the ratings. As a method Kansei Engineering was used, describing a product domain from a physical and semantic point of view. A model was built and validated, and recommendations for new designs were given. It was seen that the subjective impressions of robustness, precision and design are strongly influenced by the zero position, the contact position, the form-ratio, shape and the surface of rocker switches. A 7-point scale was found suitable. The Kansei ratings were consistent over time.

Aerodynamic design applying automatic differentiation and using robust variable fidelity optimization

NASA Astrophysics Data System (ADS)

Takemiya, Tetsushi

In modern aerospace engineering, the physics-based computational design method is becoming more important, as it is more efficient than experiments and because it is more suitable in designing new types of aircraft (e.g., unmanned aerial vehicles or supersonic business jets) than the conventional design method, which heavily relies on historical data. To enhance the reliability of the physics-based computational design method, researchers have made tremendous efforts to improve the fidelity of models. However, high-fidelity models require longer computational time, so the advantage of efficiency is partially lost. This problem has been overcome with the development of variable fidelity optimization (VFO). In VFO, different fidelity models are simultaneously employed in order to improve the speed and the accuracy of convergence in an optimization process. Among the various types of VFO methods, one of the most promising methods is the approximation management framework (AMF). In the AMF, objective and constraint functions of a low-fidelity model are scaled at a design point so that the scaled functions, which are referred to as "surrogate functions," match those of a high-fidelity model. Since scaling functions and the low-fidelity model constitutes surrogate functions, evaluating the surrogate functions is faster than evaluating the high-fidelity model. Therefore, in the optimization process, in which gradient-based optimization is implemented and thus many function calls are required, the surrogate functions are used instead of the high-fidelity model to obtain a new design point. The best feature of the AMF is that it may converge to a local optimum of the high-fidelity model in much less computational time than the high-fidelity model. However, through literature surveys and implementations of the AMF, the author xx found that (1) the AMF is very vulnerable when the computational analysis models have numerical noise, which is very common in high-fidelity models, and that (2) the AMF terminates optimization erroneously when the optimization problems have constraints. The first problem is due to inaccuracy in computing derivatives in the AMF, and the second problem is due to erroneous treatment of the trust region ratio, which sets the size of the domain for an optimization in the AMF. In order to solve the first problem of the AMF, automatic differentiation (AD) technique, which reads the codes of analysis models and automatically generates new derivative codes based on some mathematical rules, is applied. If derivatives are computed with the generated derivative code, they are analytical, and the required computational time is independent of the number of design variables, which is very advantageous for realistic aerospace engineering problems. However, if analysis models implement iterative computations such as computational fluid dynamics (CFD), which solves system partial differential equations iteratively, computing derivatives through the AD requires a massive memory size. The author solved this deficiency by modifying the AD approach and developing a more efficient implementation with CFD, and successfully applied the AD to general CFD software. In order to solve the second problem of the AMF, the governing equation of the trust region ratio, which is very strict against the violation of constraints, is modified so that it can accept the violation of constraints within some tolerance. By accepting violations of constraints during the optimization process, the AMF can continue optimization without terminating immaturely and eventually find the true optimum design point. With these modifications, the AMF is referred to as "Robust AMF," and it is applied to airfoil and wing aerodynamic design problems using Euler CFD software. The former problem has 21 design variables, and the latter 64. In both problems, derivatives computed with the proposed AD method are first compared with those computed with the finite differentiation (FD) method, and then, the Robust AMF is implemented along with the sequential quadratic programming (SQP) optimization method with only high-fidelity models. The proposed AD method computes derivatives more accurately and faster than the FD method, and the Robust AMF successfully optimizes shapes of the airfoil and the wing in a much shorter time than SQP with only high-fidelity models. These results clearly show the effectiveness of the Robust AMF. Finally, the feasibility of reducing computational time for calculating derivatives and the necessity of AMF with an optimum design point always in the feasible region are discussed as future work.

Space Generic Open Avionics Architecture (SGOAA) standard specification

NASA Technical Reports Server (NTRS)

Wray, Richard B.; Stovall, John R.

1993-01-01

The purpose of this standard is to provide an umbrella set of requirements for applying the generic architecture interface model to the design of a specific avionics hardware/software system. This standard defines a generic set of system interface points to facilitate identification of critical interfaces and establishes the requirements for applying appropriate low level detailed implementation standards to those interface points. The generic core avionics system and processing architecture models provided herein are robustly tailorable to specific system applications and provide a platform upon which the interface model is to be applied.

Robust sensor fault detection and isolation of gas turbine engines subjected to time-varying parameter uncertainties

NASA Astrophysics Data System (ADS)

Pourbabaee, Bahareh; Meskin, Nader; Khorasani, Khashayar

2016-08-01

In this paper, a novel robust sensor fault detection and isolation (FDI) strategy using the multiple model-based (MM) approach is proposed that remains robust with respect to both time-varying parameter uncertainties and process and measurement noise in all the channels. The scheme is composed of robust Kalman filters (RKF) that are constructed for multiple piecewise linear (PWL) models that are constructed at various operating points of an uncertain nonlinear system. The parameter uncertainty is modeled by using a time-varying norm bounded admissible structure that affects all the PWL state space matrices. The robust Kalman filter gain matrices are designed by solving two algebraic Riccati equations (AREs) that are expressed as two linear matrix inequality (LMI) feasibility conditions. The proposed multiple RKF-based FDI scheme is simulated for a single spool gas turbine engine to diagnose various sensor faults despite the presence of parameter uncertainties, process and measurement noise. Our comparative studies confirm the superiority of our proposed FDI method when compared to the methods that are available in the literature.

Design of sewage treatment system by applying fuzzy adaptive PID controller

NASA Astrophysics Data System (ADS)

Jin, Liang-Ping; Li, Hong-Chan

2013-03-01

In the sewage treatment system, the dissolved oxygen concentration control, due to its nonlinear, time-varying, large time delay and uncertainty, is difficult to establish the exact mathematical model. While the conventional PID controller only works with good linear not far from its operating point, it is difficult to realize the system control when the operating point far off. In order to solve the above problems, the paper proposed a method which combine fuzzy control with PID methods and designed a fuzzy adaptive PID controller based on S7-300 PLC .It employs fuzzy inference method to achieve the online tuning for PID parameters. The control algorithm by simulation and practical application show that the system has stronger robustness and better adaptability.

Linear quadratic servo control of a reusable rocket engine

NASA Technical Reports Server (NTRS)

Musgrave, Jeffrey L.

1991-01-01

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

Attitude Control System Design for the Solar Dynamics Observatory

NASA Technical Reports Server (NTRS)

Starin, Scott R.; Bourkland, Kristin L.; Kuo-Chia, Liu; Mason, Paul A. C.; Vess, Melissa F.; Andrews, Stephen F.; Morgenstern, Wendy M.

2005-01-01

The Solar Dynamics Observatory mission, part of the Living With a Star program, will place a geosynchronous satellite in orbit to observe the Sun and relay data to a dedicated ground station at all times. SDO remains Sun- pointing throughout most of its mission for the instruments to take measurements of the Sun. The SDO attitude control system is a single-fault tolerant design. Its fully redundant attitude sensor complement includes 16 coarse Sun sensors, a digital Sun sensor, 3 two-axis inertial reference units, 2 star trackers, and 4 guide telescopes. Attitude actuation is performed using 4 reaction wheels and 8 thrusters, and a single main engine nominally provides velocity-change thrust. The attitude control software has five nominal control modes-3 wheel-based modes and 2 thruster-based modes. A wheel-based Safehold running in the attitude control electronics box improves the robustness of the system as a whole. All six modes are designed on the same basic proportional-integral-derivative attitude error structure, with more robust modes setting their integral gains to zero. The paper details the mode designs and their uses.

The use of resighting data to estimate the rate of population growth of the snail kite in Florida

USGS Publications Warehouse

Dreitz, V.J.; Nichols, J.D.; Hines, J.E.; Bennetts, R.E.; Kitchens, W.M.; DeAngelis, D.L.

2002-01-01

The rate of population growth (lambda) is an important demographic parameter used to assess the viability of a population and to develop management and conservation agendas. We examined the use of resighting data to estimate lambda for the snail kite population in Florida from 1997-2000. The analyses consisted of (1) a robust design approach that derives an estimate of lambda from estimates of population size and (2) the Pradel (1996) temporal symmetry (TSM) approach that directly estimates lambda using an open-population capture-recapture model. Besides resighting data, both approaches required information on the number of unmarked individuals that were sighted during the sampling periods. The point estimates of lambda differed between the robust design and TSM approaches, but the 95% confidence intervals overlapped substantially. We believe the differences may be the result of sparse data and do not indicate the inappropriateness of either modelling technique. We focused on the results of the robust design because this approach provided estimates for all study years. Variation among these estimates was smaller than levels of variation among ad hoc estimates based on previously reported index statistics. We recommend that lambda of snail kites be estimated using capture-resighting methods rather than ad hoc counts.

Robust Damage-Mitigating Control of Aircraft for High Performance and Structural Durability

NASA Technical Reports Server (NTRS)

Caplin, Jeffrey; Ray, Asok; Joshi, Suresh M.

1999-01-01

This paper presents the concept and a design methodology for robust damage-mitigating control (DMC) of aircraft. The goal of DMC is to simultaneously achieve high performance and structural durability. The controller design procedure involves consideration of damage at critical points of the structure, as well as the performance requirements of the aircraft. An aeroelastic model of the wings has been formulated and is incorporated into a nonlinear rigid-body model of aircraft flight-dynamics. Robust damage-mitigating controllers are then designed using the H(infinity)-based structured singular value (mu) synthesis method based on a linearized model of the aircraft. In addition to penalizing the error between the ideal performance and the actual performance of the aircraft, frequency-dependent weights are placed on the strain amplitude at the root of each wing. Using each controller in turn, the control system is put through an identical sequence of maneuvers, and the resulting (varying amplitude cyclic) stress profiles are analyzed using a fatigue crack growth model that incorporates the effects of stress overload. Comparisons are made to determine the impact of different weights on the resulting fatigue crack damage in the wings. The results of simulation experiments show significant savings in fatigue life of the wings while retaining the dynamic performance of the aircraft.

Global design of satellite constellations: a multi-criteria performance comparison of classical walker patterns and new design patterns

NASA Astrophysics Data System (ADS)

Lansard, Erick; Frayssinhes, Eric; Palmade, Jean-Luc

Basically, the problem of designing a multisatellite constellation exhibits a lot of parameters with many possible combinations: total number of satellites, orbital parameters of each individual satellite, number of orbital planes, number of satellites in each plane, spacings between satellites of each plane, spacings between orbital planes, relative phasings between consecutive orbital planes. Hopefully, some authors have theoretically solved this complex problem under simplified assumptions: the permanent (or continuous) coverage by a single and multiple satellites of the whole Earth and zonal areas has been entirely solved from a pure geometrical point of view. These solutions exhibit strong symmetry properties (e.g. Walker, Ballard, Rider, Draim constellations): altitude and inclination are identical, orbital planes and satellites are regularly spaced, etc. The problem with such constellations is their oversimplified and restricted geometrical assumption. In fact, the evaluation function which is used implicitly only takes into account the point-to-point visibility between users and satellites and does not deal with very important constraints and considerations that become mandatory when designing a real satellite system (e.g. robustness to satellite failures, total system cost, common view between satellites and ground stations, service availability and satellite reliability, launch and early operations phase, production constraints, etc.). An original and global methodology relying on a powerful optimization tool based on genetic algorithms has been developed at ALCATEL ESPACE. In this approach, symmetrical constellations can be used as initial conditions of the optimization process together with specific evaluation functions. A multi-criteria performance analysis is conducted and presented here in a parametric way in order to identify and evaluate the main sensitive parameters. Quantitative results are given for three examples in the fields of navigation, telecommunication and multimedia satellite systems. In particular, a new design pattern with very efficient properties in terms of robustness to satellite failures is presented and compared with classical Walker patterns.

Evaluation of Recoverable-Robust Timetables on Tree Networks

NASA Astrophysics Data System (ADS)

D'Angelo, Gianlorenzo; di Stefano, Gabriele; Navarra, Alfredo

In the context of scheduling and timetabling, we study a challenging combinatorial problem which is interesting from both a practical and a theoretical point of view. The motivation behind it is to cope with scheduled activities which might be subject to unavoidable disturbances, such as delays, occurring during the operational phase. The idea is to preventively plan some extra time for the scheduled activities in order to be "prepared" if a delay occurs, and to absorb it without the necessity of re-scheduling the activities from scratch. This realizes the concept of designing so called robust timetables. During the planning phase, one has to consider recovery features that might be applied at runtime if delays occur. Such recovery capabilities are given as input along with the possible delays that must be considered. The objective is the minimization of the overall needed time. The quality of a robust timetable is measured by the price of robustness, i.e. the ratio between the cost of the robust timetable and that of a non-robust optimal timetable. The considered problem is known to be NP-hard. We propose a pseudo-polynomial time algorithm and apply it on random networks and real case scenarios provided by Italian railways. We evaluate the effect of robustness on the scheduling of the activities and provide the price of robustness with respect to different scenarios. We experimentally show the practical effectiveness and efficiency of the proposed algorithm.

Demonstrative fractional order - PID controller based DC motor drive on digital platform.

PubMed

Khubalkar, Swapnil W; Junghare, Anjali S; Aware, Mohan V; Chopade, Amit S; Das, Shantanu

2017-09-21

In industrial drives applications, fractional order controllers can exhibit phenomenal impact due to realization through digital implementation. Digital fractional order controllers have created wide scope as it possess the inherent advantages like robustness against the plant parameter variation. This paper provides brief design procedure of fractional order proportional-integral-derivative (FO-PID) controller through the indirect approach of approximation using constant phase technique. The new modified dynamic particle swarm optimization (IdPSO) technique is proposed to find controller parameters. The FO-PID controller is implemented using floating point digital signal processor. The building blocks are designed and assembled with all peripheral components for the 1.5kW industrial DC motor drive. The robust operation for parametric variation is ascertained by testing the controller with two separately excited DC motors with the same rating but different parameters. Copyright © 2017 ISA. Published by Elsevier Ltd. All rights reserved.

High data density temperature measurement for quasi steady-state flows

NASA Technical Reports Server (NTRS)

Mercer, Carolyn R.; Rashidnia, Nasser; Creath, Katherine

1995-01-01

A new optical instrument, the liquid crystal point diffraction interferometer (LCPDI), is used to measure the temperature distribution across a heated chamber filled with silicone oil. Data taken using the LCPDI are compared to equivalent measurements made with a traversing thermocouple and the two data sets show excellent agreement This instrument maintains the compact, robust design of Linnik's point diffraction interferometer and adds to it phase stepping capability for quantitative interferogram analysis. The result is a compact, simple to align, environmentally insensitive interferometer capable of accurately measuring optical wavefronts with very high data density and with automated data reduction.

High Data Density Temperature Measurement for Quasi Steady-State Flows

NASA Technical Reports Server (NTRS)

Mercer, C. R.; Rashidnia, N.; Creath, K.

1996-01-01

A new optical instrument, the liquid crystal point diffraction interferometer (LCPDI), is used to measure the temperature distribution across a heated chamber filled with silicone oil. Data taken using the LCPDI are compared to equivalent measurements made with a traversing thermo-couple and the two data sets show excellent agreement. This instrument maintains the compact, robust design of Linniks point diffraction interferometer and adds to it phase stepping capability for quantitative interferogram analysis. The result is a compact, simple to align, environmentally insensitive interferometer capable of accurately measuring optical wave-fronts with very high data density and with automated data reduction.

Modal Filtering for Control of Flexible Aircraft

NASA Technical Reports Server (NTRS)

Suh, Peter M.; Mavris, Dimitri N.

2013-01-01

Modal regulators and deformation trackers are designed for an open-loop fluttering wing model. The regulators are designed with modal coordinate and accelerometer inputs respectively. The modal coordinates are estimated with simulated fiber optics. The robust stability of the closed-loop systems is compared in a structured singular-value vector analysis. Performance is evaluated and compared in a gust alleviation and flutter suppression simulation. For the same wing and flight condition two wing-shape-tracking control architectures are presented, which achieve deformation control at any point on the wing.

Robust Rocket Engine Concept

NASA Technical Reports Server (NTRS)

Lorenzo, Carl F.

1995-01-01

The potential for a revolutionary step in the durability of reusable rocket engines is made possible by the combination of several emerging technologies. The recent creation and analytical demonstration of life extending (or damage mitigating) control technology enables rapid rocket engine transients with minimum fatigue and creep damage. This technology has been further enhanced by the formulation of very simple but conservative continuum damage models. These new ideas when combined with recent advances in multidisciplinary optimization provide the potential for a large (revolutionary) step in reusable rocket engine durability. This concept has been named the robust rocket engine concept (RREC) and is the basic contribution of this paper. The concept also includes consideration of design innovations to minimize critical point damage.

Lamb Wave Multitouch Ultrasonic Touchscreen.

PubMed

Firouzi, Kamyar; Nikoozadeh, Amin; Carver, Thomas E; Khuri-Yakub, Butrus Pierre T

2016-12-01

Touchscreen sensors are widely used in many devices such as smart phones, tablets, and laptops with diverse applications. We present the design, analysis, and implementation of an ultrasonic touchscreen system that utilizes the interaction of transient Lamb waves with objects in contact with the screen. It attempts to improve on the existing ultrasound technologies, with the potential of addressing some of the weaknesses of the dominant technologies, such as the capacitive or resistive ones. Compared with the existing ultrasonic and acoustic modalities, among other advantages, it provides the capability of detecting several simultaneous touch points and also a more robust performance. The localization algorithm, given the hardware design, can detect several touch points with a very limited number of measurements (one or two). This in turn can significantly reduce the manufacturing cost.

Robust Indoor Human Activity Recognition Using Wireless Signals.

PubMed

Wang, Yi; Jiang, Xinli; Cao, Rongyu; Wang, Xiyang

2015-07-15

Wireless signals-based activity detection and recognition technology may be complementary to the existing vision-based methods, especially under the circumstance of occlusions, viewpoint change, complex background, lighting condition change, and so on. This paper explores the properties of the channel state information (CSI) of Wi-Fi signals, and presents a robust indoor daily human activity recognition framework with only one pair of transmission points (TP) and access points (AP). First of all, some indoor human actions are selected as primitive actions forming a training set. Then, an online filtering method is designed to make actions' CSI curves smooth and allow them to contain enough pattern information. Each primitive action pattern can be segmented from the outliers of its multi-input multi-output (MIMO) signals by a proposed segmentation method. Lastly, in online activities recognition, by selecting proper features and Support Vector Machine (SVM) based multi-classification, activities constituted by primitive actions can be recognized insensitive to the locations, orientations, and speeds.

Gaussian mixed model in support of semiglobal matching leveraged by ground control points

NASA Astrophysics Data System (ADS)

Ma, Hao; Zheng, Shunyi; Li, Chang; Li, Yingsong; Gui, Li

2017-04-01

Semiglobal matching (SGM) has been widely applied in large aerial images because of its good tradeoff between complexity and robustness. The concept of ground control points (GCPs) is adopted to make SGM more robust. We model the effect of GCPs as two data terms for stereo matching between high-resolution aerial epipolar images in an iterative scheme. One term based on GCPs is formulated by Gaussian mixture model, which strengths the relation between GCPs and the pixels to be estimated and encodes some degree of consistency between them with respect to disparity values. Another term depends on pixel-wise confidence, and we further design a confidence updating equation based on three rules. With this confidence-based term, the assignment of disparity can be heuristically selected among disparity search ranges during the iteration process. Several iterations are sufficient to bring out satisfactory results according to our experiments. Experimental results validate that the proposed method outperforms surface reconstruction, which is a representative variant of SGM and behaves excellently on aerial images.

Definition of a Robust Supervisory Control Scheme for Sodium-Cooled Fast Reactors

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

Ponciroli, R.; Passerini, S.; Vilim, R. B.

In this work, an innovative control approach for metal-fueled Sodium-cooled Fast Reactors is proposed. With respect to the classical approach adopted for base-load Nuclear Power Plants, an alternative control strategy for operating the reactor at different power levels by respecting the system physical constraints is presented. In order to achieve a higher operational flexibility along with ensuring that the implemented control loops do not influence the system inherent passive safety features, a dedicated supervisory control scheme for the dynamic definition of the corresponding set-points to be supplied to the PID controllers is designed. In particular, the traditional approach based onmore » the adoption of tabulated lookup tables for the set-point definition is found not to be robust enough when failures of the implemented SISO (Single Input Single Output) actuators occur. Therefore, a feedback algorithm based on the Reference Governor approach, which allows for the optimization of reference signals according to the system operating conditions, is proposed.« less

Robust Brain-Machine Interface Design Using Optimal Feedback Control Modeling and Adaptive Point Process Filtering

PubMed Central

Carmena, Jose M.

2016-01-01

Much progress has been made in brain-machine interfaces (BMI) using decoders such as Kalman filters and finding their parameters with closed-loop decoder adaptation (CLDA). However, current decoders do not model the spikes directly, and hence may limit the processing time-scale of BMI control and adaptation. Moreover, while specialized CLDA techniques for intention estimation and assisted training exist, a unified and systematic CLDA framework that generalizes across different setups is lacking. Here we develop a novel closed-loop BMI training architecture that allows for processing, control, and adaptation using spike events, enables robust control and extends to various tasks. Moreover, we develop a unified control-theoretic CLDA framework within which intention estimation, assisted training, and adaptation are performed. The architecture incorporates an infinite-horizon optimal feedback-control (OFC) model of the brain’s behavior in closed-loop BMI control, and a point process model of spikes. The OFC model infers the user’s motor intention during CLDA—a process termed intention estimation. OFC is also used to design an autonomous and dynamic assisted training technique. The point process model allows for neural processing, control and decoder adaptation with every spike event and at a faster time-scale than current decoders; it also enables dynamic spike-event-based parameter adaptation unlike current CLDA methods that use batch-based adaptation on much slower adaptation time-scales. We conducted closed-loop experiments in a non-human primate over tens of days to dissociate the effects of these novel CLDA components. The OFC intention estimation improved BMI performance compared with current intention estimation techniques. OFC assisted training allowed the subject to consistently achieve proficient control. Spike-event-based adaptation resulted in faster and more consistent performance convergence compared with batch-based methods, and was robust to parameter initialization. Finally, the architecture extended control to tasks beyond those used for CLDA training. These results have significant implications towards the development of clinically-viable neuroprosthetics. PMID:27035820

Pareto Design of State Feedback Tracking Control of a Biped Robot via Multiobjective PSO in Comparison with Sigma Method and Genetic Algorithms: Modified NSGAII and MATLAB's Toolbox

PubMed Central

Mahmoodabadi, M. J.; Taherkhorsandi, M.; Bagheri, A.

2014-01-01

An optimal robust state feedback tracking controller is introduced to control a biped robot. In the literature, the parameters of the controller are usually determined by a tedious trial and error process. To eliminate this process and design the parameters of the proposed controller, the multiobjective evolutionary algorithms, that is, the proposed method, modified NSGAII, Sigma method, and MATLAB's Toolbox MOGA, are employed in this study. Among the used evolutionary optimization algorithms to design the controller for biped robots, the proposed method operates better in the aspect of designing the controller since it provides ample opportunities for designers to choose the most appropriate point based upon the design criteria. Three points are chosen from the nondominated solutions of the obtained Pareto front based on two conflicting objective functions, that is, the normalized summation of angle errors and normalized summation of control effort. Obtained results elucidate the efficiency of the proposed controller in order to control a biped robot. PMID:24616619

Robust extrema features for time-series data analysis.

PubMed

Vemulapalli, Pramod K; Monga, Vishal; Brennan, Sean N

2013-06-01

The extraction of robust features for comparing and analyzing time series is a fundamentally important problem. Research efforts in this area encompass dimensionality reduction using popular signal analysis tools such as the discrete Fourier and wavelet transforms, various distance metrics, and the extraction of interest points from time series. Recently, extrema features for analysis of time-series data have assumed increasing significance because of their natural robustness under a variety of practical distortions, their economy of representation, and their computational benefits. Invariably, the process of encoding extrema features is preceded by filtering of the time series with an intuitively motivated filter (e.g., for smoothing), and subsequent thresholding to identify robust extrema. We define the properties of robustness, uniqueness, and cardinality as a means to identify the design choices available in each step of the feature generation process. Unlike existing methods, which utilize filters "inspired" from either domain knowledge or intuition, we explicitly optimize the filter based on training time series to optimize robustness of the extracted extrema features. We demonstrate further that the underlying filter optimization problem reduces to an eigenvalue problem and has a tractable solution. An encoding technique that enhances control over cardinality and uniqueness is also presented. Experimental results obtained for the problem of time series subsequence matching establish the merits of the proposed algorithm.

An Instantaneous Low-Cost Point-of-Care Anemia Detection Device

PubMed Central

Punter-Villagrasa, Jaime; Cid, Joan; Páez-Avilés, Cristina; Rodríguez-Villarreal, Ivón; Juanola-Feliu, Esteve; Colomer-Farrarons, Jordi; Miribel-Català, Pere Ll.

2015-01-01

We present a small, compact and portable device for point-of-care instantaneous early detection of anemia. The method used is based on direct hematocrit measurement from whole blood samples by means of impedance analysis. This device consists of a custom electronic instrumentation and a plug-and-play disposable sensor. The designed electronics rely on straightforward standards for low power consumption, resulting in a robust and low consumption device making it completely mobile with a long battery life. Another approach could be powering the system based on other solutions like indoor solar cells, or applying energy-harvesting solutions in order to remove the batteries. The sensing system is based on a disposable low-cost label-free three gold electrode commercial sensor for 50 μL blood samples. The device capability for anemia detection has been validated through 24 blood samples, obtained from four hospitalized patients at Hospital Clínic. As a result, the response, effectiveness and robustness of the portable point-of-care device to detect anemia has been proved with an accuracy error of 2.83% and a mean coefficient of variation of 2.57% without any particular case above 5%. PMID:25690552

Demonstration of a Balloon Borne Arc-Second Pointer Design

NASA Technical Reports Server (NTRS)

DeWeese, Keith D.; Ward, Philip R.

2006-01-01

Many designs for utilizing stratospheric balloons as low-cost platforms on which to conduct space science experiments have been proposed throughout the years. A major hurdle in extending the range of experiments for which these vehicles are useful has been the imposition of the gondola dynamics on the accuracy with which an instrument can be kept pointed at a celestial target. A significant number of scientists have sought the ability to point their instruments with jitter in the arc-second range. This paper presents the design and analysis of a stratospheric balloon borne pointing system that is able to meet this requirement. The test results of a demonstration prototype of the design with similar ability are also presented. Discussion of a high fidelity controller simulation for design analysis is presented. The flexibility of the flight train is represented through generalized modal analysis. A multiple controller scheme is utilized for coarse and fine pointing. Coarse azimuth pointing is accomplished by an established pointing system, with extensive flight history, residing above the gondola structure. A pitch-yaw gimbal mount is used for fine pointing, providing orthogonal axes when nominally on target. Fine pointing actuation is from direct drive dc motors, eliminating backlash problems. An analysis of friction nonlinearities and a demonstration of the necessity in eliminating static friction are provided. A unique bearing hub design is introduced that eliminates static friction from the system dynamics. A control scheme involving linear accelerometers for enhanced disturbance rejection is also presented. Results from a linear analysis of the total system and the high fidelity simulation are given. Results from a generalized demonstration prototype are presented. Commercial off-the-shelf (COTS) hardware was used to demonstrate the efficacy and performance of the pointer design for a mock instrument. Sub-arcsecond pointing ability from a ground hang test setup is shown from the testing results. This paper establishes that the proposed control strategy can be made robustly stable with significant design margins. Also demonstrated is the efficacy of the proposed system in rejecting disturbances larger than those considered realistic. The system is implemented and demonstrates sub arc second pointing ability using COTS hardware. Finally, we see that sub arc-second pointing stability can be achieved for a large instrument pointing at an inertial target.

Robust Classification and Segmentation of Planar and Linear Features for Construction Site Progress Monitoring and Structural Dimension Compliance Control

NASA Astrophysics Data System (ADS)

Maalek, R.; Lichti, D. D.; Ruwanpura, J.

2015-08-01

The application of terrestrial laser scanners (TLSs) on construction sites for automating construction progress monitoring and controlling structural dimension compliance is growing markedly. However, current research in construction management relies on the planned building information model (BIM) to assign the accumulated point clouds to their corresponding structural elements, which may not be reliable in cases where the dimensions of the as-built structure differ from those of the planned model and/or the planned model is not available with sufficient detail. In addition outliers exist in construction site datasets due to data artefacts caused by moving objects, occlusions and dust. In order to overcome the aforementioned limitations, a novel method for robust classification and segmentation of planar and linear features is proposed to reduce the effects of outliers present in the LiDAR data collected from construction sites. First, coplanar and collinear points are classified through a robust principal components analysis procedure. The classified points are then grouped using a robust clustering method. A method is also proposed to robustly extract the points belonging to the flat-slab floors and/or ceilings without performing the aforementioned stages in order to preserve computational efficiency. The applicability of the proposed method is investigated in two scenarios, namely, a laboratory with 30 million points and an actual construction site with over 150 million points. The results obtained by the two experiments validate the suitability of the proposed method for robust segmentation of planar and linear features in contaminated datasets, such as those collected from construction sites.

Simple robust control laws for robot manipulators. Part 1: Non-adaptive case

NASA Technical Reports Server (NTRS)

Wen, J. T.; Bayard, D. S.

1987-01-01

A new class of exponentially stabilizing control laws for joint level control of robot arms is introduced. It has been recently recognized that the nonlinear dynamics associated with robotic manipulators have certain inherent passivity properties. More specifically, the derivation of the robotic dynamic equations from the Hamilton's principle gives rise to natural Lyapunov functions for control design based on total energy considerations. Through a slight modification of the energy Lyapunov function and the use of a convenient lemma to handle third order terms in the Lyapunov function derivatives, closed loop exponential stability for both the set point and tracking control problem is demonstrated. The exponential convergence property also leads to robustness with respect to frictions, bounded modeling errors and instrument noise. In one new design, the nonlinear terms are decoupled from real-time measurements which completely removes the requirement for on-line computation of nonlinear terms in the controller implementation. In general, the new class of control laws offers alternatives to the more conventional computed torque method, providing tradeoffs between robustness, computation and convergence properties. Furthermore, these control laws have the unique feature that they can be adapted in a very simple fashion to achieve asymptotically stable adaptive control.

A robust recognition and accurate locating method for circular coded diagonal target

NASA Astrophysics Data System (ADS)

Bao, Yunna; Shang, Yang; Sun, Xiaoliang; Zhou, Jiexin

2017-10-01

As a category of special control points which can be automatically identified, artificial coded targets have been widely developed in the field of computer vision, photogrammetry, augmented reality, etc. In this paper, a new circular coded target designed by RockeTech technology Corp. Ltd is analyzed and studied, which is called circular coded diagonal target (CCDT). A novel detection and recognition method with good robustness is proposed in the paper, and implemented on Visual Studio. In this algorithm, firstly, the ellipse features of the center circle are used for rough positioning. Then, according to the characteristics of the center diagonal target, a circular frequency filter is designed to choose the correct center circle and eliminates non-target noise. The precise positioning of the coded target is done by the correlation coefficient fitting extreme value method. Finally, the coded target recognition is achieved by decoding the binary sequence in the outer ring of the extracted target. To test the proposed algorithm, this paper has carried out simulation experiments and real experiments. The results show that the CCDT recognition and accurate locating method proposed in this paper can robustly recognize and accurately locate the targets in complex and noisy background.

Simplified paraboloid phase model-based phase tracker for demodulation of a single complex fringe.

PubMed

He, A; Deepan, B; Quan, C

2017-09-01

A regularized phase tracker (RPT) is an effective method for demodulation of single closed-fringe patterns. However, lengthy calculation time, specially designed scanning strategy, and sign-ambiguity problems caused by noise and saddle points reduce its effectiveness, especially for demodulating large and complex fringe patterns. In this paper, a simplified paraboloid phase model-based regularized phase tracker (SPRPT) is proposed. In SPRPT, first and second phase derivatives are pre-determined by the density-direction-combined method and discrete higher-order demodulation algorithm, respectively. Hence, cost function is effectively simplified to reduce the computation time significantly. Moreover, pre-determined phase derivatives improve the robustness of the demodulation of closed, complex fringe patterns. Thus, no specifically designed scanning strategy is needed; nevertheless, it is robust against the sign-ambiguity problem. The paraboloid phase model also assures better accuracy and robustness against noise. Both the simulated and experimental fringe patterns (obtained using electronic speckle pattern interferometry) are used to validate the proposed method, and a comparison of the proposed method with existing RPT methods is carried out. The simulation results show that the proposed method has achieved the highest accuracy with less computational time. The experimental result proves the robustness and the accuracy of the proposed method for demodulation of noisy fringe patterns and its feasibility for static and dynamic applications.

Using High Resolution Design Spaces for Aerodynamic Shape Optimization Under Uncertainty

NASA Technical Reports Server (NTRS)

Li, Wu; Padula, Sharon

2004-01-01

This paper explains why high resolution design spaces encourage traditional airfoil optimization algorithms to generate noisy shape modifications, which lead to inaccurate linear predictions of aerodynamic coefficients and potential failure of descent methods. By using auxiliary drag constraints for a simultaneous drag reduction at all design points and the least shape distortion to achieve the targeted drag reduction, an improved algorithm generates relatively smooth optimal airfoils with no severe off-design performance degradation over a range of flight conditions, in high resolution design spaces parameterized by cubic B-spline functions. Simulation results using FUN2D in Euler flows are included to show the capability of the robust aerodynamic shape optimization method over a range of flight conditions.

Robust pattern decoding in shape-coded structured light

NASA Astrophysics Data System (ADS)

Tang, Suming; Zhang, Xu; Song, Zhan; Song, Lifang; Zeng, Hai

2017-09-01

Decoding is a challenging and complex problem in a coded structured light system. In this paper, a robust pattern decoding method is proposed for the shape-coded structured light in which the pattern is designed as grid shape with embedded geometrical shapes. In our decoding method, advancements are made at three steps. First, a multi-template feature detection algorithm is introduced to detect the feature point which is the intersection of each two orthogonal grid-lines. Second, pattern element identification is modelled as a supervised classification problem and the deep neural network technique is applied for the accurate classification of pattern elements. Before that, a training dataset is established, which contains a mass of pattern elements with various blurring and distortions. Third, an error correction mechanism based on epipolar constraint, coplanarity constraint and topological constraint is presented to reduce the false matches. In the experiments, several complex objects including human hand are chosen to test the accuracy and robustness of the proposed method. The experimental results show that our decoding method not only has high decoding accuracy, but also owns strong robustness to surface color and complex textures.

Salient Point Detection in Protrusion Parts of 3D Object Robust to Isometric Variations

NASA Astrophysics Data System (ADS)

Mirloo, Mahsa; Ebrahimnezhad, Hosein

2018-03-01

In this paper, a novel method is proposed to detect 3D object salient points robust to isometric variations and stable against scaling and noise. Salient points can be used as the representative points from object protrusion parts in order to improve the object matching and retrieval algorithms. The proposed algorithm is started by determining the first salient point of the model based on the average geodesic distance of several random points. Then, according to the previous salient point, a new point is added to this set of points in each iteration. By adding every salient point, decision function is updated. Hence, a condition is created for selecting the next point in which the iterative point is not extracted from the same protrusion part so that drawing out of a representative point from every protrusion part is guaranteed. This method is stable against model variations with isometric transformations, scaling, and noise with different levels of strength due to using a feature robust to isometric variations and considering the relation between the salient points. In addition, the number of points used in averaging process is decreased in this method, which leads to lower computational complexity in comparison with the other salient point detection algorithms.

Enhancing efficiency and quality of statistical estimation of immunogenicity assay cut points through standardization and automation.

PubMed

Su, Cheng; Zhou, Lei; Hu, Zheng; Weng, Winnie; Subramani, Jayanthi; Tadkod, Vineet; Hamilton, Kortney; Bautista, Ami; Wu, Yu; Chirmule, Narendra; Zhong, Zhandong Don

2015-10-01

Biotherapeutics can elicit immune responses, which can alter the exposure, safety, and efficacy of the therapeutics. A well-designed and robust bioanalytical method is critical for the detection and characterization of relevant anti-drug antibody (ADA) and the success of an immunogenicity study. As a fundamental criterion in immunogenicity testing, assay cut points need to be statistically established with a risk-based approach to reduce subjectivity. This manuscript describes the development of a validated, web-based, multi-tier customized assay statistical tool (CAST) for assessing cut points of ADA assays. The tool provides an intuitive web interface that allows users to import experimental data generated from a standardized experimental design, select the assay factors, run the standardized analysis algorithms, and generate tables, figures, and listings (TFL). It allows bioanalytical scientists to perform complex statistical analysis at a click of the button to produce reliable assay parameters in support of immunogenicity studies. Copyright © 2015 Elsevier B.V. All rights reserved.

Development and optimization of SPE-HPLC-UV/ELSD for simultaneous determination of nine bioactive components in Shenqi Fuzheng Injection based on Quality by Design principles.

PubMed

Wang, Lu; Qu, Haibin

2016-03-01

A method combining solid phase extraction, high performance liquid chromatography, and ultraviolet/evaporative light scattering detection (SPE-HPLC-UV/ELSD) was developed according to Quality by Design (QbD) principles and used to assay nine bioactive compounds within a botanical drug, Shenqi Fuzheng Injection. Risk assessment and a Plackett-Burman design were utilized to evaluate the impact of 11 factors on the resolutions and signal-to-noise of chromatographic peaks. Multiple regression and Pareto ranking analysis indicated that the sorbent mass, sample volume, flow rate, column temperature, evaporator temperature, and gas flow rate were statistically significant (p < 0.05) in this procedure. Furthermore, a Box-Behnken design combined with response surface analysis was employed to study the relationships between the quality of SPE-HPLC-UV/ELSD analysis and four significant factors, i.e., flow rate, column temperature, evaporator temperature, and gas flow rate. An analytical design space of SPE-HPLC-UV/ELSD was then constructed by calculated Monte Carlo probability. In the presented approach, the operating parameters of sample preparation, chromatographic separation, and compound detection were investigated simultaneously. Eight terms of method validation, i.e., system-suitability tests, method robustness/ruggedness, sensitivity, precision, repeatability, linearity, accuracy, and stability, were accomplished at a selected working point. These results revealed that the QbD principles were suitable in the development of analytical procedures for samples in complex matrices. Meanwhile, the analytical quality and method robustness were validated by the analytical design space. The presented strategy provides a tutorial on the development of a robust QbD-compliant quantitative method for samples in complex matrices.

Cascading failure in scale-free networks with tunable clustering

NASA Astrophysics Data System (ADS)

Zhang, Xue-Jun; Gu, Bo; Guan, Xiang-Min; Zhu, Yan-Bo; Lv, Ren-Li

2016-02-01

Cascading failure is ubiquitous in many networked infrastructure systems, such as power grids, Internet and air transportation systems. In this paper, we extend the cascading failure model to a scale-free network with tunable clustering and focus on the effect of clustering coefficient on system robustness. It is found that the network robustness undergoes a nonmonotonic transition with the increment of clustering coefficient: both highly and lowly clustered networks are fragile under the intentional attack, and the network with moderate clustering coefficient can better resist the spread of cascading. We then provide an extensive explanation for this constructive phenomenon via the microscopic point of view and quantitative analysis. Our work can be useful to the design and optimization of infrastructure systems.

A robust real-time surface reconstruction method on point clouds captured from a 3D surface photogrammetry system

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

Liu, Wenyang; Cheung, Yam; Sawant, Amit

2016-05-15

Purpose: To develop a robust and real-time surface reconstruction method on point clouds captured from a 3D surface photogrammetry system. Methods: The authors have developed a robust and fast surface reconstruction method on point clouds acquired by the photogrammetry system, without explicitly solving the partial differential equation required by a typical variational approach. Taking advantage of the overcomplete nature of the acquired point clouds, their method solves and propagates a sparse linear relationship from the point cloud manifold to the surface manifold, assuming both manifolds share similar local geometry. With relatively consistent point cloud acquisitions, the authors propose a sparsemore » regression (SR) model to directly approximate the target point cloud as a sparse linear combination from the training set, assuming that the point correspondences built by the iterative closest point (ICP) is reasonably accurate and have residual errors following a Gaussian distribution. To accommodate changing noise levels and/or presence of inconsistent occlusions during the acquisition, the authors further propose a modified sparse regression (MSR) model to model the potentially large and sparse error built by ICP with a Laplacian prior. The authors evaluated the proposed method on both clinical point clouds acquired under consistent acquisition conditions and on point clouds with inconsistent occlusions. The authors quantitatively evaluated the reconstruction performance with respect to root-mean-squared-error, by comparing its reconstruction results against that from the variational method. Results: On clinical point clouds, both the SR and MSR models have achieved sub-millimeter reconstruction accuracy and reduced the reconstruction time by two orders of magnitude to a subsecond reconstruction time. On point clouds with inconsistent occlusions, the MSR model has demonstrated its advantage in achieving consistent and robust performance despite the introduced occlusions. Conclusions: The authors have developed a fast and robust surface reconstruction method on point clouds captured from a 3D surface photogrammetry system, with demonstrated sub-millimeter reconstruction accuracy and subsecond reconstruction time. It is suitable for real-time motion tracking in radiotherapy, with clear surface structures for better quantifications.« less

A robust real-time surface reconstruction method on point clouds captured from a 3D surface photogrammetry system.

PubMed

Liu, Wenyang; Cheung, Yam; Sawant, Amit; Ruan, Dan

2016-05-01

To develop a robust and real-time surface reconstruction method on point clouds captured from a 3D surface photogrammetry system. The authors have developed a robust and fast surface reconstruction method on point clouds acquired by the photogrammetry system, without explicitly solving the partial differential equation required by a typical variational approach. Taking advantage of the overcomplete nature of the acquired point clouds, their method solves and propagates a sparse linear relationship from the point cloud manifold to the surface manifold, assuming both manifolds share similar local geometry. With relatively consistent point cloud acquisitions, the authors propose a sparse regression (SR) model to directly approximate the target point cloud as a sparse linear combination from the training set, assuming that the point correspondences built by the iterative closest point (ICP) is reasonably accurate and have residual errors following a Gaussian distribution. To accommodate changing noise levels and/or presence of inconsistent occlusions during the acquisition, the authors further propose a modified sparse regression (MSR) model to model the potentially large and sparse error built by ICP with a Laplacian prior. The authors evaluated the proposed method on both clinical point clouds acquired under consistent acquisition conditions and on point clouds with inconsistent occlusions. The authors quantitatively evaluated the reconstruction performance with respect to root-mean-squared-error, by comparing its reconstruction results against that from the variational method. On clinical point clouds, both the SR and MSR models have achieved sub-millimeter reconstruction accuracy and reduced the reconstruction time by two orders of magnitude to a subsecond reconstruction time. On point clouds with inconsistent occlusions, the MSR model has demonstrated its advantage in achieving consistent and robust performance despite the introduced occlusions. The authors have developed a fast and robust surface reconstruction method on point clouds captured from a 3D surface photogrammetry system, with demonstrated sub-millimeter reconstruction accuracy and subsecond reconstruction time. It is suitable for real-time motion tracking in radiotherapy, with clear surface structures for better quantifications.

A robust real-time surface reconstruction method on point clouds captured from a 3D surface photogrammetry system

PubMed Central

Liu, Wenyang; Cheung, Yam; Sawant, Amit; Ruan, Dan

2016-01-01

Purpose: To develop a robust and real-time surface reconstruction method on point clouds captured from a 3D surface photogrammetry system. Methods: The authors have developed a robust and fast surface reconstruction method on point clouds acquired by the photogrammetry system, without explicitly solving the partial differential equation required by a typical variational approach. Taking advantage of the overcomplete nature of the acquired point clouds, their method solves and propagates a sparse linear relationship from the point cloud manifold to the surface manifold, assuming both manifolds share similar local geometry. With relatively consistent point cloud acquisitions, the authors propose a sparse regression (SR) model to directly approximate the target point cloud as a sparse linear combination from the training set, assuming that the point correspondences built by the iterative closest point (ICP) is reasonably accurate and have residual errors following a Gaussian distribution. To accommodate changing noise levels and/or presence of inconsistent occlusions during the acquisition, the authors further propose a modified sparse regression (MSR) model to model the potentially large and sparse error built by ICP with a Laplacian prior. The authors evaluated the proposed method on both clinical point clouds acquired under consistent acquisition conditions and on point clouds with inconsistent occlusions. The authors quantitatively evaluated the reconstruction performance with respect to root-mean-squared-error, by comparing its reconstruction results against that from the variational method. Results: On clinical point clouds, both the SR and MSR models have achieved sub-millimeter reconstruction accuracy and reduced the reconstruction time by two orders of magnitude to a subsecond reconstruction time. On point clouds with inconsistent occlusions, the MSR model has demonstrated its advantage in achieving consistent and robust performance despite the introduced occlusions. Conclusions: The authors have developed a fast and robust surface reconstruction method on point clouds captured from a 3D surface photogrammetry system, with demonstrated sub-millimeter reconstruction accuracy and subsecond reconstruction time. It is suitable for real-time motion tracking in radiotherapy, with clear surface structures for better quantifications. PMID:27147347

Design optimization for cost and quality: The robust design approach

NASA Technical Reports Server (NTRS)

Unal, Resit

1990-01-01

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

Balloon Borne Arc-Second Pointer Feasibility Study

NASA Technical Reports Server (NTRS)

Ward, Philip R.; DeWeese, Keith D.

2003-01-01

For many years scientists have been utilizing stratospheric balloons as low-cost platforms on which to conduct space science experiments. A major hurdle in extending the range of experiments for which these vehicles are useful has been the imposition of the gondola dynamics on the accuracy with which an instrument can be kept pointed at a celestial target. A significant number of scientists have sought the ability to point their instruments with jitter in the arc-second range. This paper presents the design and analysis of a stratospheric balloon borne pointing system that is able to meet this requirement. The foundation for a high fidelity controller simulation is presented. The flexibility of the flight train is represented through generalized modal analysis. A multiple controller scheme is introduced for coarse and fine pointing. Coarse azimuth pointing is accomplished by an established pointing system, with extensive flight history, residing above the gondola structure. A pitch-yaw gimbal mount is used for fine pointing, providing orthogonal axes when nominally on target. Fine pointing actuation is from direct drive dc motors, eliminating backlash problems. An analysis of friction nonlinearities and a demonstration of the necessity in eliminating static fiction are provided. A unique bearing hub design is introduced that eliminates static fiction from the system dynamics. A control scheme involving linear accelerometers for enhanced disturbance rejection is also presented. Results from a linear analysis of the total system and the high fidelity simulation are given. This paper establishes that the proposed control strategy can be made robustly stable with significant design margins. Also demonstrated is the efficacy of the proposed system in rejecting disturbances larger than those considered realistic. Finally, we see that sub arc-second pointing stability can be achieved for a large instrument pointing at an inertial target.

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.

Multifunctional epidermal electronics printed directly onto the skin.

PubMed

Yeo, Woon-Hong; Kim, Yun-Soung; Lee, Jongwoo; Ameen, Abid; Shi, Luke; Li, Ming; Wang, Shuodao; Ma, Rui; Jin, Sung Hun; Kang, Zhan; Huang, Yonggang; Rogers, John A

2013-05-28

Materials and designs are presented for electronics and sensors that can be conformally and robustly integrated onto the surface of the skin. A multifunctional device of this type can record various physiological signals relevant to health and wellness. This class of technology offers capabilities in biocompatible, non-invasive measurement that lie beyond those available with conventional, point-contact electrode interfaces to the skin. Copyright © 2013 WILEY-VCH Verlag GmbH & Co. KGaA, Weinheim.

Concurrent-scene/alternate-pattern analysis for robust video-based docking systems

NASA Technical Reports Server (NTRS)

Udomkesmalee, Suraphol

1991-01-01

A typical docking target employs a three-point design of retroreflective tape, one at each endpoint of the center-line, and one on the tip of the central post. Scenes, sensed via laser diode illumination, produce pictures with spots corresponding to desired reflection from the retroreflectors and other reflections. Control corrections for each axis of the vehicle can then be properly applied if the desired spots are accurately tracked. However, initial acquisition of these three spots (detection and identification problem) are non-trivial under a severe noise environment. Signal-to-noise enhancement, accomplished by subtracting the non-illuminated scene from the target scene illuminated by laser diodes, can not eliminate every false spot. Hence, minimization of docking failures due to target mistracking would suggest needed inclusion of added processing features pertaining to target locations. In this paper, we present a concurrent processing scheme for a modified docking target scene which could lead to a perfect docking system. Since the non-illuminated target scene is already available, adding another feature to the three-point design by marking two non-reflective lines, one between the two end-points and one from the tip of the central post to the center-line, would allow this line feature to be picked-up only when capturing the background scene (sensor data without laser illumination). Therefore, instead of performing the image subtraction to generate a picture with a high signal-to-noise ratio, a processed line-image based on the robust line detection technique (Hough transform) can be used to fuse with the actively sensed three-point target image to deduce the true locations of the docking target. This dual-channel confirmation scheme is necessary if a fail-safe system is to be realized from both the sensing and processing point-of-views. Detailed algorithms and preliminary results are presented.

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

NASA Technical Reports Server (NTRS)

Anderson, Bernhard H.; Keller, Dennis J.

2001-01-01

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

X-33 Ascent Flight Controller Design by Trajectory Linearization: A Singular Perturbational Approach

NASA Technical Reports Server (NTRS)

Zhu, J. Jim; Banker, Brad D.; Hall, Charles E.

2000-01-01

The flight control of X-33 poses a challenge to conventional gain-scheduled flight controllers due to its large attitude maneuvers from liftoff to orbit and reentry. In addition, a wide range of uncertainties in vehicle handling qualities and disturbances must be accommodated by the attitude control system. Nonlinear tracking and decoupling control by trajectory linearization can be viewed as the ideal gain-scheduling controller designed at every point on the flight trajectory. Therefore it provides robust stability and performance at all stages of flight without interpolation of controller gains and eliminates costly controller redesigns due to minor airframe alteration or mission reconfiguration. In this paper, a prototype trajectory linearization design for an X-33 ascent flight controller is presented along with 3-DOF and 6-DOF simulation results. It is noted that the 6-DOF results were obtained from the 3-DOF design with only a few hours of tuning, which demonstrates the inherent robustness of the design technique. It is this "plug-and-play" feature that is much needed by NASA for the development, test and routine operations of the RLV'S. Plans for further research are also presented, and refined 6-DOF simulation results will be presented in the final version of the paper.

A practical guide to microfluidic perfusion culture of adherent mammalian cells.

PubMed

Kim, Lily; Toh, Yi-Chin; Voldman, Joel; Yu, Hanry

2007-06-01

Culturing cells at microscales allows control over microenvironmental cues, such as cell-cell and cell-matrix interactions; the potential to scale experiments; the use of small culture volumes; and the ability to integrate with microsystem technologies for on-chip experimentation. Microfluidic perfusion culture in particular allows controlled delivery and removal of soluble biochemical molecules in the extracellular microenvironment, and controlled application of mechanical forces exerted via fluid flow. There are many challenges to designing and operating a robust microfluidic perfusion culture system for routine culture of adherent mammalian cells. The current literature on microfluidic perfusion culture treats microfluidic design, device fabrication, cell culture, and micro-assays independently. Here we systematically present and discuss important design considerations in the context of the entire microfluidic perfusion culture system. These design considerations include the choice of materials, culture configurations, microfluidic network fabrication and micro-assays. We also present technical issues such as sterilization; seeding cells in both 2D and 3D configurations; and operating the system under optimized mass transport and shear stress conditions, free of air-bubbles. The integrative and systematic treatment of the microfluidic system design and fabrication, cell culture, and micro-assays provides novices with an effective starting point to build and operate a robust microfludic perfusion culture system for various applications.

Robust Variable Selection with Exponential Squared Loss.

PubMed

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

2013-04-01

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

Robust Variable Selection with Exponential Squared Loss

PubMed Central

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

2013-01-01

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

Sensitivity, optimal scaling and minimum roundoff errors in flexible structure models

NASA Technical Reports Server (NTRS)

Skelton, Robert E.

1987-01-01

Traditional modeling notions presume the existence of a truth model that relates the input to the output, without advanced knowledge of the input. This has led to the evolution of education and research approaches (including the available control and robustness theories) that treat the modeling and control design as separate problems. The paper explores the subtleties of this presumption that the modeling and control problems are separable. A detailed study of the nature of modeling errors is useful to gain insight into the limitations of traditional control and identification points of view. Modeling errors need not be small but simply appropriate for control design. Furthermore, the modeling and control design processes are inevitably iterative in nature.

A Computational Framework for Automation of Point Defect Calculations

NASA Astrophysics Data System (ADS)

Goyal, Anuj; Gorai, Prashun; Peng, Haowei; Lany, Stephan; Stevanovic, Vladan; National Renewable Energy Laboratory, Golden, Colorado 80401 Collaboration

A complete and rigorously validated open-source Python framework to automate point defect calculations using density functional theory has been developed. The framework provides an effective and efficient method for defect structure generation, and creation of simple yet customizable workflows to analyze defect calculations. The package provides the capability to compute widely accepted correction schemes to overcome finite-size effects, including (1) potential alignment, (2) image-charge correction, and (3) band filling correction to shallow defects. Using Si, ZnO and In2O3as test examples, we demonstrate the package capabilities and validate the methodology. We believe that a robust automated tool like this will enable the materials by design community to assess the impact of point defects on materials performance. National Renewable Energy Laboratory, Golden, Colorado 80401.

Efficiency enhancement of optimized Latin hypercube sampling strategies: Application to Monte Carlo uncertainty analysis and meta-modeling

NASA Astrophysics Data System (ADS)

Rajabi, Mohammad Mahdi; Ataie-Ashtiani, Behzad; Janssen, Hans

2015-02-01

The majority of literature regarding optimized Latin hypercube sampling (OLHS) is devoted to increasing the efficiency of these sampling strategies through the development of new algorithms based on the combination of innovative space-filling criteria and specialized optimization schemes. However, little attention has been given to the impact of the initial design that is fed into the optimization algorithm, on the efficiency of OLHS strategies. Previous studies, as well as codes developed for OLHS, have relied on one of the following two approaches for the selection of the initial design in OLHS: (1) the use of random points in the hypercube intervals (random LHS), and (2) the use of midpoints in the hypercube intervals (midpoint LHS). Both approaches have been extensively used, but no attempt has been previously made to compare the efficiency and robustness of their resulting sample designs. In this study we compare the two approaches and show that the space-filling characteristics of OLHS designs are sensitive to the initial design that is fed into the optimization algorithm. It is also illustrated that the space-filling characteristics of OLHS designs based on midpoint LHS are significantly better those based on random LHS. The two approaches are compared by incorporating their resulting sample designs in Monte Carlo simulation (MCS) for uncertainty propagation analysis, and then, by employing the sample designs in the selection of the training set for constructing non-intrusive polynomial chaos expansion (NIPCE) meta-models which subsequently replace the original full model in MCSs. The analysis is based on two case studies involving numerical simulation of density dependent flow and solute transport in porous media within the context of seawater intrusion in coastal aquifers. We show that the use of midpoint LHS as the initial design increases the efficiency and robustness of the resulting MCSs and NIPCE meta-models. The study also illustrates that this relative improvement decreases with increasing number of sample points and input parameter dimensions. Since the computational time and efforts for generating the sample designs in the two approaches are identical, the use of midpoint LHS as the initial design in OLHS is thus recommended.

Robust input design for nonlinear dynamic modeling of AUV.

PubMed

Nouri, Nowrouz Mohammad; Valadi, Mehrdad

2017-09-01

Input design has a dominant role in developing the dynamic model of autonomous underwater vehicles (AUVs) through system identification. Optimal input design is the process of generating informative inputs that can be used to generate the good quality dynamic model of AUVs. In a problem with optimal input design, the desired input signal depends on the unknown system which is intended to be identified. In this paper, the input design approach which is robust to uncertainties in model parameters is used. The Bayesian robust design strategy is applied to design input signals for dynamic modeling of AUVs. The employed approach can design multiple inputs and apply constraints on an AUV system's inputs and outputs. Particle swarm optimization (PSO) is employed to solve the constraint robust optimization problem. The presented algorithm is used for designing the input signals for an AUV, and the estimate obtained by robust input design is compared with that of the optimal input design. According to the results, proposed input design can satisfy both robustness of constraints and optimality. Copyright © 2017 ISA. Published by Elsevier Ltd. All rights reserved.

A novel scheme for automatic nonrigid image registration using deformation invariant feature and geometric constraint

NASA Astrophysics Data System (ADS)

Deng, Zhipeng; Lei, Lin; Zhou, Shilin

2015-10-01

Automatic image registration is a vital yet challenging task, particularly for non-rigid deformation images which are more complicated and common in remote sensing images, such as distorted UAV (unmanned aerial vehicle) images or scanning imaging images caused by flutter. Traditional non-rigid image registration methods are based on the correctly matched corresponding landmarks, which usually needs artificial markers. It is a rather challenging task to locate the accurate position of the points and get accurate homonymy point sets. In this paper, we proposed an automatic non-rigid image registration algorithm which mainly consists of three steps: To begin with, we introduce an automatic feature point extraction method based on non-linear scale space and uniform distribution strategy to extract the points which are uniform distributed along the edge of the image. Next, we propose a hybrid point matching algorithm using DaLI (Deformation and Light Invariant) descriptor and local affine invariant geometric constraint based on triangulation which is constructed by K-nearest neighbor algorithm. Based on the accurate homonymy point sets, the two images are registrated by the model of TPS (Thin Plate Spline). Our method is demonstrated by three deliberately designed experiments. The first two experiments are designed to evaluate the distribution of point set and the correctly matching rate on synthetic data and real data respectively. The last experiment is designed on the non-rigid deformation remote sensing images and the three experimental results demonstrate the accuracy, robustness, and efficiency of the proposed algorithm compared with other traditional methods.

A robust correspondence matching algorithm of ground images along the optic axis

NASA Astrophysics Data System (ADS)

Jia, Fengman; Kang, Zhizhong

2013-10-01

Facing challenges of nontraditional geometry, multiple resolutions and the same features sensed from different angles, there are more difficulties of robust correspondence matching for ground images along the optic axis. A method combining SIFT algorithm and the geometric constraint of the ratio of coordinate differences between image point and image principal point is proposed in this paper. As it can provide robust matching across a substantial range of affine distortion addition of change in 3D viewpoint and noise, we use SIFT algorithm to tackle the problem of image distortion. By analyzing the nontraditional geometry of ground image along the optic axis, this paper derivates that for one correspondence pair, the ratio of distances between image point and image principal point in an image pair should be a value not far from 1. Therefore, a geometric constraint for gross points detection is formed. The proposed approach is tested with real image data acquired by Kodak. The results show that with SIFT and the proposed geometric constraint, the robustness of correspondence matching on the ground images along the optic axis can be effectively improved, and thus prove the validity of the proposed algorithm.

Classification of Mls Point Clouds in Urban Scenes Using Detrended Geometric Features from Supervoxel-Based Local Contexts

NASA Astrophysics Data System (ADS)

Sun, Z.; Xu, Y.; Hoegner, L.; Stilla, U.

2018-05-01

In this work, we propose a classification method designed for the labeling of MLS point clouds, with detrended geometric features extracted from the points of the supervoxel-based local context. To achieve the analysis of complex 3D urban scenes, acquired points of the scene should be tagged with individual labels of different classes. Thus, assigning a unique label to the points of an object that belong to the same category plays an essential role in the entire 3D scene analysis workflow. Although plenty of studies in this field have been reported, this work is still a challenging task. Specifically, in this work: 1) A novel geometric feature extraction method, detrending the redundant and in-salient information in the local context, is proposed, which is proved to be effective for extracting local geometric features from the 3D scene. 2) Instead of using individual point as basic element, the supervoxel-based local context is designed to encapsulate geometric characteristics of points, providing a flexible and robust solution for feature extraction. 3) Experiments using complex urban scene with manually labeled ground truth are conducted, and the performance of proposed method with respect to different methods is analyzed. With the testing dataset, we have obtained a result of 0.92 for overall accuracy for assigning eight semantic classes.

Robust gaze-steering of an active vision system against errors in the estimated parameters

NASA Astrophysics Data System (ADS)

Han, Youngmo

2015-01-01

Gaze-steering is often used to broaden the viewing range of an active vision system. Gaze-steering procedures are usually based on estimated parameters such as image position, image velocity, depth and camera calibration parameters. However, there may be uncertainties in these estimated parameters because of measurement noise and estimation errors. In this case, robust gaze-steering cannot be guaranteed. To compensate for such problems, this paper proposes a gaze-steering method based on a linear matrix inequality (LMI). In this method, we first propose a proportional derivative (PD) control scheme on the unit sphere that does not use depth parameters. This proposed PD control scheme can avoid uncertainties in the estimated depth and camera calibration parameters, as well as inconveniences in their estimation process, including the use of auxiliary feature points and highly non-linear computation. Furthermore, the control gain of the proposed PD control scheme on the unit sphere is designed using LMI such that the designed control is robust in the presence of uncertainties in the other estimated parameters, such as image position and velocity. Simulation results demonstrate that the proposed method provides a better compensation for uncertainties in the estimated parameters than the contemporary linear method and steers the gaze of the camera more steadily over time than the contemporary non-linear method.

Large-Scale Low-Cost NGS Library Preparation Using a Robust Tn5 Purification and Tagmentation Protocol

PubMed Central

Hennig, Bianca P.; Velten, Lars; Racke, Ines; Tu, Chelsea Szu; Thoms, Matthias; Rybin, Vladimir; Besir, Hüseyin; Remans, Kim; Steinmetz, Lars M.

2017-01-01

Efficient preparation of high-quality sequencing libraries that well represent the biological sample is a key step for using next-generation sequencing in research. Tn5 enables fast, robust, and highly efficient processing of limited input material while scaling to the parallel processing of hundreds of samples. Here, we present a robust Tn5 transposase purification strategy based on an N-terminal His6-Sumo3 tag. We demonstrate that libraries prepared with our in-house Tn5 are of the same quality as those processed with a commercially available kit (Nextera XT), while they dramatically reduce the cost of large-scale experiments. We introduce improved purification strategies for two versions of the Tn5 enzyme. The first version carries the previously reported point mutations E54K and L372P, and stably produces libraries of constant fragment size distribution, even if the Tn5-to-input molecule ratio varies. The second Tn5 construct carries an additional point mutation (R27S) in the DNA-binding domain. This construct allows for adjustment of the fragment size distribution based on enzyme concentration during tagmentation, a feature that opens new opportunities for use of Tn5 in customized experimental designs. We demonstrate the versatility of our Tn5 enzymes in different experimental settings, including a novel single-cell polyadenylation site mapping protocol as well as ultralow input DNA sequencing. PMID:29118030

A Multivariate Magnitude Robust Control Chart for Mean Shift Detection and Change Point Estimation

DTIC Science & Technology

2007-03-01

data like scratches on a desk to the width of lumber at a mill and intangible data like heart rate and microprocessor switching frequency. These...of historical data . The preferred method involves a series of designed experiments to understand what factors affect the process, and their...outcome. Since the QE is involved in every step of data collection, he/she receives exactly the data required, and possesses in-depth knowledge of the

Self-nanoemulsifying drug delivery systems of tamoxifen citrate: design and optimization.

PubMed

Elnaggar, Yosra S R; El-Massik, Magda A; Abdallah, Ossama Y

2009-10-01

Tamoxifen citrate is an antiestrogen for peroral breast cancer treatment. The drug delivery encounters problems of poor water solubility and vulnerability to enzymatic degradation in both intestine and liver. In the current study, tamoxifen citrate self-nanoemulsifying drug delivery systems (SNEDDS) were prepared in an attempt to circumvent such obstacles. Preliminary screening was carried out to select proper ingredient combinations. All surfactants screened were recognized for their bioactive aspects. Ternary phase diagrams were then constructed and an optimum system was designated. Three tamoxifen SNEDDS were then compared for optimization. The systems were assessed for robustness to dilution, globule size, cloud point, surface morphology and drug release. An optimum system composed of tamoxifen citrate (1.6%), Maisine 35-1 (16.4%), Caproyl 90 (32.8%), Cremophor RH40 (32.8%) and propylene glycol (16.4%) was selected. The system was robust to different dilution volumes and types. It possessed a mean globule size of 150 nm and a cloud point of 80 degrees C. Transmission electron microscopy demonstrated spherical particle morphology. The drug release from the selected formulation was significantly higher than other SNEDDS and drug suspension, as well. Realizing drug incorporation into an optimized nano-sized SNEDD system that encompasses a bioactive surfactant, our results proposed that the prepared system could be promising to improve oral efficacy of the tamoxifen citrate.

Robust control for uncertain structures

NASA Technical Reports Server (NTRS)

Douglas, Joel; Athans, Michael

1991-01-01

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

Robust Fixed-Structure Controller Synthesis

NASA Technical Reports Server (NTRS)

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

2000-01-01

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

Astrophysical Research Consortium Telescope Imaging Camera (ARCTIC) facility optical imager for the Apache Point Observatory 3.5m telescope

NASA Astrophysics Data System (ADS)

Huehnerhoff, Joseph; Ketzeback, William; Bradley, Alaina; Dembicky, Jack; Doughty, Caitlin; Hawley, Suzanne; Johnson, Courtney; Klaene, Mark; Leon, Ed; McMillan, Russet; Owen, Russell; Sayres, Conor; Sheen, Tyler; Shugart, Alysha

2016-08-01

The Astrophysical Research Consortium Telescope Imaging Camera, ARCTIC, is a new optical imaging camera now in use at the Astrophysical Research Consortium (ARC) 3.5m telescope at Apache Point Observatory (APO). As a facility instrument, the design criteria broadly encompassed many current and future science opportunities, and the components were built for quick repair or replacement, to minimize down-time. Examples include a quick change shutter, filter drive components accessible from the exterior and redundant amplifiers on the detector. The detector is a Semiconductor Technology Associates (STA) device with several key properties (e.g. high quantum efficiency, low read-noise, quick readout, minimal fringing, operational bandpass 350-950nm). Focal reducing optics (f/10.3 to f/8.0) were built to control aberrations over a 7.8'x7.8' field, with a plate scale of 0.11" per 0.15 micron pixel. The instrument body and dewar were designed to be simple and robust with only two components to the structure forward of the dewar, which in turn has minimal feedthroughs and permeation areas and holds a vacuum <10-8 Torr. A custom shutter was also designed, using pneumatics as the driving force. This device provides exceptional performance and reduces heat near the optical path. Measured performance is repeatable at the 2ms level and offers field uniformity to the same level of precision. The ARCTIC facility imager will provide excellent science capability with robust operation and minimal maintenance for the next decade or more at APO.

Point-of-Care Viral Load Testing for Sub-Saharan Africa: Informing a Target Product Profile.

PubMed

Phillips, Andrew N; Cambiano, Valentina; Nakagawa, Fumiyo; Ford, Deborah; Apollo, Tsitsi; Murungu, Joseph; Rousseau, Christine; Garnett, Geoff; Ehrenkranz, Peter; Bansi-Matharu, Loveleen; Vojnov, Lara; Katz, Zachary; Peeling, Rosanna; Revill, Paul

2016-09-01

Point-of-care viral load tests are being developed to monitor patients on antiretroviral therapy (ART) in sub-Saharan Africa. Test design involves trade-offs between test attributes, including accuracy, complexity, robustness, and cost. We used a model of the human immunodeficiency virus epidemic and ART program in Zimbabwe and found that the attributes of a viral load testing approach that are most influential for cost effectiveness are avoidance of a high proportion of failed tests or results not received, use of an approach that best facilitates retention on ART, and the ability to facilitate greater use of differentiated care, including through expanding coverage of testing availability.

Point-of-Care Viral Load Testing for Sub-Saharan Africa: Informing a Target Product Profile

PubMed Central

Phillips, Andrew N.; Cambiano, Valentina; Nakagawa, Fumiyo; Ford, Deborah; Apollo, Tsitsi; Murungu, Joseph; Rousseau, Christine; Garnett, Geoff; Ehrenkranz, Peter; Bansi-Matharu, Loveleen; Vojnov, Lara; Katz, Zachary; Peeling, Rosanna; Revill, Paul

2016-01-01

Point-of-care viral load tests are being developed to monitor patients on antiretroviral therapy (ART) in sub-Saharan Africa. Test design involves trade-offs between test attributes, including accuracy, complexity, robustness, and cost. We used a model of the human immunodeficiency virus epidemic and ART program in Zimbabwe and found that the attributes of a viral load testing approach that are most influential for cost effectiveness are avoidance of a high proportion of failed tests or results not received, use of an approach that best facilitates retention on ART, and the ability to facilitate greater use of differentiated care, including through expanding coverage of testing availability. PMID:27704016

Design of Potent and Selective Inhibitors to Overcome Clinical Anaplastic Lymphoma Kinase Mutations Resistant to Crizotinib

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

Huang, Qinhua; Johnson, Ted W.; Bailey, Simon

2014-02-27

Crizotinib (1), an anaplastic lymphoma kinase (ALK) receptor tyrosine kinase inhibitor approved by the U.S. Food and Drug Administration in 2011, is efficacious in ALK and ROS positive patients. Under pressure of crizotinib treatment, point mutations arise in the kinase domain of ALK, resulting in resistance and progressive disease. The successful application of both structure-based and lipophilic-efficiency-focused drug design resulted in aminopyridine 8e, which was potent across a broad panel of engineered ALK mutant cell lines and showed suitable preclinical pharmacokinetics and robust tumor growth inhibition in a crizotinib-resistant cell line (H3122-L1196M).

Nonparametric change point estimation for survival distributions with a partially constant hazard rate.

PubMed

Brazzale, Alessandra R; Küchenhoff, Helmut; Krügel, Stefanie; Schiergens, Tobias S; Trentzsch, Heiko; Hartl, Wolfgang

2018-04-05

We present a new method for estimating a change point in the hazard function of a survival distribution assuming a constant hazard rate after the change point and a decreasing hazard rate before the change point. Our method is based on fitting a stump regression to p values for testing hazard rates in small time intervals. We present three real data examples describing survival patterns of severely ill patients, whose excess mortality rates are known to persist far beyond hospital discharge. For designing survival studies in these patients and for the definition of hospital performance metrics (e.g. mortality), it is essential to define adequate and objective end points. The reliable estimation of a change point will help researchers to identify such end points. By precisely knowing this change point, clinicians can distinguish between the acute phase with high hazard (time elapsed after admission and before the change point was reached), and the chronic phase (time elapsed after the change point) in which hazard is fairly constant. We show in an extensive simulation study that maximum likelihood estimation is not robust in this setting, and we evaluate our new estimation strategy including bootstrap confidence intervals and finite sample bias correction.

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

NASA Astrophysics Data System (ADS)

Kniaz, V. V.

2016-06-01

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

Designing Phononic Crystals with Wide and Robust Band Gaps

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

Jia, Zian; Chen, Yanyu; Yang, Haoxiang

Here, phononic crystals (PnCs) engineered to manipulate and control the propagation of mechanical waves have enabled the design of a range of novel devices, such as waveguides, frequency modulators, and acoustic cloaks, for which wide and robust phononic band gaps are highly preferable. While numerous PnCs have been designed in recent decades, to the best of our knowledge, PnCs that possess simultaneous wide and robust band gaps (to randomness and deformations) have not yet been reported. Here, we demonstrate that by combining the band-gap formation mechanisms of Bragg scattering and local resonances (the latter one is dominating), PnCs with widemore » and robust phononic band gaps can be established. The robustness of the phononic band gaps are then discussed from two aspects: robustness to geometric randomness (manufacture defects) and robustness to deformations (mechanical stimuli). Analytical formulations further predict the optimal design parameters, and an uncertainty analysis quantifies the randomness effect of each designing parameter. Moreover, we show that the deformation robustness originates from a local resonance-dominant mechanism together with the suppression of structural instability. Importantly, the proposed PnCs require only a small number of layers of elements (three unit cells) to obtain broad, robust, and strong attenuation bands, which offer great potential in designing flexible and deformable phononic devices.« less

Designing Phononic Crystals with Wide and Robust Band Gaps

DOE PAGES

Jia, Zian; Chen, Yanyu; Yang, Haoxiang; ...

2018-04-16

Here, phononic crystals (PnCs) engineered to manipulate and control the propagation of mechanical waves have enabled the design of a range of novel devices, such as waveguides, frequency modulators, and acoustic cloaks, for which wide and robust phononic band gaps are highly preferable. While numerous PnCs have been designed in recent decades, to the best of our knowledge, PnCs that possess simultaneous wide and robust band gaps (to randomness and deformations) have not yet been reported. Here, we demonstrate that by combining the band-gap formation mechanisms of Bragg scattering and local resonances (the latter one is dominating), PnCs with widemore » and robust phononic band gaps can be established. The robustness of the phononic band gaps are then discussed from two aspects: robustness to geometric randomness (manufacture defects) and robustness to deformations (mechanical stimuli). Analytical formulations further predict the optimal design parameters, and an uncertainty analysis quantifies the randomness effect of each designing parameter. Moreover, we show that the deformation robustness originates from a local resonance-dominant mechanism together with the suppression of structural instability. Importantly, the proposed PnCs require only a small number of layers of elements (three unit cells) to obtain broad, robust, and strong attenuation bands, which offer great potential in designing flexible and deformable phononic devices.« less

Designing Phononic Crystals with Wide and Robust Band Gaps

NASA Astrophysics Data System (ADS)

Jia, Zian; Chen, Yanyu; Yang, Haoxiang; Wang, Lifeng

2018-04-01

Phononic crystals (PnCs) engineered to manipulate and control the propagation of mechanical waves have enabled the design of a range of novel devices, such as waveguides, frequency modulators, and acoustic cloaks, for which wide and robust phononic band gaps are highly preferable. While numerous PnCs have been designed in recent decades, to the best of our knowledge, PnCs that possess simultaneous wide and robust band gaps (to randomness and deformations) have not yet been reported. Here, we demonstrate that by combining the band-gap formation mechanisms of Bragg scattering and local resonances (the latter one is dominating), PnCs with wide and robust phononic band gaps can be established. The robustness of the phononic band gaps are then discussed from two aspects: robustness to geometric randomness (manufacture defects) and robustness to deformations (mechanical stimuli). Analytical formulations further predict the optimal design parameters, and an uncertainty analysis quantifies the randomness effect of each designing parameter. Moreover, we show that the deformation robustness originates from a local resonance-dominant mechanism together with the suppression of structural instability. Importantly, the proposed PnCs require only a small number of layers of elements (three unit cells) to obtain broad, robust, and strong attenuation bands, which offer great potential in designing flexible and deformable phononic devices.

Guidance, Navigation, and Control System Design in a Mass Reduction Exercise

NASA Technical Reports Server (NTRS)

Crain, Timothy; Begly, Michael; Jackson, Mark; Broome, Joel

2008-01-01

Early Orion GN&C system designs optimized for robustness, simplicity, and utilization of commercially available components. During the System Definition Review (SDR), all subsystems on Orion were asked to re-optimize with component mass and steady state power as primary design metrics. The objective was to create a mass reserve in the Orion point of departure vehicle design prior to beginning the PDR analysis cycle. The Orion GN&C subsystem team transitioned from a philosophy of absolute 2 fault tolerance for crew safety and 1 fault tolerance for mission success to an approach of 1 fault tolerance for crew safety and risk based redundancy to meet probability allocations of loss of mission and loss of crew. This paper will discuss the analyses, rationale, and end results of this activity regarding Orion navigation sensor hardware, control effectors, and trajectory design.

A hybrid multi-objective imperialist competitive algorithm and Monte Carlo method for robust safety design of a rail vehicle

NASA Astrophysics Data System (ADS)

Nejlaoui, Mohamed; Houidi, Ajmi; Affi, Zouhaier; Romdhane, Lotfi

2017-10-01

This paper deals with the robust safety design optimization of a rail vehicle system moving in short radius curved tracks. A combined multi-objective imperialist competitive algorithm and Monte Carlo method is developed and used for the robust multi-objective optimization of the rail vehicle system. This robust optimization of rail vehicle safety considers simultaneously the derailment angle and its standard deviation where the design parameters uncertainties are considered. The obtained results showed that the robust design reduces significantly the sensitivity of the rail vehicle safety to the design parameters uncertainties compared to the determinist one and to the literature results.

System Synthesis in Preliminary Aircraft Design using Statistical Methods

NASA Technical Reports Server (NTRS)

DeLaurentis, Daniel; Mavris, Dimitri N.; Schrage, Daniel P.

1996-01-01

This paper documents an approach to conceptual and preliminary aircraft design in which system synthesis is achieved using statistical methods, specifically design of experiments (DOE) and response surface methodology (RSM). These methods are employed in order to more efficiently search the design space for optimum configurations. In particular, a methodology incorporating three uses of these techniques is presented. First, response surface equations are formed which represent aerodynamic analyses, in the form of regression polynomials, which are more sophisticated than generally available in early design stages. Next, a regression equation for an overall evaluation criterion is constructed for the purpose of constrained optimization at the system level. This optimization, though achieved in a innovative way, is still traditional in that it is a point design solution. The methodology put forward here remedies this by introducing uncertainty into the problem, resulting a solutions which are probabilistic in nature. DOE/RSM is used for the third time in this setting. The process is demonstrated through a detailed aero-propulsion optimization of a high speed civil transport. Fundamental goals of the methodology, then, are to introduce higher fidelity disciplinary analyses to the conceptual aircraft synthesis and provide a roadmap for transitioning from point solutions to probabalistic designs (and eventually robust ones).

Exploration of clinical changes following a novel mobilisation technique for treatment of chronic low back pain: A single cohort design.

PubMed

Hanson, Gail C; Jones, Bruce; Bacon, Catherine J; Moran, Robert W

2016-07-01

To explore clinical changes following a novel manual mobilisation technique, 24 participants who experienced 'moderate' to 'severe' chronic low back pain were recruited from new patients attending a suburban osteopathy clinic. The intervention was a previously undescribed side-lying mobilisation technique targeting the lumbosacral spine (median of 6 treatment sessions). After 8 weeks reductions were shown in Oswestry Disability Index of 15 points (95% CI: 9.3, 22.7; p < 0.0001 for overall ANOVA); Quadruple Visual Analogue Scale of 2.0 points (95% CI: 1.0, 3.0; p < 0.0001); and Patient Specific Functional Scale of 3.1 points (95% CI: 1.9, 4.3; p < 0.0001). The results indicate that pain intensity, disability and function improved in most participants following treatment. Further investigation is indicated using more robust research designs to compare this approach with other treatment approaches and usual care for the treatment of chronic low back pain. Copyright © 2015 Elsevier Ltd. All rights reserved.

Drogue pose estimation for unmanned aerial vehicle autonomous aerial refueling system based on infrared vision sensor

NASA Astrophysics Data System (ADS)

Chen, Shanjun; Duan, Haibin; Deng, Yimin; Li, Cong; Zhao, Guozhi; Xu, Yan

2017-12-01

Autonomous aerial refueling is a significant technology that can significantly extend the endurance of unmanned aerial vehicles. A reliable method that can accurately estimate the position and attitude of the probe relative to the drogue is the key to such a capability. A drogue pose estimation method based on infrared vision sensor is introduced with the general goal of yielding an accurate and reliable drogue state estimate. First, by employing direct least squares ellipse fitting and convex hull in OpenCV, a feature point matching and interference point elimination method is proposed. In addition, considering the conditions that some infrared LEDs are damaged or occluded, a missing point estimation method based on perspective transformation and affine transformation is designed. Finally, an accurate and robust pose estimation algorithm improved by the runner-root algorithm is proposed. The feasibility of the designed visual measurement system is demonstrated by flight test, and the results indicate that our proposed method enables precise and reliable pose estimation of the probe relative to the drogue, even in some poor conditions.

Robust pupil center detection using a curvature algorithm

NASA Technical Reports Server (NTRS)

Zhu, D.; Moore, S. T.; Raphan, T.; Wall, C. C. (Principal Investigator)

1999-01-01

Determining the pupil center is fundamental for calculating eye orientation in video-based systems. Existing techniques are error prone and not robust because eyelids, eyelashes, corneal reflections or shadows in many instances occlude the pupil. We have developed a new algorithm which utilizes curvature characteristics of the pupil boundary to eliminate these artifacts. Pupil center is computed based solely on points related to the pupil boundary. For each boundary point, a curvature value is computed. Occlusion of the boundary induces characteristic peaks in the curvature function. Curvature values for normal pupil sizes were determined and a threshold was found which together with heuristics discriminated normal from abnormal curvature. Remaining boundary points were fit with an ellipse using a least squares error criterion. The center of the ellipse is an estimate of the pupil center. This technique is robust and accurately estimates pupil center with less than 40% of the pupil boundary points visible.

Directionally compliant legs influence the intrinsic pitch behaviour of a trotting quadruped

PubMed Central

Lee, David V; Meek, Sanford G

2005-01-01

Limb design is well conserved among quadrupeds, notably, the knees point forward (i.e. cranial inclination of femora) and the elbows point back (i.e. caudal inclination of humeri). This study was undertaken to examine the effects of joint orientation on individual leg forces and centre of mass dynamics. Steady-speed trotting was simulated in two quadrupedal models. Model I had the knee and elbow orientation of a quadruped and model II had a reversed leg configuration in which knees point back and elbows point forward. The model's legs showed directional compliance determined by the orientation of the knee/elbow. In both models, forward pointing knees/elbows produced a propulsive force bias, while rearward pointing knees/elbows produced a braking force bias. Hence, model I showed the same pattern of hind-leg propulsion and fore-leg braking observed in trotting animals. Simulations revealed minimal pitch oscillations during steady-speed trotting of model I, but substantially greater and more irregular pitch oscillations of model II. The reduced pitch oscillation of model I was a result of fore-leg and hind-leg forces that reduced pitching moments during early and late stance, respectively. This passive mechanism for reducing pitch oscillations was an emergent property of directionally compliant legs with the fore–hind configuration of model I. Such intrinsic stability resulting from mechanical design can simplify control tasks and lead to more robust running machines. PMID:15817430

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.

A Low Cost, Self Acting, Liquid Hydrogen Boil-Off Recovery System

NASA Technical Reports Server (NTRS)

Pelfrey, Joy W.; Sharp, Kirk V. (Technical Monitor)

2001-01-01

The purpose of this research was to develop a prototype liquid hydrogen boll-off recovery system. Perform analyses to finalize recovery system cycle, design detail components, fabricate hardware, and conduct sub-component, component, and system level tests leading to the delivery of a prototype system. The design point and off-design analyses identified cycle improvements to increase the robustness of the system by adding a by-pass heat exchanger. Based on the design, analysis, and testing conducted, the recovery system will liquefy 31% of the gaseous boil off from a liquid hydrogen storage tank. All components, including a high speed, miniature turbocompressor, were designed and manufacturing drawings were created. All hardware was fabricated and tests were conducted in air, helium, and hydrogen. Testing validated the design, except for the turbocompressor. A rotor-to-stator clearance issue was discovered as a result of a concentricity tolerance stack-up.

A Robust False Matching Points Detection Method for Remote Sensing Image Registration

NASA Astrophysics Data System (ADS)

Shan, X. J.; Tang, P.

2015-04-01

Given the influences of illumination, imaging angle, and geometric distortion, among others, false matching points still occur in all image registration algorithms. Therefore, false matching points detection is an important step in remote sensing image registration. Random Sample Consensus (RANSAC) is typically used to detect false matching points. However, RANSAC method cannot detect all false matching points in some remote sensing images. Therefore, a robust false matching points detection method based on Knearest- neighbour (K-NN) graph (KGD) is proposed in this method to obtain robust and high accuracy result. The KGD method starts with the construction of the K-NN graph in one image. K-NN graph can be first generated for each matching points and its K nearest matching points. Local transformation model for each matching point is then obtained by using its K nearest matching points. The error of each matching point is computed by using its transformation model. Last, L matching points with largest error are identified false matching points and removed. This process is iterative until all errors are smaller than the given threshold. In addition, KGD method can be used in combination with other methods, such as RANSAC. Several remote sensing images with different resolutions and terrains are used in the experiment. We evaluate the performance of KGD method, RANSAC + KGD method, RANSAC, and Graph Transformation Matching (GTM). The experimental results demonstrate the superior performance of the KGD and RANSAC + KGD methods.

Acceptance testing for PACS: from methodology to design to implementation

NASA Astrophysics Data System (ADS)

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

2004-04-01

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

Robustness

NASA Astrophysics Data System (ADS)

Ryan, R.

1993-03-01

Robustness is a buzz word common to all newly proposed space systems design as well as many new commercial products. The image that one conjures up when the word appears is a 'Paul Bunyon' (lumberjack design), strong and hearty; healthy with margins in all aspects of the design. In actuality, robustness is much broader in scope than margins, including such factors as simplicity, redundancy, desensitization to parameter variations, control of parameter variations (environments flucation), and operational approaches. These must be traded with concepts, materials, and fabrication approaches against the criteria of performance, cost, and reliability. This includes manufacturing, assembly, processing, checkout, and operations. The design engineer or project chief is faced with finding ways and means to inculcate robustness into an operational design. First, however, be sure he understands the definition and goals of robustness. This paper will deal with these issues as well as the need for the requirement for robustness.

Robustness

NASA Technical Reports Server (NTRS)

Ryan, R.

1993-01-01

Robustness is a buzz word common to all newly proposed space systems design as well as many new commercial products. The image that one conjures up when the word appears is a 'Paul Bunyon' (lumberjack design), strong and hearty; healthy with margins in all aspects of the design. In actuality, robustness is much broader in scope than margins, including such factors as simplicity, redundancy, desensitization to parameter variations, control of parameter variations (environments flucation), and operational approaches. These must be traded with concepts, materials, and fabrication approaches against the criteria of performance, cost, and reliability. This includes manufacturing, assembly, processing, checkout, and operations. The design engineer or project chief is faced with finding ways and means to inculcate robustness into an operational design. First, however, be sure he understands the definition and goals of robustness. This paper will deal with these issues as well as the need for the requirement for robustness.

Horsetail matching: a flexible approach to optimization under uncertainty

NASA Astrophysics Data System (ADS)

Cook, L. W.; Jarrett, J. P.

2018-04-01

It is important to design engineering systems to be robust with respect to uncertainties in the design process. Often, this is done by considering statistical moments, but over-reliance on statistical moments when formulating a robust optimization can produce designs that are stochastically dominated by other feasible designs. This article instead proposes a formulation for optimization under uncertainty that minimizes the difference between a design's cumulative distribution function and a target. A standard target is proposed that produces stochastically non-dominated designs, but the formulation also offers enough flexibility to recover existing approaches for robust optimization. A numerical implementation is developed that employs kernels to give a differentiable objective function. The method is applied to algebraic test problems and a robust transonic airfoil design problem where it is compared to multi-objective, weighted-sum and density matching approaches to robust optimization; several advantages over these existing methods are demonstrated.

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

NASA Technical Reports Server (NTRS)

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

1994-01-01

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

Automated UHPLC separation of 10 pharmaceutical compounds using software-modeling.

PubMed

Zöldhegyi, A; Rieger, H-J; Molnár, I; Fekhretdinova, L

2018-03-20

Human mistakes are still one of the main reasons of underlying regulatory affairs that in a compliance with FDA's Data Integrity and Analytical Quality by Design (AQbD) must be eliminated. To develop smooth, fast and robust methods that are free of human failures, a state-of-the-art automation was presented. For the scope of this study, a commercial software (DryLab) and a model mixture of 10 drugs were subjected to testing. Following AQbD-principles, the best available working point was selected and conformational experimental runs, i.e. the six worst cases of the conducted robustness calculation, were performed. Simulated results were found to be in excellent agreement with the experimental ones, proving the usefulness and effectiveness of an automated, software-assisted analytical method development. Copyright © 2018. Published by Elsevier B.V.

Repliscan: a tool for classifying replication timing regions.

PubMed

Zynda, Gregory J; Song, Jawon; Concia, Lorenzo; Wear, Emily E; Hanley-Bowdoin, Linda; Thompson, William F; Vaughn, Matthew W

2017-08-07

Replication timing experiments that use label incorporation and high throughput sequencing produce peaked data similar to ChIP-Seq experiments. However, the differences in experimental design, coverage density, and possible results make traditional ChIP-Seq analysis methods inappropriate for use with replication timing. To accurately detect and classify regions of replication across the genome, we present Repliscan. Repliscan robustly normalizes, automatically removes outlying and uninformative data points, and classifies Repli-seq signals into discrete combinations of replication signatures. The quality control steps and self-fitting methods make Repliscan generally applicable and more robust than previous methods that classify regions based on thresholds. Repliscan is simple and effective to use on organisms with different genome sizes. Even with analysis window sizes as small as 1 kilobase, reliable profiles can be generated with as little as 2.4x coverage.

Adaptive fuzzy sliding control of single-phase PV grid-connected inverter.

PubMed

Fei, Juntao; Zhu, Yunkai

2017-01-01

In this paper, an adaptive fuzzy sliding mode controller is proposed to control a two-stage single-phase photovoltaic (PV) grid-connected inverter. Two key technologies are discussed in the presented PV system. An incremental conductance method with adaptive step is adopted to track the maximum power point (MPP) by controlling the duty cycle of the controllable power switch of the boost DC-DC converter. An adaptive fuzzy sliding mode controller with an integral sliding surface is developed for the grid-connected inverter where a fuzzy system is used to approach the upper bound of the system nonlinearities. The proposed strategy has strong robustness for the sliding mode control can be designed independently and disturbances can be adaptively compensated. Simulation results of a PV grid-connected system verify the effectiveness of the proposed method, demonstrating the satisfactory robustness and performance.

Real-World Application of Robust Design Optimization Assisted by Response Surface Approximation and Visual Data-Mining

NASA Astrophysics Data System (ADS)

Shimoyama, Koji; Jeong, Shinkyu; Obayashi, Shigeru

A new approach for multi-objective robust design optimization was proposed and applied to a real-world design problem with a large number of objective functions. The present approach is assisted by response surface approximation and visual data-mining, and resulted in two major gains regarding computational time and data interpretation. The Kriging model for response surface approximation can markedly reduce the computational time for predictions of robustness. In addition, the use of self-organizing maps as a data-mining technique allows visualization of complicated design information between optimality and robustness in a comprehensible two-dimensional form. Therefore, the extraction and interpretation of trade-off relations between optimality and robustness of design, and also the location of sweet spots in the design space, can be performed in a comprehensive manner.

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.

Dynamically encircling an exceptional point for asymmetric mode switching.

PubMed

Doppler, Jörg; Mailybaev, Alexei A; Böhm, Julian; Kuhl, Ulrich; Girschik, Adrian; Libisch, Florian; Milburn, Thomas J; Rabl, Peter; Moiseyev, Nimrod; Rotter, Stefan

2016-09-01

Physical systems with loss or gain have resonant modes that decay or grow exponentially with time. Whenever two such modes coalesce both in their resonant frequency and their rate of decay or growth, an 'exceptional point' occurs, giving rise to fascinating phenomena that defy our physical intuition. Particularly intriguing behaviour is predicted to appear when an exceptional point is encircled sufficiently slowly, such as a state-flip or the accumulation of a geometric phase. The topological structure of exceptional points has been experimentally explored, but a full dynamical encircling of such a point and the associated breakdown of adiabaticity have remained out of reach of measurement. Here we demonstrate that a dynamical encircling of an exceptional point is analogous to the scattering through a two-mode waveguide with suitably designed boundaries and losses. We present experimental results from a corresponding waveguide structure that steers incoming waves around an exceptional point during the transmission process. In this way, mode transitions are induced that transform this device into a robust and asymmetric switch between different waveguide modes. This work will enable the exploration of exceptional point physics in system control and state transfer schemes at the crossroads between fundamental research and practical applications.

Robust synchronization control scheme of a population of nonlinear stochastic synthetic genetic oscillators under intrinsic and extrinsic molecular noise via quorum sensing.

PubMed

Chen, Bor-Sen; Hsu, Chih-Yuan

2012-10-26

Collective rhythms of gene regulatory networks have been a subject of considerable interest for biologists and theoreticians, in particular the synchronization of dynamic cells mediated by intercellular communication. Synchronization of a population of synthetic genetic oscillators is an important design in practical applications, because such a population distributed over different host cells needs to exploit molecular phenomena simultaneously in order to emerge a biological phenomenon. However, this synchronization may be corrupted by intrinsic kinetic parameter fluctuations and extrinsic environmental molecular noise. Therefore, robust synchronization is an important design topic in nonlinear stochastic coupled synthetic genetic oscillators with intrinsic kinetic parameter fluctuations and extrinsic molecular noise. Initially, the condition for robust synchronization of synthetic genetic oscillators was derived based on Hamilton Jacobi inequality (HJI). We found that if the synchronization robustness can confer enough intrinsic robustness to tolerate intrinsic parameter fluctuation and extrinsic robustness to filter the environmental noise, then robust synchronization of coupled synthetic genetic oscillators is guaranteed. If the synchronization robustness of a population of nonlinear stochastic coupled synthetic genetic oscillators distributed over different host cells could not be maintained, then robust synchronization could be enhanced by external control input through quorum sensing molecules. In order to simplify the analysis and design of robust synchronization of nonlinear stochastic synthetic genetic oscillators, the fuzzy interpolation method was employed to interpolate several local linear stochastic coupled systems to approximate the nonlinear stochastic coupled system so that the HJI-based synchronization design problem could be replaced by a simple linear matrix inequality (LMI)-based design problem, which could be solved with the help of LMI toolbox in MATLAB easily. If the synchronization robustness criterion, i.e. the synchronization robustness ≥ intrinsic robustness + extrinsic robustness, then the stochastic coupled synthetic oscillators can be robustly synchronized in spite of intrinsic parameter fluctuation and extrinsic noise. If the synchronization robustness criterion is violated, external control scheme by adding inducer can be designed to improve synchronization robustness of coupled synthetic genetic oscillators. The investigated robust synchronization criteria and proposed external control method are useful for a population of coupled synthetic networks with emergent synchronization behavior, especially for multi-cellular, engineered networks.

Robust synchronization control scheme of a population of nonlinear stochastic synthetic genetic oscillators under intrinsic and extrinsic molecular noise via quorum sensing

PubMed Central

2012-01-01

Background Collective rhythms of gene regulatory networks have been a subject of considerable interest for biologists and theoreticians, in particular the synchronization of dynamic cells mediated by intercellular communication. Synchronization of a population of synthetic genetic oscillators is an important design in practical applications, because such a population distributed over different host cells needs to exploit molecular phenomena simultaneously in order to emerge a biological phenomenon. However, this synchronization may be corrupted by intrinsic kinetic parameter fluctuations and extrinsic environmental molecular noise. Therefore, robust synchronization is an important design topic in nonlinear stochastic coupled synthetic genetic oscillators with intrinsic kinetic parameter fluctuations and extrinsic molecular noise. Results Initially, the condition for robust synchronization of synthetic genetic oscillators was derived based on Hamilton Jacobi inequality (HJI). We found that if the synchronization robustness can confer enough intrinsic robustness to tolerate intrinsic parameter fluctuation and extrinsic robustness to filter the environmental noise, then robust synchronization of coupled synthetic genetic oscillators is guaranteed. If the synchronization robustness of a population of nonlinear stochastic coupled synthetic genetic oscillators distributed over different host cells could not be maintained, then robust synchronization could be enhanced by external control input through quorum sensing molecules. In order to simplify the analysis and design of robust synchronization of nonlinear stochastic synthetic genetic oscillators, the fuzzy interpolation method was employed to interpolate several local linear stochastic coupled systems to approximate the nonlinear stochastic coupled system so that the HJI-based synchronization design problem could be replaced by a simple linear matrix inequality (LMI)-based design problem, which could be solved with the help of LMI toolbox in MATLAB easily. Conclusion If the synchronization robustness criterion, i.e. the synchronization robustness ≥ intrinsic robustness + extrinsic robustness, then the stochastic coupled synthetic oscillators can be robustly synchronized in spite of intrinsic parameter fluctuation and extrinsic noise. If the synchronization robustness criterion is violated, external control scheme by adding inducer can be designed to improve synchronization robustness of coupled synthetic genetic oscillators. The investigated robust synchronization criteria and proposed external control method are useful for a population of coupled synthetic networks with emergent synchronization behavior, especially for multi-cellular, engineered networks. PMID:23101662

Reliability, robustness, and reproducibility in mouse behavioral phenotyping: a cross-laboratory study

PubMed Central

Mandillo, Silvia; Tucci, Valter; Hölter, Sabine M.; Meziane, Hamid; Banchaabouchi, Mumna Al; Kallnik, Magdalena; Lad, Heena V.; Nolan, Patrick M.; Ouagazzal, Abdel-Mouttalib; Coghill, Emma L.; Gale, Karin; Golini, Elisabetta; Jacquot, Sylvie; Krezel, Wojtek; Parker, Andy; Riet, Fabrice; Schneider, Ilka; Marazziti, Daniela; Auwerx, Johan; Brown, Steve D. M.; Chambon, Pierre; Rosenthal, Nadia; Tocchini-Valentini, Glauco; Wurst, Wolfgang

2008-01-01

Establishing standard operating procedures (SOPs) as tools for the analysis of behavioral phenotypes is fundamental to mouse functional genomics. It is essential that the tests designed provide reliable measures of the process under investigation but most importantly that these are reproducible across both time and laboratories. For this reason, we devised and tested a set of SOPs to investigate mouse behavior. Five research centers were involved across France, Germany, Italy, and the UK in this study, as part of the EUMORPHIA program. All the procedures underwent a cross-validation experimental study to investigate the robustness of the designed protocols. Four inbred reference strains (C57BL/6J, C3HeB/FeJ, BALB/cByJ, 129S2/SvPas), reflecting their use as common background strains in mutagenesis programs, were analyzed to validate these tests. We demonstrate that the operating procedures employed, which includes open field, SHIRPA, grip-strength, rotarod, Y-maze, prepulse inhibition of acoustic startle response, and tail flick tests, generated reproducible results between laboratories for a number of the test output parameters. However, we also identified several uncontrolled variables that constitute confounding factors in behavioral phenotyping. The EUMORPHIA SOPs described here are an important start-point for the ongoing development of increasingly robust phenotyping platforms and their application in large-scale, multicentre mouse phenotyping programs. PMID:18505770

Nonlinear material behaviour of spider silk yields robust webs.

PubMed

Cranford, Steven W; Tarakanova, Anna; Pugno, Nicola M; Buehler, Markus J

2012-02-01

Natural materials are renowned for exquisite designs that optimize function, as illustrated by the elasticity of blood vessels, the toughness of bone and the protection offered by nacre. Particularly intriguing are spider silks, with studies having explored properties ranging from their protein sequence to the geometry of a web. This material system, highly adapted to meet a spider's many needs, has superior mechanical properties. In spite of much research into the molecular design underpinning the outstanding performance of silk fibres, and into the mechanical characteristics of web-like structures, it remains unknown how the mechanical characteristics of spider silk contribute to the integrity and performance of a spider web. Here we report web deformation experiments and simulations that identify the nonlinear response of silk threads to stress--involving softening at a yield point and substantial stiffening at large strain until failure--as being crucial to localize load-induced deformation and resulting in mechanically robust spider webs. Control simulations confirmed that a nonlinear stress response results in superior resistance to structural defects in the web compared to linear elastic or elastic-plastic (softening) material behaviour. We also show that under distributed loads, such as those exerted by wind, the stiff behaviour of silk under small deformation, before the yield point, is essential in maintaining the web's structural integrity. The superior performance of silk in webs is therefore not due merely to its exceptional ultimate strength and strain, but arises from the nonlinear response of silk threads to strain and their geometrical arrangement in a web.

A novel double loop control model design for chemical unstable processes.

PubMed

Cong, Er-Ding; Hu, Ming-Hui; Tu, Shan-Tung; Xuan, Fu-Zhen; Shao, Hui-He

2014-03-01

In this manuscript, based on Smith predictor control scheme for unstable process in industry, an improved double loop control model is proposed for chemical unstable processes. Inner loop is to stabilize integrating the unstable process and transform the original process to first-order plus pure dead-time dynamic stable process. Outer loop is to enhance the performance of set point response. Disturbance controller is designed to enhance the performance of disturbance response. The improved control system is simple with exact physical meaning. The characteristic equation is easy to realize stabilization. Three controllers are separately design in the improved scheme. It is easy to design each controller and good control performance for the respective closed-loop transfer function separately. The robust stability of the proposed control scheme is analyzed. Finally, case studies illustrate that the improved method can give better system performance than existing design methods. © 2013 ISA Published by ISA All rights reserved.

Establishing column batch repeatability according to Quality by Design (QbD) principles using modeling software.

PubMed

Rácz, Norbert; Kormány, Róbert; Fekete, Jenő; Molnár, Imre

2015-04-10

Column technology needs further improvement even today. To get information of batch-to-batch repeatability, intelligent modeling software was applied. Twelve columns from the same production process, but from different batches were compared in this work. In this paper, the retention parameters of these columns with real life sample solutes were studied. The following parameters were selected for measurements: gradient time, temperature and pH. Based on calculated results, batch-to-batch repeatability of BEH columns was evaluated. Two parallel measurements on two columns from the same batch were performed to obtain information about the quality of packing. Calculating the average of individual working points at the highest critical resolution (R(s,crit)) it was found that the robustness, calculated with a newly released robustness module, had a success rate >98% among the predicted 3(6) = 729 experiments for all 12 columns. With the help of retention modeling all substances could be separated independently from the batch and/or packing, using the same conditions, having high robustness of the experiments. Copyright © 2015 Elsevier B.V. All rights reserved.

Robust group-wise rigid registration of point sets using t-mixture model

NASA Astrophysics Data System (ADS)

Ravikumar, Nishant; Gooya, Ali; Frangi, Alejandro F.; Taylor, Zeike A.

2016-03-01

A probabilistic framework for robust, group-wise rigid alignment of point-sets using a mixture of Students t-distribution especially when the point sets are of varying lengths, are corrupted by an unknown degree of outliers or in the presence of missing data. Medical images (in particular magnetic resonance (MR) images), their segmentations and consequently point-sets generated from these are highly susceptible to corruption by outliers. This poses a problem for robust correspondence estimation and accurate alignment of shapes, necessary for training statistical shape models (SSMs). To address these issues, this study proposes to use a t-mixture model (TMM), to approximate the underlying joint probability density of a group of similar shapes and align them to a common reference frame. The heavy-tailed nature of t-distributions provides a more robust registration framework in comparison to state of the art algorithms. Significant reduction in alignment errors is achieved in the presence of outliers, using the proposed TMM-based group-wise rigid registration method, in comparison to its Gaussian mixture model (GMM) counterparts. The proposed TMM-framework is compared with a group-wise variant of the well-known Coherent Point Drift (CPD) algorithm and two other group-wise methods using GMMs, using both synthetic and real data sets. Rigid alignment errors for groups of shapes are quantified using the Hausdorff distance (HD) and quadratic surface distance (QSD) metrics.

The Problem of Size in Robust Design

NASA Technical Reports Server (NTRS)

Koch, Patrick N.; Allen, Janet K.; Mistree, Farrokh; Mavris, Dimitri

1997-01-01

To facilitate the effective solution of multidisciplinary, multiobjective complex design problems, a departure from the traditional parametric design analysis and single objective optimization approaches is necessary in the preliminary stages of design. A necessary tradeoff becomes one of efficiency vs. accuracy as approximate models are sought to allow fast analysis and effective exploration of a preliminary design space. In this paper we apply a general robust design approach for efficient and comprehensive preliminary design to a large complex system: a high speed civil transport (HSCT) aircraft. Specifically, we investigate the HSCT wing configuration design, incorporating life cycle economic uncertainties to identify economically robust solutions. The approach is built on the foundation of statistical experimentation and modeling techniques and robust design principles, and is specialized through incorporation of the compromise Decision Support Problem for multiobjective design. For large problems however, as in the HSCT example, this robust design approach developed for efficient and comprehensive design breaks down with the problem of size - combinatorial explosion in experimentation and model building with number of variables -and both efficiency and accuracy are sacrificed. Our focus in this paper is on identifying and discussing the implications and open issues associated with the problem of size for the preliminary design of large complex systems.

Robust digital image watermarking using distortion-compensated dither modulation

NASA Astrophysics Data System (ADS)

Li, Mianjie; Yuan, Xiaochen

2018-04-01

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

Robust tracking control of a magnetically suspended rigid body

NASA Technical Reports Server (NTRS)

Lim, Kyong B.; Cox, David E.

1994-01-01

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

Parametric Human Body Reconstruction Based on Sparse Key Points.

PubMed

Cheng, Ke-Li; Tong, Ruo-Feng; Tang, Min; Qian, Jing-Ye; Sarkis, Michel

2016-11-01

We propose an automatic parametric human body reconstruction algorithm which can efficiently construct a model using a single Kinect sensor. A user needs to stand still in front of the sensor for a couple of seconds to measure the range data. The user's body shape and pose will then be automatically constructed in several seconds. Traditional methods optimize dense correspondences between range data and meshes. In contrast, our proposed scheme relies on sparse key points for the reconstruction. It employs regression to find the corresponding key points between the scanned range data and some annotated training data. We design two kinds of feature descriptors as well as corresponding regression stages to make the regression robust and accurate. Our scheme follows with dense refinement where a pre-factorization method is applied to improve the computational efficiency. Compared with other methods, our scheme achieves similar reconstruction accuracy but significantly reduces runtime.

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

PubMed

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

2012-04-06

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

A homotopy algorithm for synthesizing robust controllers for flexible structures via the maximum entropy design equations

NASA Technical Reports Server (NTRS)

Collins, Emmanuel G., Jr.; Richter, Stephen

1990-01-01

One well known deficiency of LQG compensators is that they do not guarantee any measure of robustness. This deficiency is especially highlighted when considering control design for complex systems such as flexible structures. There has thus been a need to generalize LQG theory to incorporate robustness constraints. Here we describe the maximum entropy approach to robust control design for flexible structures, a generalization of LQG theory, pioneered by Hyland, which has proved useful in practice. The design equations consist of a set of coupled Riccati and Lyapunov equations. A homotopy algorithm that is used to solve these design equations is presented.

Robustness Analysis and Optimally Robust Control Design via Sum-of-Squares

NASA Technical Reports Server (NTRS)

Dorobantu, Andrei; Crespo, Luis G.; Seiler, Peter J.

2012-01-01

A control analysis and design framework is proposed for systems subject to parametric uncertainty. The underlying strategies are based on sum-of-squares (SOS) polynomial analysis and nonlinear optimization to design an optimally robust controller. The approach determines a maximum uncertainty range for which the closed-loop system satisfies a set of stability and performance requirements. These requirements, de ned as inequality constraints on several metrics, are restricted to polynomial functions of the uncertainty. To quantify robustness, SOS analysis is used to prove that the closed-loop system complies with the requirements for a given uncertainty range. The maximum uncertainty range, calculated by assessing a sequence of increasingly larger ranges, serves as a robustness metric for the closed-loop system. To optimize the control design, nonlinear optimization is used to enlarge the maximum uncertainty range by tuning the controller gains. Hence, the resulting controller is optimally robust to parametric uncertainty. This approach balances the robustness margins corresponding to each requirement in order to maximize the aggregate system robustness. The proposed framework is applied to a simple linear short-period aircraft model with uncertain aerodynamic coefficients.

Fast and Robust Registration of Multimodal Remote Sensing Images via Dense Orientated Gradient Feature

NASA Astrophysics Data System (ADS)

Ye, Y.

2017-09-01

This paper presents a fast and robust method for the registration of multimodal remote sensing data (e.g., optical, LiDAR, SAR and map). The proposed method is based on the hypothesis that structural similarity between images is preserved across different modalities. In the definition of the proposed method, we first develop a pixel-wise feature descriptor named Dense Orientated Gradient Histogram (DOGH), which can be computed effectively at every pixel and is robust to non-linear intensity differences between images. Then a fast similarity metric based on DOGH is built in frequency domain using the Fast Fourier Transform (FFT) technique. Finally, a template matching scheme is applied to detect tie points between images. Experimental results on different types of multimodal remote sensing images show that the proposed similarity metric has the superior matching performance and computational efficiency than the state-of-the-art methods. Moreover, based on the proposed similarity metric, we also design a fast and robust automatic registration system for multimodal images. This system has been evaluated using a pair of very large SAR and optical images (more than 20000 × 20000 pixels). Experimental results show that our system outperforms the two popular commercial software systems (i.e. ENVI and ERDAS) in both registration accuracy and computational efficiency.

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.

Tympanic thermometer performance validation by use of a body-temperature fixed point blackbody

NASA Astrophysics Data System (ADS)

Machin, Graham; Simpson, Robert

2003-04-01

The use of infrared tympanic thermometers within the medical community (and more generically in the public domain) has recently grown rapidly, displacing more traditional forms of thermometry such as mercury-in-glass. Besides the obvious health concerns over mercury the increase in the use of tympanic thermometers is related to a number of factors such as their speed and relatively non-invasive method of operation. The calibration and testing of such devices is covered by a number of international standards (ASTM1, prEN2, JIS3) which specify the design of calibration blackbodies. However these calibration sources are impractical for day-to-day in-situ validation purposes. In addition several studies (e.g. Modell et al4, Craig et al5) have thrown doubt on the accuracy of tympanic thermometers in clinical use. With this in mind the NPL is developing a practical, portable and robust primary reference fixed point source for tympanic thermometer validation. The aim of this simple device is to give the clinician a rapid way of validating the performance of their tympanic thermometer, enabling the detection of mal-functioning thermometers and giving confidence in the measurement to the clinician (and patient!) at point of use. The reference fixed point operates at a temperature of 36.3 °C (97.3 °F) with a repeatability of approximately +/- 20 mK. The fixed-point design has taken into consideration the optical characteristics of tympanic thermometers enabling wide-angled field of view devices to be successfully tested. The overall uncertainty of the device is estimated to be is less than 0.1°C. The paper gives a description of the fixed point, its design and construction as well as the results to date of validation tests.

Robust THP Transceiver Designs for Multiuser MIMO Downlink with Imperfect CSIT

NASA Astrophysics Data System (ADS)

Ubaidulla, P.; Chockalingam, A.

2009-12-01

We present robust joint nonlinear transceiver designs for multiuser multiple-input multiple-output (MIMO) downlink in the presence of imperfections in the channel state information at the transmitter (CSIT). The base station (BS) is equipped with multiple transmit antennas, and each user terminal is equipped with one or more receive antennas. The BS employs Tomlinson-Harashima precoding (THP) for interuser interference precancellation at the transmitter. We consider robust transceiver designs that jointly optimize the transmit THP filters and receive filter for two models of CSIT errors. The first model is a stochastic error (SE) model, where the CSIT error is Gaussian-distributed. This model is applicable when the CSIT error is dominated by channel estimation error. In this case, the proposed robust transceiver design seeks to minimize a stochastic function of the sum mean square error (SMSE) under a constraint on the total BS transmit power. We propose an iterative algorithm to solve this problem. The other model we consider is a norm-bounded error (NBE) model, where the CSIT error can be specified by an uncertainty set. This model is applicable when the CSIT error is dominated by quantization errors. In this case, we consider a worst-case design. For this model, we consider robust (i) minimum SMSE, (ii) MSE-constrained, and (iii) MSE-balancing transceiver designs. We propose iterative algorithms to solve these problems, wherein each iteration involves a pair of semidefinite programs (SDPs). Further, we consider an extension of the proposed algorithm to the case with per-antenna power constraints. We evaluate the robustness of the proposed algorithms to imperfections in CSIT through simulation, and show that the proposed robust designs outperform nonrobust designs as well as robust linear transceiver designs reported in the recent literature.

Aircraft ride quality controller design using new robust root clustering theory for linear uncertain systems

NASA Technical Reports Server (NTRS)

Yedavalli, R. K.

1992-01-01

The aspect of controller design for improving the ride quality of aircraft in terms of damping ratio and natural frequency specifications on the short period dynamics is addressed. The controller is designed to be robust with respect to uncertainties in the real parameters of the control design model such as uncertainties in the dimensional stability derivatives, imperfections in actuator/sensor locations and possibly variations in flight conditions, etc. The design is based on a new robust root clustering theory developed by the author by extending the nominal root clustering theory of Gutman and Jury to perturbed matrices. The proposed methodology allows to get an explicit relationship between the parameters of the root clustering region and the uncertainty radius of the parameter space. The current literature available for robust stability becomes a special case of this unified theory. The bounds derived on the parameter perturbation for robust root clustering are then used in selecting the robust controller.

Effects of 2D and 3D Error Fields on the SAS Divertor Magnetic Topology

NASA Astrophysics Data System (ADS)

Trevisan, G. L.; Lao, L. L.; Strait, E. J.; Guo, H. Y.; Wu, W.; Evans, T. E.

2016-10-01

The successful design of plasma-facing components in fusion experiments is of paramount importance in both the operation of future reactors and in the modification of operating machines. Indeed, the Small Angle Slot (SAS) divertor concept, proposed for application on the DIII-D experiment, combines a small incident angle at the plasma strike point with a progressively opening slot, so as to better control heat flux and erosion in high-performance tokamak plasmas. Uncertainty quantification of the error fields expected around the striking point provides additional useful information in both the design and the modeling phases of the new divertor, in part due to the particular geometric requirement of the striking flux surfaces. The presented work involves both 2D and 3D magnetic error field analysis on the SAS strike point carried out using the EFIT code for 2D equilibrium reconstruction, V3POST for vacuum 3D computations and the OMFIT integrated modeling framework for data analysis. An uncertainty in the magnetic probes' signals is found to propagate non-linearly as an uncertainty in the striking point and angle, which can be quantified through statistical analysis to yield robust estimates. Work supported by contracts DE-FG02-95ER54309 and DE-FC02-04ER54698.

Analytical redundancy and the design of robust failure detection systems

NASA Technical Reports Server (NTRS)

Chow, E. Y.; Willsky, A. S.

1984-01-01

The Failure Detection and Identification (FDI) process is viewed as consisting of two stages: residual generation and decision making. It is argued that a robust FDI system can be achieved by designing a robust residual generation process. Analytical redundancy, the basis for residual generation, is characterized in terms of a parity space. Using the concept of parity relations, residuals can be generated in a number of ways and the design of a robust residual generation process can be formulated as a minimax optimization problem. An example is included to illustrate this design methodology. Previously announcedd in STAR as N83-20653

Robust optimization of front members in a full frontal car impact

NASA Astrophysics Data System (ADS)

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

2013-03-01

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

Application of quality by design concept to develop a dual gradient elution stability-indicating method for cloxacillin forced degradation studies using combined mixture-process variable models.

PubMed

Zhang, Xia; Hu, Changqin

2017-09-08

Penicillins are typical of complex ionic samples which likely contain large number of degradation-related impurities (DRIs) with different polarities and charge properties. It is often a challenge to develop selective and robust high performance liquid chromatography (HPLC) methods for the efficient separation of all DRIs. In this study, an analytical quality by design (AQbD) approach was proposed for stability-indicating method development of cloxacillin. The structures, retention and UV characteristics rules of penicillins and their impurities were summarized and served as useful prior knowledge. Through quality risk assessment and screen design, 3 critical process parameters (CPPs) were defined, including 2 mixture variables (MVs) and 1 process variable (PV). A combined mixture-process variable (MPV) design was conducted to evaluate the 3 CPPs simultaneously and a response surface methodology (RSM) was used to achieve the optimal experiment parameters. A dual gradient elution was performed to change buffer pH, mobile-phase type and strength simultaneously. The design spaces (DSs) was evaluated using Monte Carlo simulation to give their possibility of meeting the specifications of CQAs. A Plackett-Burman design was performed to test the robustness around the working points and to decide the normal operating ranges (NORs). Finally, validation was performed following International Conference on Harmonisation (ICH) guidelines. To our knowledge, this is the first study of using MPV design and dual gradient elution to develop HPLC methods and improve separations for complex ionic samples. Copyright © 2017 Elsevier B.V. All rights reserved.

Single axis control of ball position in magnetic levitation system using fuzzy logic control

NASA Astrophysics Data System (ADS)

Sahoo, Narayan; Tripathy, Ashis; Sharma, Priyaranjan

2018-03-01

This paper presents the design and real time implementation of Fuzzy logic control(FLC) for the control of the position of a ferromagnetic ball by manipulating the current flowing in an electromagnet that changes the magnetic field acting on the ball. This system is highly nonlinear and open loop unstable. Many un-measurable disturbances are also acting on the system, making the control of it highly complex but interesting for any researcher in control system domain. First the system is modelled using the fundamental laws, which gives a nonlinear equation. The nonlinear model is then linearized at an operating point. Fuzzy logic controller is designed after studying the system in closed loop under PID control action. The controller is then implemented in real time using Simulink real time environment. The controller is tuned manually to get a stable and robust performance. The set point tracking performance of FLC and PID controllers were compared and analyzed.

Robust Operation of Soft Open Points in Active Distribution Networks with High Penetration of Photovoltaic Integration

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

Ding, Fei; Ji, Haoran; Wang, Chengshan

Distributed generators (DGs) including photovoltaic panels (PVs) have been integrated dramatically in active distribution networks (ADNs). Due to the strong volatility and uncertainty, the high penetration of PV generation immensely exacerbates the conditions of voltage violation in ADNs. However, the emerging flexible interconnection technology based on soft open points (SOPs) provides increased controllability and flexibility to the system operation. For fully exploiting the regulation ability of SOPs to address the problems caused by PV, this paper proposes a robust optimization method to achieve the robust optimal operation of SOPs in ADNs. A two-stage adjustable robust optimization model is built tomore » tackle the uncertainties of PV outputs, in which robust operation strategies of SOPs are generated to eliminate the voltage violations and reduce the power losses of ADNs. A column-and-constraint generation (C&CG) algorithm is developed to solve the proposed robust optimization model, which are formulated as second-order cone program (SOCP) to facilitate the accuracy and computation efficiency. Case studies on the modified IEEE 33-node system and comparisons with the deterministic optimization approach are conducted to verify the effectiveness and robustness of the proposed method.« less

Robustness. [in space systems

NASA Technical Reports Server (NTRS)

Ryan, Robert

1993-01-01

The concept of rubustness includes design simplicity, component and path redundancy, desensitization to the parameter and environment variations, control of parameter variations, and punctual operations. These characteristics must be traded with functional concepts, materials, and fabrication approach against the criteria of performance, cost, and reliability. The paper describes the robustness design process, which includes the following seven major coherent steps: translation of vision into requirements, definition of the robustness characteristics desired, criteria formulation of required robustness, concept selection, detail design, manufacturing and verification, operations.

Robust synthetic biology design: stochastic game theory approach.

PubMed

Chen, Bor-Sen; Chang, Chia-Hung; Lee, Hsiao-Ching

2009-07-15

Synthetic biology is to engineer artificial biological systems to investigate natural biological phenomena and for a variety of applications. However, the development of synthetic gene networks is still difficult and most newly created gene networks are non-functioning due to uncertain initial conditions and disturbances of extra-cellular environments on the host cell. At present, how to design a robust synthetic gene network to work properly under these uncertain factors is the most important topic of synthetic biology. A robust regulation design is proposed for a stochastic synthetic gene network to achieve the prescribed steady states under these uncertain factors from the minimax regulation perspective. This minimax regulation design problem can be transformed to an equivalent stochastic game problem. Since it is not easy to solve the robust regulation design problem of synthetic gene networks by non-linear stochastic game method directly, the Takagi-Sugeno (T-S) fuzzy model is proposed to approximate the non-linear synthetic gene network via the linear matrix inequality (LMI) technique through the Robust Control Toolbox in Matlab. Finally, an in silico example is given to illustrate the design procedure and to confirm the efficiency and efficacy of the proposed robust gene design method. http://www.ee.nthu.edu.tw/bschen/SyntheticBioDesign_supplement.pdf.

The Design of Fault Tolerant Quantum Dot Cellular Automata Based Logic

NASA Technical Reports Server (NTRS)

Armstrong, C. Duane; Humphreys, William M.; Fijany, Amir

2002-01-01

As transistor geometries are reduced, quantum effects begin to dominate device performance. At some point, transistors cease to have the properties that make them useful computational components. New computing elements must be developed in order to keep pace with Moore s Law. Quantum dot cellular automata (QCA) represent an alternative paradigm to transistor-based logic. QCA architectures that are robust to manufacturing tolerances and defects must be developed. We are developing software that allows the exploration of fault tolerant QCA gate architectures by automating the specification, simulation, analysis and documentation processes.

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

PubMed

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

2018-04-01

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

Development of robust flexible OLED encapsulations using simulated estimations and experimental validations

NASA Astrophysics Data System (ADS)

Lee, Chang-Chun; Shih, Yan-Shin; Wu, Chih-Sheng; Tsai, Chia-Hao; Yeh, Shu-Tang; Peng, Yi-Hao; Chen, Kuang-Jung

2012-07-01

This work analyses the overall stress/strain characteristic of flexible encapsulations with organic light-emitting diode (OLED) devices. A robust methodology composed of a mechanical model of multi-thin film under bending loads and related stress simulations based on nonlinear finite element analysis (FEA) is proposed, and validated to be more reliable compared with related experimental data. With various geometrical combinations of cover plate, stacked thin films and plastic substrate, the position of the neutral axis (NA) plate, which is regarded as a key design parameter to minimize stress impact for the concerned OLED devices, is acquired using the present methodology. The results point out that both the thickness and mechanical properties of the cover plate help in determining the NA location. In addition, several concave and convex radii are applied to examine the reliable mechanical tolerance and to provide an insight into the estimated reliability of foldable OLED encapsulations.

Decentralized Control of Sound Radiation using a High-Authority/Low-Authority Control Strategy with Anisotropic Actuators

NASA Technical Reports Server (NTRS)

Schiller, Noah H.; Cabell, Randolph H.; Fuller, Chris R.

2008-01-01

This paper describes a combined control strategy designed to reduce sound radiation from stiffened aircraft-style panels. The control architecture uses robust active damping in addition to high-authority linear quadratic Gaussian (LQG) control. Active damping is achieved using direct velocity feedback with triangularly shaped anisotropic actuators and point velocity sensors. While active damping is simple and robust, stability is guaranteed at the expense of performance. Therefore the approach is often referred to as low-authority control. In contrast, LQG control strategies can achieve substantial reductions in sound radiation. Unfortunately, the unmodeled interaction between neighboring control units can destabilize decentralized control systems. Numerical simulations show that combining active damping and decentralized LQG control can be beneficial. In particular, augmenting the in-bandwidth damping supplements the performance of the LQG control strategy and reduces the destabilizing interaction between neighboring control units.

Robust Inversion and Data Compression in Control Allocation

NASA Technical Reports Server (NTRS)

Hodel, A. Scottedward

2000-01-01

We present an off-line computational method for control allocation design. The control allocation function delta = F(z)tau = delta (sub 0) (z) mapping commanded body-frame torques to actuator commands is implicitly specified by trim condition delta (sub 0) (z) and by a robust pseudo-inverse problem double vertical line I - G(z) F(z) double vertical line less than epsilon (z) where G(z) is a system Jacobian evaluated at operating point z, z circumflex is an estimate of z, and epsilon (z) less than 1 is a specified error tolerance. The allocation function F(z) = sigma (sub i) psi (z) F (sub i) is computed using a heuristic technique for selecting wavelet basis functions psi and a constrained least-squares criterion for selecting the allocation matrices F (sub i). The method is applied to entry trajectory control allocation for a reusable launch vehicle (X-33).

Adaptive fuzzy sliding control of single-phase PV grid-connected inverter

PubMed Central

Zhu, Yunkai

2017-01-01

In this paper, an adaptive fuzzy sliding mode controller is proposed to control a two-stage single-phase photovoltaic (PV) grid-connected inverter. Two key technologies are discussed in the presented PV system. An incremental conductance method with adaptive step is adopted to track the maximum power point (MPP) by controlling the duty cycle of the controllable power switch of the boost DC-DC converter. An adaptive fuzzy sliding mode controller with an integral sliding surface is developed for the grid-connected inverter where a fuzzy system is used to approach the upper bound of the system nonlinearities. The proposed strategy has strong robustness for the sliding mode control can be designed independently and disturbances can be adaptively compensated. Simulation results of a PV grid-connected system verify the effectiveness of the proposed method, demonstrating the satisfactory robustness and performance. PMID:28797060

Stability Assessment and Tuning of an Adaptively Augmented Classical Controller for Launch Vehicle Flight Control

NASA Technical Reports Server (NTRS)

VanZwieten, Tannen; Zhu, J. Jim; Adami, Tony; Berry, Kyle; Grammar, Alex; Orr, Jeb S.; Best, Eric A.

2014-01-01

Recently, a robust and practical adaptive control scheme for launch vehicles [ [1] has been introduced. It augments a classical controller with a real-time loop-gain adaptation, and it is therefore called Adaptive Augmentation Control (AAC). The loop-gain will be increased from the nominal design when the tracking error between the (filtered) output and the (filtered) command trajectory is large; whereas it will be decreased when excitation of flex or sloshing modes are detected. There is a need to determine the range and rate of the loop-gain adaptation in order to retain (exponential) stability, which is critical in vehicle operation, and to develop some theoretically based heuristic tuning methods for the adaptive law gain parameters. The classical launch vehicle flight controller design technics are based on gain-scheduling, whereby the launch vehicle dynamics model is linearized at selected operating points along the nominal tracking command trajectory, and Linear Time-Invariant (LTI) controller design techniques are employed to ensure asymptotic stability of the tracking error dynamics, typically by meeting some prescribed Gain Margin (GM) and Phase Margin (PM) specifications. The controller gains at the design points are then scheduled, tuned and sometimes interpolated to achieve good performance and stability robustness under external disturbances (e.g. winds) and structural perturbations (e.g. vehicle modeling errors). While the GM does give a bound for loop-gain variation without losing stability, it is for constant dispersions of the loop-gain because the GM is based on frequency-domain analysis, which is applicable only for LTI systems. The real-time adaptive loop-gain variation of the AAC effectively renders the closed-loop system a time-varying system, for which it is well-known that the LTI system stability criterion is neither necessary nor sufficient when applying to a Linear Time-Varying (LTV) system in a frozen-time fashion. Therefore, a generalized stability metric for time-varying loop=gain perturbations is needed for the AAC.

Mixed-Poisson Point Process with Partially-Observed Covariates: Ecological Momentary Assessment of Smoking.

PubMed

Neustifter, Benjamin; Rathbun, Stephen L; Shiffman, Saul

2012-01-01

Ecological Momentary Assessment is an emerging method of data collection in behavioral research that may be used to capture the times of repeated behavioral events on electronic devices, and information on subjects' psychological states through the electronic administration of questionnaires at times selected from a probability-based design as well as the event times. A method for fitting a mixed Poisson point process model is proposed for the impact of partially-observed, time-varying covariates on the timing of repeated behavioral events. A random frailty is included in the point-process intensity to describe variation among subjects in baseline rates of event occurrence. Covariate coefficients are estimated using estimating equations constructed by replacing the integrated intensity in the Poisson score equations with a design-unbiased estimator. An estimator is also proposed for the variance of the random frailties. Our estimators are robust in the sense that no model assumptions are made regarding the distribution of the time-varying covariates or the distribution of the random effects. However, subject effects are estimated under gamma frailties using an approximate hierarchical likelihood. The proposed approach is illustrated using smoking data.

Mathematical design of a novel input/instruction device using a moving acoustic emitter

NASA Astrophysics Data System (ADS)

Wang, Xianchao; Guo, Yukun; Li, Jingzhi; Liu, Hongyu

2017-10-01

This paper is concerned with the mathematical design of a novel input/instruction device using a moving emitter. The emitter acts as a point source and can be installed on a digital pen or worn on the finger of the human being who desires to interact/communicate with the computer. The input/instruction can be recognized by identifying the moving trajectory of the emitter performed by the human being from the collected wave field data. The identification process is modelled as an inverse source problem where one intends to identify the trajectory of a moving point source. There are several salient features of our study which distinguish our result from the existing ones in the literature. First, the point source is moving in an inhomogeneous background medium, which models the human body. Second, the dynamical wave field data are collected in a limited aperture. Third, the reconstruction method is independent of the background medium, and it is totally direct without any matrix inversion. Hence, it is efficient and robust with respect to the measurement noise. Both theoretical justifications and computational experiments are presented to verify our novel findings.

Robustness of critical points in a complex adaptive system: Effects of hedge behavior

NASA Astrophysics Data System (ADS)

Liang, Yuan; Huang, Ji-Ping

2013-08-01

In our recent papers, we have identified a class of phase transitions in the market-directed resource-allocation game, and found that there exists a critical point at which the phase transitions occur. The critical point is given by a certain resource ratio. Here, by performing computer simulations and theoretical analysis, we report that the critical point is robust against various kinds of human hedge behavior where the numbers of herds and contrarians can be varied widely. This means that the critical point can be independent of the total number of participants composed of normal agents, herds and contrarians, under some conditions. This finding means that the critical points we identified in this complex adaptive system (with adaptive agents) may also be an intensive quantity, similar to those revealed in traditional physical systems (with non-adaptive units).

Two challenges in embedded systems design: predictability and robustness.

PubMed

Henzinger, Thomas A

2008-10-28

I discuss two main challenges in embedded systems design: the challenge to build predictable systems, and that to build robust systems. I suggest how predictability can be formalized as a form of determinism, and robustness as a form of continuity.

CHIPSat spacecraft design: significant science on a low budget

NASA Astrophysics Data System (ADS)

Janicik, Jeffrey; Wolff, Jonathan

2003-12-01

The Cosmic Hot Interstellar Plasma Spectrometer satellite (CHIPSat) was launched on January 12, 2003 and is successfully accomplishing its mission. CHIPS is NASA"s first-ever University-Class Explorer (UNEX) project, and is performed through a grant to the University of California at Berkeley (UCB) Space Sciences Laboratory (SSL). As a small start-up aerospace company, SpaceDev was awarded responsibility for a low-cost spacecraft and mission design, build, integration and test, and mission operations. The company leveraged past small satellite mission experiences to help design a robust small spacecraft system architecture. In addition, they utilized common industry hardware and software standards to facilitate design implementation, integration, and test of the bus, including the use of TCP/IP protocols and the Internet for end-to-end satellite communications. The approach called for a single-string design except in critical areas, the use of COTS parts to incorporate the latest proven technologies in commercial electronics, and the establishment of a working system as quickly as possible in order to maximize test hours prior to launch. Furthermore, automated ground systems were combined with table-configured onboard software to allow for "hands-off" mission operations. During nominal operations, the CHIPSat spacecraft uses a 3-axis stabilized zero-momentum bias "Nominal" mode. The secondary mode is a "Safehold" mode where fixed "keep-alive" arrays maintain enough power to operate the essential spacecraft bus in any attitude and spin condition, and no a-priori attitude knowledge is required to recover. Due to the omnidirectional antenna design, communications are robust in "Safehold" mode, including the transmission of basic housekeeping data at a duty cycle that is adjusted based on available solar power. This design enables the entire mission to be spent in "Observation Mode" with timed pointing files mapping the sky as desired unless an anomalous event upsets the health of the bus such that the spacecraft system toggles back to "Safehold". In all conditions, spacecraft operations do not require any time-critical operator involvement. This paper will examine the results of the first six months of CHIPSat on-orbit operations and measure them against the expectations of the aforementioned design architecture. The end result will be a "lessons learned" account of a 3-axis sun-pointing small spacecraft design architecture that will be useful for future science missions.

A polar-drive shock-ignition design for the National Ignition Facilitya)

NASA Astrophysics Data System (ADS)

Anderson, K. S.; Betti, R.; McKenty, P. W.; Collins, T. J. B.; Hohenberger, M.; Theobald, W.; Craxton, R. S.; Delettrez, J. A.; Lafon, M.; Marozas, J. A.; Nora, R.; Skupsky, S.; Shvydky, A.

2013-05-01

Shock ignition [R. Betti et al., Phys. Rev. Lett. 98, 155001 (2007)] is being pursued as a viable option to achieve ignition on the National Ignition Facility (NIF). Shock-ignition target designs use a high-intensity laser spike at the end of a low-adiabat assembly pulse to launch a spherically convergent strong shock to ignite the hot spot of an imploding capsule. A shock-ignition target design for the NIF is presented. One-dimensional simulations indicate an ignition threshold factor of 4.1 with a gain of 58. A polar-drive beam-pointing configuration for shock-ignition experiments on the NIF at 750 kJ is proposed. The capsule design is shown to be robust to the various one- and two-dimensional effects and nonuniformities anticipated on the NIF. The target is predicted to ignite with a gain of 38 when including all anticipated levels of nonuniformity and system uncertainty.

The use of singular value gradients and optimization techniques to design robust controllers for multiloop systems

NASA Technical Reports Server (NTRS)

Newsom, J. R.; Mukhopadhyay, V.

1983-01-01

A method for designing robust feedback controllers for multiloop systems is presented. Robustness is characterized in terms of the minimum singular value of the system return difference matrix at the plant input. Analytical gradients of the singular values with respect to design variables in the controller are derived. A cumulative measure of the singular values and their gradients with respect to the design variables is used with a numerical optimization technique to increase the system's robustness. Both unconstrained and constrained optimization techniques are evaluated. Numerical results are presented for a two-input/two-output drone flight control system.

The use of singular value gradients and optimization techniques to design robust controllers for multiloop systems

NASA Technical Reports Server (NTRS)

Newsom, J. R.; Mukhopadhyay, V.

1983-01-01

A method for designing robust feedback controllers for multiloop systems is presented. Robustness is characterized in terms of the minimum singular value of the system return difference matrix at the plant input. Analytical gradients of the singular values with respect to design variables in the controller are derived. A cumulative measure of the singular values and their gradients with respect to the design variables is used with a numerical optimization technique to increase the system's robustness. Both unconstrained and constrained optimization techniques are evaluated. Numerical results are presented for a two output drone flight control system.

A robust optimization methodology for preliminary aircraft design

NASA Astrophysics Data System (ADS)

Prigent, S.; Maréchal, P.; Rondepierre, A.; Druot, T.; Belleville, M.

2016-05-01

This article focuses on a robust optimization of an aircraft preliminary design under operational constraints. According to engineers' know-how, the aircraft preliminary design problem can be modelled as an uncertain optimization problem whose objective (the cost or the fuel consumption) is almost affine, and whose constraints are convex. It is shown that this uncertain optimization problem can be approximated in a conservative manner by an uncertain linear optimization program, which enables the use of the techniques of robust linear programming of Ben-Tal, El Ghaoui, and Nemirovski [Robust Optimization, Princeton University Press, 2009]. This methodology is then applied to two real cases of aircraft design and numerical results are presented.

Robust non-rigid registration algorithm based on local affine registration

NASA Astrophysics Data System (ADS)

Wu, Liyang; Xiong, Lei; Du, Shaoyi; Bi, Duyan; Fang, Ting; Liu, Kun; Wu, Dongpeng

2018-04-01

Aiming at the problem that the traditional point set non-rigid registration algorithm has low precision and slow convergence speed for complex local deformation data, this paper proposes a robust non-rigid registration algorithm based on local affine registration. The algorithm uses a hierarchical iterative method to complete the point set non-rigid registration from coarse to fine. In each iteration, the sub data point sets and sub model point sets are divided and the shape control points of each sub point set are updated. Then we use the control point guided affine ICP algorithm to solve the local affine transformation between the corresponding sub point sets. Next, the local affine transformation obtained by the previous step is used to update the sub data point sets and their shape control point sets. When the algorithm reaches the maximum iteration layer K, the loop ends and outputs the updated sub data point sets. Experimental results demonstrate that the accuracy and convergence of our algorithm are greatly improved compared with the traditional point set non-rigid registration algorithms.

Delaunay based algorithm for finding polygonal voids in planar point sets

NASA Astrophysics Data System (ADS)

Alonso, R.; Ojeda, J.; Hitschfeld, N.; Hervías, C.; Campusano, L. E.

2018-01-01

This paper presents a new algorithm to find under-dense regions called voids inside a 2D point set. The algorithm starts from terminal-edges (local longest-edges) in a Delaunay triangulation and builds the largest possible low density terminal-edge regions around them. A terminal-edge region can represent either an entire void or part of a void (subvoid). Using artificial data sets, the case of voids that are detected as several adjacent subvoids is analyzed and four subvoid joining criteria are proposed and evaluated. Since this work is inspired on searches of a more robust, effective and efficient algorithm to find 3D cosmological voids the evaluation of the joining criteria considers this context. However, the design of the algorithm permits its adaption to the requirements of any similar application.

Products recognition on shop-racks from local scale-invariant features

NASA Astrophysics Data System (ADS)

Zawistowski, Jacek; Kurzejamski, Grzegorz; Garbat, Piotr; Naruniec, Jacek

2016-04-01

This paper presents a system designed for the multi-object detection purposes and adjusted for the application of product search on the market shelves. System uses well known binary keypoint detection algorithms for finding characteristic points in the image. One of the main idea is object recognition based on Implicit Shape Model method. Authors of the article proposed many improvements of the algorithm. Originally fiducial points are matched with a very simple function. This leads to the limitations in the number of objects parts being success- fully separated, while various methods of classification may be validated in order to achieve higher performance. Such an extension implies research on training procedure able to deal with many objects categories. Proposed solution opens a new possibilities for many algorithms demanding fast and robust multi-object recognition.

Robust design optimization using the price of robustness, robust least squares and regularization methods

NASA Astrophysics Data System (ADS)

Bukhari, Hassan J.

2017-12-01

In this paper a framework for robust optimization of mechanical design problems and process systems that have parametric uncertainty is presented using three different approaches. Robust optimization problems are formulated so that the optimal solution is robust which means it is minimally sensitive to any perturbations in parameters. The first method uses the price of robustness approach which assumes the uncertain parameters to be symmetric and bounded. The robustness for the design can be controlled by limiting the parameters that can perturb.The second method uses the robust least squares method to determine the optimal parameters when data itself is subjected to perturbations instead of the parameters. The last method manages uncertainty by restricting the perturbation on parameters to improve sensitivity similar to Tikhonov regularization. The methods are implemented on two sets of problems; one linear and the other non-linear. This methodology will be compared with a prior method using multiple Monte Carlo simulation runs which shows that the approach being presented in this paper results in better performance.

Efficient Robust Optimization of Metal Forming Processes using a Sequential Metamodel Based Strategy

NASA Astrophysics Data System (ADS)

Wiebenga, J. H.; Klaseboer, G.; van den Boogaard, A. H.

2011-08-01

The coupling of Finite Element (FE) simulations to mathematical optimization techniques has contributed significantly to product improvements and cost reductions in the metal forming industries. The next challenge is to bridge the gap between deterministic optimization techniques and the industrial need for robustness. This paper introduces a new and generally applicable structured methodology for modeling and solving robust optimization problems. Stochastic design variables or noise variables are taken into account explicitly in the optimization procedure. The metamodel-based strategy is combined with a sequential improvement algorithm to efficiently increase the accuracy of the objective function prediction. This is only done at regions of interest containing the optimal robust design. Application of the methodology to an industrial V-bending process resulted in valuable process insights and an improved robust process design. Moreover, a significant improvement of the robustness (>2σ) was obtained by minimizing the deteriorating effects of several noise variables. The robust optimization results demonstrate the general applicability of the robust optimization strategy and underline the importance of including uncertainty and robustness explicitly in the numerical optimization procedure.

Robust decentralized power system controller design: Integrated approach

NASA Astrophysics Data System (ADS)

Veselý, Vojtech

2017-09-01

A unique approach to the design of gain scheduled controller (GSC) is presented. The proposed design procedure is based on the Bellman-Lyapunov equation, guaranteed cost and robust stability conditions using the parameter dependent quadratic stability approach. The obtained feasible design procedures for robust GSC design are in the form of BMI with guaranteed convex stability conditions. The obtained design results and their properties are illustrated in the simultaneously design of controllers for simple model (6-order) turbogenerator. The results of the obtained design procedure are a PI automatic voltage regulator (AVR) for synchronous generator, a PI governor controller and a power system stabilizer for excitation system.

6-DoF Haptic Rendering Using Continuous Collision Detection between Points and Signed Distance Fields.

PubMed

Hongyi Xu; Barbic, Jernej

2017-01-01

We present an algorithm for fast continuous collision detection between points and signed distance fields, and demonstrate how to robustly use it for 6-DoF haptic rendering of contact between objects with complex geometry. Continuous collision detection is often needed in computer animation, haptics, and virtual reality applications, but has so far only been investigated for polygon (triangular) geometry representations. We demonstrate how to robustly and continuously detect intersections between points and level sets of the signed distance field. We suggest using an octree subdivision of the distance field for fast traversal of distance field cells. We also give a method to resolve continuous collisions between point clouds organized into a tree hierarchy and a signed distance field, enabling rendering of contact between rigid objects with complex geometry. We investigate and compare two 6-DoF haptic rendering methods now applicable to point-versus-distance field contact for the first time: continuous integration of penalty forces, and a constraint-based method. An experimental comparison to discrete collision detection demonstrates that the continuous method is more robust and can correctly resolve collisions even under high velocities and during complex contact.

Iterative Most-Likely Point Registration (IMLP): A Robust Algorithm for Computing Optimal Shape Alignment

PubMed Central

Billings, Seth D.; Boctor, Emad M.; Taylor, Russell H.

2015-01-01

We present a probabilistic registration algorithm that robustly solves the problem of rigid-body alignment between two shapes with high accuracy, by aptly modeling measurement noise in each shape, whether isotropic or anisotropic. For point-cloud shapes, the probabilistic framework additionally enables modeling locally-linear surface regions in the vicinity of each point to further improve registration accuracy. The proposed Iterative Most-Likely Point (IMLP) algorithm is formed as a variant of the popular Iterative Closest Point (ICP) algorithm, which iterates between point-correspondence and point-registration steps. IMLP’s probabilistic framework is used to incorporate a generalized noise model into both the correspondence and the registration phases of the algorithm, hence its name as a most-likely point method rather than a closest-point method. To efficiently compute the most-likely correspondences, we devise a novel search strategy based on a principal direction (PD)-tree search. We also propose a new approach to solve the generalized total-least-squares (GTLS) sub-problem of the registration phase, wherein the point correspondences are registered under a generalized noise model. Our GTLS approach has improved accuracy, efficiency, and stability compared to prior methods presented for this problem and offers a straightforward implementation using standard least squares. We evaluate the performance of IMLP relative to a large number of prior algorithms including ICP, a robust variant on ICP, Generalized ICP (GICP), and Coherent Point Drift (CPD), as well as drawing close comparison with the prior anisotropic registration methods of GTLS-ICP and A-ICP. The performance of IMLP is shown to be superior with respect to these algorithms over a wide range of noise conditions, outliers, and misalignments using both mesh and point-cloud representations of various shapes. PMID:25748700

StreamMap: Smooth Dynamic Visualization of High-Density Streaming Points.

PubMed

Li, Chenhui; Baciu, George; Han, Yu

2018-03-01

Interactive visualization of streaming points for real-time scatterplots and linear blending of correlation patterns is increasingly becoming the dominant mode of visual analytics for both big data and streaming data from active sensors and broadcasting media. To better visualize and interact with inter-stream patterns, it is generally necessary to smooth out gaps or distortions in the streaming data. Previous approaches either animate the points directly or present a sampled static heat-map. We propose a new approach, called StreamMap, to smoothly blend high-density streaming points and create a visual flow that emphasizes the density pattern distributions. In essence, we present three new contributions for the visualization of high-density streaming points. The first contribution is a density-based method called super kernel density estimation that aggregates streaming points using an adaptive kernel to solve the overlapping problem. The second contribution is a robust density morphing algorithm that generates several smooth intermediate frames for a given pair of frames. The third contribution is a trend representation design that can help convey the flow directions of the streaming points. The experimental results on three datasets demonstrate the effectiveness of StreamMap when dynamic visualization and visual analysis of trend patterns on streaming points are required.

The generalised isodamping approach for robust fractional PID controllers design

NASA Astrophysics Data System (ADS)

Beschi, M.; Padula, F.; Visioli, A.

2017-06-01

In this paper, we present a novel methodology to design fractional-order proportional-integral-derivative controllers. Based on the description of the controlled system by means of a family of linear models parameterised with respect to a free variable that describes the real process operating point, we design the controller by solving a constrained min-max optimisation problem where the maximum sensitivity has to be minimised. Among the imposed constraints, the most important one is the new generalised isodamping condition, that defines the invariancy of the phase margin with respect to the free parameter variations. It is also shown that the well-known classical isodamping condition is a special case of the new technique proposed in this paper. Simulation results show the effectiveness of the proposed technique and the superiority of the fractional-order controller compared to its integer counterpart.

A Novelty Design Of Minimization Of Electrical Losses In A Vector Controlled Induction Machine Drive

NASA Astrophysics Data System (ADS)

Aryza, Solly; Irwanto, M.; Lubis, Zulkarnain; Putera Utama Siahaan, Andysah; Rahim, Robbi; Furqan, Mhd.

2018-01-01

The induction motor has in the industry . More attention has been a focus to develop and design of induction motor drive. With the method of vector control novelty prove the efficiency of induction motor over their entire speed range. In this paper desirable to design a loss minimization controller which can improve the efficiency. Also, this research described Modeling of an induction motor with core loss included. Realization of methods vector control for an induction motor drive with loss element included. The case of the loss minimization condition. The procedure was successful to calculate the gains of a PI controller. Though the problem of obtaining a robust and sensorless induction motor drive is by no means completely solved, the results obtained as part of this work point in a promising direction.

A robust fractional-order PID controller design based on active queue management for TCP network

NASA Astrophysics Data System (ADS)

Hamidian, Hamideh; Beheshti, Mohammad T. H.

2018-01-01

In this paper, a robust fractional-order controller is designed to control the congestion in transmission control protocol (TCP) networks with time-varying parameters. Fractional controllers can increase the stability and robustness. Regardless of advantages of fractional controllers, they are still not common in congestion control in TCP networks. The network parameters are time-varying, so the robust stability is important in congestion controller design. Therefore, we focused on the robust controller design. The fractional PID controller is developed based on active queue management (AQM). D-partition technique is used. The most important property of designed controller is the robustness to the time-varying parameters of the TCP network. The vertex quasi-polynomials of the closed-loop characteristic equation are obtained, and the stability boundaries are calculated for each vertex quasi-polynomial. The intersection of all stability regions is insensitive to network parameter variations, and results in robust stability of TCP/AQM system. NS-2 simulations show that the proposed algorithm provides a stable queue length. Moreover, simulations show smaller oscillations of the queue length and less packet drop probability for FPID compared to PI and PID controllers. We can conclude from NS-2 simulations that the average packet loss probability variations are negligible when the network parameters change.

Advanced Design Methodology for Robust Aircraft Sizing and Synthesis

NASA Technical Reports Server (NTRS)

Mavris, Dimitri N.

1997-01-01

Contract efforts are focused on refining the Robust Design Methodology for Conceptual Aircraft Design. Robust Design Simulation (RDS) was developed earlier as a potential solution to the need to do rapid trade-offs while accounting for risk, conflict, and uncertainty. The core of the simulation revolved around Response Surface Equations as approximations of bounded design spaces. An ongoing investigation is concerned with the advantages of using Neural Networks in conceptual design. Thought was also given to the development of systematic way to choose or create a baseline configuration based on specific mission requirements. Expert system was developed, which selects aerodynamics, performance and weights model from several configurations based on the user's mission requirements for subsonic civil transport. The research has also resulted in a step-by-step illustration on how to use the AMV method for distribution generation and the search for robust design solutions to multivariate constrained problems.

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

Hidden edge Dirac point and robust quantum edge transport in InAs/GaSb quantum wells

NASA Astrophysics Data System (ADS)

Li, Chang-An; Zhang, Song-Bo; Shen, Shun-Qing

2018-01-01

The robustness of quantum edge transport in InAs/GaSb quantum wells in the presence of magnetic fields raises an issue on the fate of topological phases of matter under time-reversal symmetry breaking. A peculiar band structure evolution in InAs/GaSb quantum wells is revealed: the electron subbands cross the heavy hole subbands but anticross the light hole subbands. The topologically protected band crossing point (Dirac point) of the helical edge states is pulled to be close to and even buried in the bulk valence bands when the system is in a deeply inverted regime, which is attributed to the existence of the light hole subbands. A sizable Zeeman energy gap verified by the effective g factors of edge states opens at the Dirac point by an in-plane or perpendicular magnetic field; however, it can also be hidden in the bulk valance bands. This provides a plausible explanation for the recent observation on the robustness of quantum edge transport in InAs/GaSb quantum wells subjected to strong magnetic fields.

Robust output tracking control of a laboratory helicopter for automatic landing

NASA Astrophysics Data System (ADS)

Liu, Hao; Lu, Geng; Zhong, Yisheng

2014-11-01

In this paper, robust output tracking control problem of a laboratory helicopter for automatic landing in high seas is investigated. The motion of the helicopter is required to synchronise with that of an oscillating platform, e.g. the deck of a vessel subject to wave-induced motions. A robust linear time-invariant output feedback controller consisting of a nominal controller and a robust compensator is designed. The robust compensator is introduced to restrain the influences of parametric uncertainties, nonlinearities and external disturbances. It is shown that robust stability and robust tracking property can be achieved simultaneously. Experimental results on the laboratory helicopter for automatic landing demonstrate the effectiveness of the designed control approach.

Robust registration in case of different scaling

NASA Astrophysics Data System (ADS)

Gluhchev, Georgi J.; Shalev, Shlomo

1993-09-01

The problem of robust registration in the case of anisotropic scaling has been investigated. Registration of two images using corresponding sets of fiducial points is sensitive to inaccuracies in point placement due to poor image quality or non-rigid distortions, including possible out-of-plane rotations. An approach aimed at the detection of the most unreliable points has been developed. It is based on the a priori knowledge of the sequential ordering of rotation and scaling. A measure of guilt derived from the anomalous geometric relationships is introduced. A heuristic decision rule allowing for deletion of the most guilty points is proposed. The approach allows for more precise evaluation of the translation vector. It has been tested on phantom images with known parameters and has shown satisfactory results.

Optimal robust control strategy of a solid oxide fuel cell system

NASA Astrophysics Data System (ADS)

Wu, Xiaojuan; Gao, Danhui

2018-01-01

Optimal control can ensure system safe operation with a high efficiency. However, only a few papers discuss optimal control strategies for solid oxide fuel cell (SOFC) systems. Moreover, the existed methods ignore the impact of parameter uncertainty on system instantaneous performance. In real SOFC systems, several parameters may vary with the variation of operation conditions and can not be identified exactly, such as load current. Therefore, a robust optimal control strategy is proposed, which involves three parts: a SOFC model with parameter uncertainty, a robust optimizer and robust controllers. During the model building process, boundaries of the uncertain parameter are extracted based on Monte Carlo algorithm. To achieve the maximum efficiency, a two-space particle swarm optimization approach is employed to obtain optimal operating points, which are used as the set points of the controllers. To ensure the SOFC safe operation, two feed-forward controllers and a higher-order robust sliding mode controller are presented to control fuel utilization ratio, air excess ratio and stack temperature afterwards. The results show the proposed optimal robust control method can maintain the SOFC system safe operation with a maximum efficiency under load and uncertainty variations.

Integration of Stable Droplet Formation on a CD Microfluidic Device for Extreme Point of Care Applications

NASA Astrophysics Data System (ADS)

Ganesh, Shruthi Vatsyayani

With the advent of microfluidic technologies for molecular diagnostics, a lot of emphasis has been placed on developing diagnostic tools for resource poor regions in the form of Extreme Point of Care devices. To ensure commercial viability of such a device there is a need to develop an accurate sample to answer system, which is robust, portable, isolated yet highly sensitive and cost effective. This need has been a driving force for research involving integration of different microsystems like droplet microfluidics, Compact-disc (CD)microfluidics along with sample preparation and detection modules on a single platform. This work attempts to develop a proof of concept prototype of one such device using existing CD microfluidics tools to generate stable droplets used in point of care diagnostics (POC diagnostics). Apart from using a fairly newer technique for droplet generation and stabilization, the work aims to develop this method focused towards diagnostics for rural healthcare. The motivation for this work is first described with an emphasis on the current need for diagnostic testing in rural health-care and the general guidelines prescribed by WHO for such a sample to answer system. Furthermore, a background on CD and droplet microfluidics is presented to understand the merits and de-merits of each system and the need for integrating the two. This phase of the thesis also includes different methods employed/demonstrated to generate droplets on a spinning platform. An overview on the detection platforms is also presented to understand the challenges involved in building an extreme point of care device. In the third phase of the thesis, general manufacturing techniques and materials used to accomplish this work is presented. Lastly, design trials for droplet generation is presented. The shortcomings of these trials are solved by investigating mechanisms pertaining to design modification and use of agarose based droplet generation to ensure a more robust sample processing method. This method is further characterized and compared with non-agarose based system and the results are analyzed. In conclusion, future prospects of this work are discussed in relation to extreme POC applications.

A preferential design approach for energy-efficient and robust implantable neural signal processing hardware.

PubMed

Narasimhan, Seetharam; Chiel, Hillel J; Bhunia, Swarup

2009-01-01

For implantable neural interface applications, it is important to compress data and analyze spike patterns across multiple channels in real time. Such a computational task for online neural data processing requires an innovative circuit-architecture level design approach for low-power, robust and area-efficient hardware implementation. Conventional microprocessor or Digital Signal Processing (DSP) chips would dissipate too much power and are too large in size for an implantable system. In this paper, we propose a novel hardware design approach, referred to as "Preferential Design" that exploits the nature of the neural signal processing algorithm to achieve a low-voltage, robust and area-efficient implementation using nanoscale process technology. The basic idea is to isolate the critical components with respect to system performance and design them more conservatively compared to the noncritical ones. This allows aggressive voltage scaling for low power operation while ensuring robustness and area efficiency. We have applied the proposed approach to a neural signal processing algorithm using the Discrete Wavelet Transform (DWT) and observed significant improvement in power and robustness over conventional design.

L1C signal design options

USGS Publications Warehouse

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

2006-01-01

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

H∞ robust fault-tolerant controller design for an autonomous underwater vehicle's navigation control system

NASA Astrophysics Data System (ADS)

Cheng, Xiang-Qin; Qu, Jing-Yuan; Yan, Zhe-Ping; Bian, Xin-Qian

2010-03-01

In order to improve the security and reliability for autonomous underwater vehicle (AUV) navigation, an H∞ robust fault-tolerant controller was designed after analyzing variations in state-feedback gain. Operating conditions and the design method were then analyzed so that the control problem could be expressed as a mathematical optimization problem. This permitted the use of linear matrix inequalities (LMI) to solve for the H∞ controller for the system. When considering different actuator failures, these conditions were then also mathematically expressed, allowing the H∞ robust controller to solve for these events and thus be fault-tolerant. Finally, simulation results showed that the H∞ robust fault-tolerant controller could provide precise AUV navigation control with strong robustness.

Trading Robustness Requirements in Mars Entry Trajectory Design

NASA Technical Reports Server (NTRS)

Lafleur, Jarret M.

2009-01-01

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

Robust Optimization Design for Turbine Blade-Tip Radial Running Clearance using Hierarchically Response Surface Method

NASA Astrophysics Data System (ADS)

Zhiying, Chen; Ping, Zhou

2017-11-01

Considering the robust optimization computational precision and efficiency for complex mechanical assembly relationship like turbine blade-tip radial running clearance, a hierarchically response surface robust optimization algorithm is proposed. The distribute collaborative response surface method is used to generate assembly system level approximation model of overall parameters and blade-tip clearance, and then a set samples of design parameters and objective response mean and/or standard deviation is generated by using system approximation model and design of experiment method. Finally, a new response surface approximation model is constructed by using those samples, and this approximation model is used for robust optimization process. The analyses results demonstrate the proposed method can dramatic reduce the computational cost and ensure the computational precision. The presented research offers an effective way for the robust optimization design of turbine blade-tip radial running clearance.

Robust design of multiple trailing edge flaps for helicopter vibration reduction: A multi-objective bat algorithm approach

NASA Astrophysics Data System (ADS)

Mallick, Rajnish; Ganguli, Ranjan; Seetharama Bhat, M.

2015-09-01

The objective of this study is to determine an optimal trailing edge flap configuration and flap location to achieve minimum hub vibration levels and flap actuation power simultaneously. An aeroelastic analysis of a soft in-plane four-bladed rotor is performed in conjunction with optimal control. A second-order polynomial response surface based on an orthogonal array (OA) with 3-level design describes both the objectives adequately. Two new orthogonal arrays called MGB2P-OA and MGB4P-OA are proposed to generate nonlinear response surfaces with all interaction terms for two and four parameters, respectively. A multi-objective bat algorithm (MOBA) approach is used to obtain the optimal design point for the mutually conflicting objectives. MOBA is a recently developed nature-inspired metaheuristic optimization algorithm that is based on the echolocation behaviour of bats. It is found that MOBA inspired Pareto optimal trailing edge flap design reduces vibration levels by 73% and flap actuation power by 27% in comparison with the baseline design.

Cascade Optimization Strategy with Neural Network and Regression Approximations Demonstrated on a Preliminary Aircraft Engine Design

NASA Technical Reports Server (NTRS)

Hopkins, Dale A.; Patnaik, Surya N.

2000-01-01

A preliminary aircraft engine design methodology is being developed that utilizes a cascade optimization strategy together with neural network and regression approximation methods. The cascade strategy employs different optimization algorithms in a specified sequence. The neural network and regression methods are used to approximate solutions obtained from the NASA Engine Performance Program (NEPP), which implements engine thermodynamic cycle and performance analysis models. The new methodology is proving to be more robust and computationally efficient than the conventional optimization approach of using a single optimization algorithm with direct reanalysis. The methodology has been demonstrated on a preliminary design problem for a novel subsonic turbofan engine concept that incorporates a wave rotor as a cycle-topping device. Computations of maximum thrust were obtained for a specific design point in the engine mission profile. The results (depicted in the figure) show a significant improvement in the maximum thrust obtained using the new methodology in comparison to benchmark solutions obtained using NEPP in a manual design mode.

Development and validation of an UPLC method for determination of content uniformity in low-dose solid drugs products using the design space approach.

PubMed

Oliva, Alexis; Fariña, José B; Llabrés, Matías

2013-10-15

A simple and reproducible UPLC method was developed and validated for the quantitative analysis of finasteride in low-dose drug products. Method validation demonstrated the reliability and consistency of analytical results. Due to the regulatory requirements of pharmaceutical analysis in particular, evaluation of robustness is vital to predict how small variations in operating conditions affect the responses. Response surface methodology as an optimization technique was used to evaluate the robustness. For this, a central composite design was implemented around the nominal conditions. Statistical treatment of the responses (retention factor and drug concentrations expressed as percentage of label claim) showed that methanol content in mobile-phase and flow rate were the most influential factors. In the optimization process, the compromise decision support problem (cDSP) strategy was used. Construction of the robust domain from response-surfaces provided tolerance windows for the factors affecting the effectiveness of the method. The specified limits for the USP uniformity of dosage units assay (98.5-101.5%) and the purely experimental variations based on the repeatability test for center points (nominal conditions repetitions) were used as criteria to establish the tolerance windows, which allowed definition design space (DS) of analytical method. Thus, the acceptance criteria values (AV) proposed by the USP-uniformity of assay only depend on the sampling error. If the variation in the responses corresponded to approximately twice the repeatability standard deviation, individual values for percentage label claim (%LC) response may lie outside the specified limits; this implies the data are not centered between the specified limits, and that this term plus the sampling error affects the AV value. To avoid this fact, the limits specified by the Uniformity of Dosage Form assay (i.e., 98.5-101.5%) must be taken into consideration to fix the tolerance windows for each factor. All these results were verified by the Monte Carlo simulation. In conclusion, the level of variability for different factors must be calculated for each case, and not arbitrary way, provided a variation is found higher than the repeatability for center points and secondly, the %LC response must lie inside the specified limits i.e., 98.5-101.5%. If not the UPLC method must be re-developed. © 2013 Elsevier B.V. All rights reserved.

Robust Learning Control Design for Quantum Unitary Transformations.

PubMed

Wu, Chengzhi; Qi, Bo; Chen, Chunlin; Dong, Daoyi

2017-12-01

Robust control design for quantum unitary transformations has been recognized as a fundamental and challenging task in the development of quantum information processing due to unavoidable decoherence or operational errors in the experimental implementation of quantum operations. In this paper, we extend the systematic methodology of sampling-based learning control (SLC) approach with a gradient flow algorithm for the design of robust quantum unitary transformations. The SLC approach first uses a "training" process to find an optimal control strategy robust against certain ranges of uncertainties. Then a number of randomly selected samples are tested and the performance is evaluated according to their average fidelity. The approach is applied to three typical examples of robust quantum transformation problems including robust quantum transformations in a three-level quantum system, in a superconducting quantum circuit, and in a spin chain system. Numerical results demonstrate the effectiveness of the SLC approach and show its potential applications in various implementation of quantum unitary transformations.

Reconfigurable Flight Control Design using a Robust Servo LQR and Radial Basis Function Neural Networks

NASA Technical Reports Server (NTRS)

Burken, John J.

2005-01-01

This viewgraph presentation reviews the use of a Robust Servo Linear Quadratic Regulator (LQR) and a Radial Basis Function (RBF) Neural Network in reconfigurable flight control designs in adaptation to a aircraft part failure. The method uses a robust LQR servomechanism design with model Reference adaptive control, and RBF neural networks. During the failure the LQR servomechanism behaved well, and using the neural networks improved the tracking.

Designing Flood Management Systems for Joint Economic and Ecological Robustness

NASA Astrophysics Data System (ADS)

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

2015-12-01

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

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

PubMed Central

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

2013-01-01

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

Low-Thrust Trajectory Optimization with Simplified SQP Algorithm

NASA Technical Reports Server (NTRS)

Parrish, Nathan L.; Scheeres, Daniel J.

2017-01-01

The problem of low-thrust trajectory optimization in highly perturbed dynamics is a stressing case for many optimization tools. Highly nonlinear dynamics and continuous thrust are each, separately, non-trivial problems in the field of optimal control, and when combined, the problem is even more difficult. This paper de-scribes a fast, robust method to design a trajectory in the CRTBP (circular restricted three body problem), beginning with no or very little knowledge of the system. The approach is inspired by the SQP (sequential quadratic programming) algorithm, in which a general nonlinear programming problem is solved via a sequence of quadratic problems. A few key simplifications make the algorithm presented fast and robust to initial guess: a quadratic cost function, neglecting the line search step when the solution is known to be far away, judicious use of end-point constraints, and mesh refinement on multiple shooting with fixed-step integration.In comparison to the traditional approach of plugging the problem into a “black-box” NLP solver, the methods shown converge even when given no knowledge of the solution at all. It was found that the only piece of information that the user needs to provide is a rough guess for the time of flight, as the transfer time guess will dictate which set of local solutions the algorithm could converge on. This robustness to initial guess is a compelling feature, as three-body orbit transfers are challenging to design with intuition alone. Of course, if a high-quality initial guess is available, the methods shown are still valid.We have shown that endpoints can be efficiently constrained to lie on 3-body repeating orbits, and that time of flight can be optimized as well. When optimizing the endpoints, we must make a trade between converging quickly on sub-optimal endpoints or converging more slowly on end-points that are arbitrarily close to optimal. It is easy for the mission design engineer to adjust this trade based on the problem at hand.The biggest limitation to the algorithm at this point is that multi-revolution transfers (greater than 2 revolutions) do not work nearly as well. This restriction comes in because the relationship between node 1 and node N becomes increasingly nonlinear as the angular distance grows. Trans-fers with more than about 1.5 complete revolutions generally require the line search to improve convergence. Future work includes: Comparison of this algorithm with other established tools; improvements to how multiple-revolution transfers are handled; parallelization of the Jacobian computation; in-creased efficiency for the line search; and optimization of many more trajectories between a variety of 3-body orbits.

Robust Control Design for Uncertain Nonlinear Dynamic Systems

NASA Technical Reports Server (NTRS)

Kenny, Sean P.; Crespo, Luis G.; Andrews, Lindsey; Giesy, Daniel P.

2012-01-01

Robustness to parametric uncertainty is fundamental to successful control system design and as such it has been at the core of many design methods developed over the decades. Despite its prominence, most of the work on robust control design has focused on linear models and uncertainties that are non-probabilistic in nature. Recently, researchers have acknowledged this disparity and have been developing theory to address a broader class of uncertainties. This paper presents an experimental application of robust control design for a hybrid class of probabilistic and non-probabilistic parametric uncertainties. The experimental apparatus is based upon the classic inverted pendulum on a cart. The physical uncertainty is realized by a known additional lumped mass at an unknown location on the pendulum. This unknown location has the effect of substantially altering the nominal frequency and controllability of the nonlinear system, and in the limit has the capability to make the system neutrally stable and uncontrollable. Another uncertainty to be considered is a direct current motor parameter. The control design objective is to design a controller that satisfies stability, tracking error, control power, and transient behavior requirements for the largest range of parametric uncertainties. This paper presents an overview of the theory behind the robust control design methodology and the experimental results.

Review of LMIs, Interior Point Methods, Complexity Theory, and Robustness Analysis

NASA Technical Reports Server (NTRS)

Mesbahi, M.

1996-01-01

From end of intro: ...We would like to show that for certain problems in systems and control theory, there exist algorithms for which corresponding (xi) can be viewed as a certain measure of robustness, e.g., stability margin.

Unsupervised Detection of Planetary Craters by a Marked Point Process

NASA Technical Reports Server (NTRS)

Troglio, G.; Benediktsson, J. A.; Le Moigne, J.; Moser, G.; Serpico, S. B.

2011-01-01

With the launch of several planetary missions in the last decade, a large amount of planetary images is being acquired. Preferably, automatic and robust processing techniques need to be used for data analysis because of the huge amount of the acquired data. Here, the aim is to achieve a robust and general methodology for crater detection. A novel technique based on a marked point process is proposed. First, the contours in the image are extracted. The object boundaries are modeled as a configuration of an unknown number of random ellipses, i.e., the contour image is considered as a realization of a marked point process. Then, an energy function is defined, containing both an a priori energy and a likelihood term. The global minimum of this function is estimated by using reversible jump Monte-Carlo Markov chain dynamics and a simulated annealing scheme. The main idea behind marked point processes is to model objects within a stochastic framework: Marked point processes represent a very promising current approach in the stochastic image modeling and provide a powerful and methodologically rigorous framework to efficiently map and detect objects and structures in an image with an excellent robustness to noise. The proposed method for crater detection has several feasible applications. One such application area is image registration by matching the extracted features.

Point target detection utilizing super-resolution strategy for infrared scanning oversampling system

NASA Astrophysics Data System (ADS)

Wang, Longguang; Lin, Zaiping; Deng, Xinpu; An, Wei

2017-11-01

To improve the resolution of remote sensing infrared images, infrared scanning oversampling system is employed with information amount quadrupled, which contributes to the target detection. Generally the image data from double-line detector of infrared scanning oversampling system is shuffled to a whole oversampled image to be post-processed, whereas the aliasing between neighboring pixels leads to image degradation with a great impact on target detection. This paper formulates a point target detection method utilizing super-resolution (SR) strategy concerning infrared scanning oversampling system, with an accelerated SR strategy proposed to realize fast de-aliasing of the oversampled image and an adaptive MRF-based regularization designed to achieve the preserving and aggregation of target energy. Extensive experiments demonstrate the superior detection performance, robustness and efficiency of the proposed method compared with other state-of-the-art approaches.

Space Generic Open Avionics Architecture (SGOAA) standard specification

NASA Technical Reports Server (NTRS)

Wray, Richard B.; Stovall, John R.

1994-01-01

This standard establishes the Space Generic Open Avionics Architecture (SGOAA). The SGOAA includes a generic functional model, processing structural model, and an architecture interface model. This standard defines the requirements for applying these models to the development of spacecraft core avionics systems. The purpose of this standard is to provide an umbrella set of requirements for applying the generic architecture models to the design of a specific avionics hardware/software processing system. This standard defines a generic set of system interface points to facilitate identification of critical services and interfaces. It establishes the requirement for applying appropriate low level detailed implementation standards to those interfaces points. The generic core avionics functions and processing structural models provided herein are robustly tailorable to specific system applications and provide a platform upon which the interface model is to be applied.

Space Generic Open Avionics Architecture (SGOAA) reference model technical guide

NASA Technical Reports Server (NTRS)

Wray, Richard B.; Stovall, John R.

1993-01-01

This report presents a full description of the Space Generic Open Avionics Architecture (SGOAA). The SGOAA consists of a generic system architecture for the entities in spacecraft avionics, a generic processing architecture, and a six class model of interfaces in a hardware/software system. The purpose of the SGOAA is to provide an umbrella set of requirements for applying the generic architecture interface model to the design of specific avionics hardware/software systems. The SGOAA defines a generic set of system interface points to facilitate identification of critical interfaces and establishes the requirements for applying appropriate low level detailed implementation standards to those interface points. The generic core avionics system and processing architecture models provided herein are robustly tailorable to specific system applications and provide a platform upon which the interface model is to be applied.

Robust linear quadratic designs with respect to parameter uncertainty

NASA Technical Reports Server (NTRS)

Douglas, Joel; Athans, Michael

1992-01-01

The authors derive a linear quadratic regulator (LQR) which is robust to parametric uncertainty by using the overbounding method of I. R. Petersen and C. V. Hollot (1986). The resulting controller is determined from the solution of a single modified Riccati equation. It is shown that, when applied to a structural system, the controller gains add robustness by minimizing the potential energy of uncertain stiffness elements, and minimizing the rate of dissipation of energy through uncertain damping elements. A worst-case disturbance in the direction of the uncertainty is also considered. It is proved that performance robustness has been increased with the robust LQR when compared to a mismatched LQR design where the controller is designed on the nominal system, but applied to the actual uncertain system.

Robustness enhancement of neurocontroller and state estimator

NASA Technical Reports Server (NTRS)

Troudet, Terry

1993-01-01

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

Optimisation in the Design of Environmental Sensor Networks with Robustness Consideration

PubMed Central

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

2015-01-01

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

Towards robust optimal design of storm water systems

NASA Astrophysics Data System (ADS)

Marquez Calvo, Oscar; Solomatine, Dimitri

2015-04-01

In this study the focus is on the design of a storm water or a combined sewer system. Such a system should be capable to handle properly most of the storm to minimize the damages caused by flooding due to the lack of capacity of the system to cope with rain water at peak times. This problem is a multi-objective optimization problem: we have to take into account the minimization of the construction costs, the minimization of damage costs due to flooding, and possibly other criteria. One of the most important factors influencing the design of storm water systems is the expected amount of water to deal with. It is common that this infrastructure is developed with the capacity to cope with events that occur once in, say 10 or 20 years - so-called design rainfall events. However, rainfall is a random variable and such uncertainty typically is not taken explicitly into account in optimization. Rainfall design data is based on historical information of rainfalls, but many times this data is based on unreliable measures; or in not enough historical information; or as we know, the patterns of rainfall are changing regardless of historical information. There are also other sources of uncertainty influencing design, for example, leakages in the pipes and accumulation of sediments in pipes. In the context of storm water or combined sewer systems design or rehabilitation, robust optimization technique should be able to find the best design (or rehabilitation plan) within the available budget but taking into account uncertainty in those variables that were used to design the system. In this work we consider various approaches to robust optimization proposed by various authors (Gabrel, Murat, Thiele 2013; Beyer, Sendhoff 2007) and test a novel method ROPAR (Solomatine 2012) to analyze robustness. References Beyer, H.G., & Sendhoff, B. (2007). Robust optimization - A comprehensive survey. Comput. Methods Appl. Mech. Engrg., 3190-3218. Gabrel, V.; Murat, C., Thiele, A. (2014). Recent advances in robust optimization: An overview. European Journal of Operational Research. 471-483. Solomatine, D.P. (2012). Robust Optimization and Probabilistic Analysis of Robustness (ROPAR). http://www.unesco-ihe.org/hi/sol/papers/ ROPAR.pdf.

A nonadaptive origin of a beneficial trait: in silico selection for free energy of folding leads to the neutral emergence of mutational robustness in single domain proteins.

PubMed

Pagan, Rafael F; Massey, Steven E

2014-02-01

Proteins are regarded as being robust to the deleterious effects of mutations. Here, the neutral emergence of mutational robustness in a population of single domain proteins is explored using computer simulations. A pairwise contact model was used to calculate the ΔG of folding (ΔG folding) using the three dimensional protein structure of leech eglin C. A random amino acid sequence with low mutational robustness, defined as the average ΔΔG resulting from a point mutation (ΔΔG average), was threaded onto the structure. A population of 1,000 threaded sequences was evolved under selection for stability, using an upper and lower energy threshold. Under these conditions, mutational robustness increased over time in the most common sequence in the population. In contrast, when the wild type sequence was used it did not show an increase in robustness. This implies that the emergence of mutational robustness is sequence specific and that wild type sequences may be close to maximal robustness. In addition, an inverse relationship between ∆∆G average and protein stability is shown, resulting partly from a larger average effect of point mutations in more stable proteins. The emergence of mutational robustness was also observed in the Escherichia coli colE1 Rop and human CD59 proteins, implying that the property may be common in single domain proteins under certain simulation conditions. The results indicate that at least a portion of mutational robustness in small globular proteins might have arisen by a process of neutral emergence, and could be an example of a beneficial trait that has not been directly selected for, termed a "pseudaptation."

Robust Control Design for Systems With Probabilistic Uncertainty

NASA Technical Reports Server (NTRS)

Crespo, Luis G.; Kenny, Sean P.

2005-01-01

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

Designing Radiation Resistance in Materials for Fusion Energy

NASA Astrophysics Data System (ADS)

Zinkle, S. J.; Snead, L. L.

2014-07-01

Proposed fusion and advanced (Generation IV) fission energy systems require high-performance materials capable of satisfactory operation up to neutron damage levels approaching 200 atomic displacements per atom with large amounts of transmutant hydrogen and helium isotopes. After a brief overview of fusion reactor concepts and radiation effects phenomena in structural and functional (nonstructural) materials, three fundamental options for designing radiation resistance are outlined: Utilize matrix phases with inherent radiation tolerance, select materials in which vacancies are immobile at the design operating temperatures, or engineer materials with high sink densities for point defect recombination. Environmental and safety considerations impose several additional restrictions on potential materials systems, but reduced-activation ferritic/martensitic steels (including thermomechanically treated and oxide dispersion-strengthened options) and silicon carbide ceramic composites emerge as robust structural materials options. Materials modeling (including computational thermodynamics) and advanced manufacturing methods are poised to exert a major impact in the next ten years.

Design and control of six degree-of-freedom active vibration isolation table.

PubMed

Hong, Jinpyo; Park, Kyihwan

2010-03-01

A six-axis active vibration isolation system (AVIS) is designed by using the direct driven guide and ball contact mechanisms in order to have no cross-coupling between actuators. The point contact configuration gives an advantage of having an easy assembly of eight voice coil actuators to an upper and a base plate. A voice coil actuator is used since it can provide a large displacement and sufficient bandwidth required for vibration control. The AVIS is controlled considering the effect of flexible vibration mode in the upper plate and velocity sensor dynamics. A loop shaping technique and phase margin condition are applied to design a vibration controller. The performances of the AVIS are investigated in the frequency domain and finally validated by comparing with the passive isolation system. The scanning profiles of the specimen are compared together by using the atomic force microscope. The robustness of the AVIS is verified by showing the impulse response.

Design and control of six degree-of-freedom active vibration isolation table

NASA Astrophysics Data System (ADS)

Hong, Jinpyo; Park, Kyihwan

2010-03-01

A six-axis active vibration isolation system (AVIS) is designed by using the direct driven guide and ball contact mechanisms in order to have no cross-coupling between actuators. The point contact configuration gives an advantage of having an easy assembly of eight voice coil actuators to an upper and a base plate. A voice coil actuator is used since it can provide a large displacement and sufficient bandwidth required for vibration control. The AVIS is controlled considering the effect of flexible vibration mode in the upper plate and velocity sensor dynamics. A loop shaping technique and phase margin condition are applied to design a vibration controller. The performances of the AVIS are investigated in the frequency domain and finally validated by comparing with the passive isolation system. The scanning profiles of the specimen are compared together by using the atomic force microscope. The robustness of the AVIS is verified by showing the impulse response.

Report on the Stanford/Ames direct-link space suit prehensor

NASA Technical Reports Server (NTRS)

Jameson, J. W.; Leifer, Larry

1987-01-01

Researchers at the Center for Design Research at Stanford University, in collaboration with NASA Ames at Moffet Field, California, are developing hand-powered mechanical prehensors to replace gloves for EVA spacesuits. The design and functional properties of the first version Direct Link Prehensor (DLP) is discussed. It has a total of six degrees-of-freedom and is the most elaborate of three prehensors being developed for the project. The DLP has a robust design and utilizes only linkages and revolute joints for the drive system. With its anthropomorphic configuration of two fingers and a thumb, it is easy to control and is capable of all of the basic prehension patterns such as cylindrical or lateral pinch grasps. Kinematic analysis reveals that, assuming point contacts, a grasped object can be manipulated with three degrees-of-freedom. Yet, in practice more degrees-of-freedom are possible.

Mars Relay Spacecraft: A Low-Cost Approach

NASA Technical Reports Server (NTRS)

SvitekT, .; King, J.; Fulton, R.; McOmber, R.; Hastrup, R.; Miller, A.

1995-01-01

The next phase of Mars exploration will utilize numerous globally distributed small low-cost devices including landers penetrators microrovers and balloons. Direct-to-Earth communications links if required for these landers will drive the lander design for two reasons: a) mass and complexity needed for a steerable high-gain antenna and b) power requirements for a high-power amplifier (i.e. solar panel and battery mass). Total mass of the direct link hardware for several recent small-lander designs exceeded the mass of the scientific payload. Alternatively if communications are via a Mars-orbiting relay spacecraft resource requirements for the local UHF communication link are comparatively trivial: a simple whip antenna and less than 1 watt power. Clearly using a Mars relay spacecraft (MRS) is the preferred option if the MRS mission can be accomplished in an affordable and robust way. Our paper describes a point design for such a mission launched in the s001 or 2003 opportunity.

Autonomous Pointing Control of a Large Satellite Antenna Subject to Parametric Uncertainty

PubMed Central

Wu, Shunan; Liu, Yufei; Radice, Gianmarco; Tan, Shujun

2017-01-01

With the development of satellite mobile communications, large antennas are now widely used. The precise pointing of the antenna’s optical axis is essential for many space missions. This paper addresses the challenging problem of high-precision autonomous pointing control of a large satellite antenna. The pointing dynamics are firstly proposed. The proportional–derivative feedback and structural filter to perform pointing maneuvers and suppress antenna vibrations are then presented. An adaptive controller to estimate actual system frequencies in the presence of modal parameters uncertainty is proposed. In order to reduce periodic errors, the modified controllers, which include the proposed adaptive controller and an active disturbance rejection filter, are then developed. The system stability and robustness are analyzed and discussed in the frequency domain. Numerical results are finally provided, and the results have demonstrated that the proposed controllers have good autonomy and robustness. PMID:28287450

Efficient moving target analysis for inverse synthetic aperture radar images via joint speeded-up robust features and regular moment

NASA Astrophysics Data System (ADS)

Yang, Hongxin; Su, Fulin

2018-01-01

We propose a moving target analysis algorithm using speeded-up robust features (SURF) and regular moment in inverse synthetic aperture radar (ISAR) image sequences. In our study, we first extract interest points from ISAR image sequences by SURF. Different from traditional feature point extraction methods, SURF-based feature points are invariant to scattering intensity, target rotation, and image size. Then, we employ a bilateral feature registering model to match these feature points. The feature registering scheme can not only search the isotropic feature points to link the image sequences but also reduce the error matching pairs. After that, the target centroid is detected by regular moment. Consequently, a cost function based on correlation coefficient is adopted to analyze the motion information. Experimental results based on simulated and real data validate the effectiveness and practicability of the proposed method.

Feedback system design with an uncertain plant

NASA Technical Reports Server (NTRS)

Milich, D.; Valavani, L.; Athans, M.

1986-01-01

A method is developed to design a fixed-parameter compensator for a linear, time-invariant, SISO (single-input single-output) plant model characterized by significant structured, as well as unstructured, uncertainty. The controller minimizes the H(infinity) norm of the worst-case sensitivity function over the operating band and the resulting feedback system exhibits robust stability and robust performance. It is conjectured that such a robust nonadaptive control design technique can be used on-line in an adaptive control system.

Research in robust control for hypersonic aircraft

NASA Technical Reports Server (NTRS)

Calise, A. J.

1993-01-01

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

Four-Point-Latching Microactuator

NASA Technical Reports Server (NTRS)

Toda, Risaku; Yang, Eui-Hyeok

2008-01-01

An experimental inchworm-type linear microactuator is depicted. This microactuator is a successor to one described in "MEMS-Based Piezoelectric/Electrostatic Inchworm Actuator" (NPO-30672), NASA Tech Briefs, Vol. 27, No. 6 (June 2003), page 68. Both actuators are based on the principle of using a piezoelectric transducer operated in alternation with electrostatically actuated clutches to cause a slider to move in small increments. However, the design of the present actuator incorporates several improvements over that of the previous one. The most readily apparent improvement is in geometry and, consequently, in fabrication: In the previous actuator, the inchworm motion was perpendicular to the broad faces of a flat silicon wafer on which the actuator was fabricated, and fabrication involved complex processes to form complex three-dimensional shapes in and on the wafer. In the present actuator, the inchworm motion is parallel to the broad faces of a wafer on which it is fabricated. The components needed to produce the in-plane motion are nearly planar in character and, consequently, easier to fabricate. Other advantages of the present design are described, including that the previous actuator contained two clutches (denoted 'holders' in the cited prior article), the present actuator contains four clutches. The operational sequence of the previous two-clutch actuator is similar. However, the two-clutch configuration is susceptible to tilt of the slider and a consequent large increase in drag. Hence, the primary operational advantages of the present four-point-latching design over the prior two-point-latching design are less drag and greater control robustness arising from greater stability of the orientation of the slider.

Pseudo-time-reversal symmetry and topological edge states in two-dimensional acoustic crystals

PubMed Central

Mei, Jun; Chen, Zeguo; Wu, Ying

2016-01-01

We propose a simple two-dimensional acoustic crystal to realize topologically protected edge states for acoustic waves. The acoustic crystal is composed of a triangular array of core-shell cylinders embedded in a water host. By utilizing the point group symmetry of two doubly degenerate eigenstates at the Γ point, we can construct pseudo-time-reversal symmetry as well as pseudo-spin states in this classical system. We develop an effective Hamiltonian for the associated dispersion bands around the Brillouin zone center, and find the inherent link between the band inversion and the topological phase transition. With numerical simulations, we unambiguously demonstrate the unidirectional propagation of acoustic edge states along the interface between a topologically nontrivial acoustic crystal and a trivial one, and the robustness of the edge states against defects with sharp bends. Our work provides a new design paradigm for manipulating and transporting acoustic waves in a topologically protected manner. Technological applications and devices based on our design are expected in various frequency ranges of interest, spanning from infrasound to ultrasound. PMID:27587311

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

Kazmerski, L. L.

'' . . . with robust investments in research and market development, the picture changes dramatically.'' Thus, the realigned U.S. Photovoltaic Industry Roadmap highlights R&D as critical to the tipping point that will make solar photovoltaics (PV) significant in the U.S. energy portfolio--part of a well-designed plan that would bring ''2034 expectations'' to reality by 2020. Technology improvement and introduction depend on key, focused, and pertinent research contributions that range from the most fundamental through the applied. In this paper, we underscore the successes and relevance of our current systems-driven PV R&D programs, which are built on integrated capabilities. Thesemore » capabilities span atomic-level characterization, nanotechnology, new materials design, interface and device engineering, theoretical guidance and modeling, processing, measurements and analysis, and process integration. This presentation identifies and provides examples of critical research tipping points needed to foster now and near technologies (primarily crystalline silicon and thin films) and to introduce coming generations of solar PV that provide options to push us to the next performance levels (devices with ultra-high efficiencies and with ultra-low cost). The serious importance of science and creativity to U.S. PV technology ownership--and the increased focus to accelerate the time from laboratory discovery to industry adoption--are emphasized at this ''tipping point'' for solar PV.« less

A novel methodology for building robust design rules by using design based metrology (DBM)

NASA Astrophysics Data System (ADS)

Lee, Myeongdong; Choi, Seiryung; Choi, Jinwoo; Kim, Jeahyun; Sung, Hyunju; Yeo, Hyunyoung; Shim, Myoungseob; Jin, Gyoyoung; Chung, Eunseung; Roh, Yonghan

2013-03-01

This paper addresses a methodology for building robust design rules by using design based metrology (DBM). Conventional method for building design rules has been using a simulation tool and a simple pattern spider mask. At the early stage of the device, the estimation of simulation tool is poor. And the evaluation of the simple pattern spider mask is rather subjective because it depends on the experiential judgment of an engineer. In this work, we designed a huge number of pattern situations including various 1D and 2D design structures. In order to overcome the difficulties of inspecting many types of patterns, we introduced Design Based Metrology (DBM) of Nano Geometry Research, Inc. And those mass patterns could be inspected at a fast speed with DBM. We also carried out quantitative analysis on PWQ silicon data to estimate process variability. Our methodology demonstrates high speed and accuracy for building design rules. All of test patterns were inspected within a few hours. Mass silicon data were handled with not personal decision but statistical processing. From the results, robust design rules are successfully verified and extracted. Finally we found out that our methodology is appropriate for building robust design rules.

Fast and Robust Segmentation and Classification for Change Detection in Urban Point Clouds

NASA Astrophysics Data System (ADS)

Roynard, X.; Deschaud, J.-E.; Goulette, F.

2016-06-01

Change detection is an important issue in city monitoring to analyse street furniture, road works, car parking, etc. For example, parking surveys are needed but are currently a laborious task involving sending operators in the streets to identify the changes in car locations. In this paper, we propose a method that performs a fast and robust segmentation and classification of urban point clouds, that can be used for change detection. We apply this method to detect the cars, as a particular object class, in order to perform parking surveys automatically. A recently proposed method already addresses the need for fast segmentation and classification of urban point clouds, using elevation images. The interest to work on images is that processing is much faster, proven and robust. However there may be a loss of information in complex 3D cases: for example when objects are one above the other, typically a car under a tree or a pedestrian under a balcony. In this paper we propose a method that retain the three-dimensional information while preserving fast computation times and improving segmentation and classification accuracy. It is based on fast region-growing using an octree, for the segmentation, and specific descriptors with Random-Forest for the classification. Experiments have been performed on large urban point clouds acquired by Mobile Laser Scanning. They show that the method is as fast as the state of the art, and that it gives more robust results in the complex 3D cases.

Caregivers Provide More Labeling Responses to Infants' Pointing than to Infants' Object-Directed Vocalizations

ERIC Educational Resources Information Center

Wu, Zhen; Gros-Louis, Julie

2015-01-01

Existing studies have observed a robust relationship between infants' pointing gestures and language outcomes. By contrast, infants' overall vocal production is not related to language outcomes. One possible explanation for the association between pointing and language is that pointing gestures, as compared to vocalizations, may elicit more verbal…

Sensitive and reliable detection of Kit point mutation Asp 816 to Val in pathological material

PubMed Central

Kähler, Christian; Didlaukat, Sabine; Feller, Alfred C; Merz, Hartmut

2007-01-01

Background Human mastocytosis is a heterogenous disorder which is linked to a gain-of-function mutation in the kinase domain of the receptor tyrosine kinase Kit. This D816V mutation leads to constitutive activation and phosphorylation of Kit with proliferative disorders of mast cells in the peripheral blood, skin, and spleen. Most PCR applications used so far are labour-intensive and are not adopted to daily routine in pathological laboratories. The method has to be robust and working on such different materials like archival formalin-fixed, paraffin-embedded tissue (FFPE) and blood samples. Such a method is introduced in this publication. Methods The Kit point mutation Asp 816 to Val is heterozygous which means a problem in detection by PCR because the wild-type allele is also amplified and the number of cells which bear the point mutation is in most of the cases low. Most PCR protocols use probes to block the wild-type allele during amplification with more or less satisfying result. This is why point-mutated forward primers were designed and tested for efficiency in amplification of the mutated allele. Results One primer combination (A) fits the most for the introduced PCR assay. It was able just to amplify the mutated allele with high specificity from different patient's materials (FFPE or blood) of varying quality and quantity. Moreover, the sensitivity for this assay was convincing because 10 ng of DNA which bears the point mutation could be detected in a total volume of 200 ng of DNA. Conclusion The PCR assay is able to deal with different materials (blood and FFPE) this means quality and quantity of DNA and can be used for high-througput screening because of its robustness. Moreover, the method is easy-to-use, not labour-intensive, and easy to realise in a standard laboratory. PMID:17900365

Adaptive Critic Nonlinear Robust Control: A Survey.

PubMed

Wang, Ding; He, Haibo; Liu, Derong

2017-10-01

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

Reversed-phase liquid chromatography column testing: robustness study of the test.

PubMed

Le Mapihan, K; Vial, J; Jardy, A

2004-12-24

Choosing the right RPLC column for an actual separation among the more than 600 commercially available ones still represents a real challenge for the analyst particularly when basic solutes are involved. Many tests dedicated to the characterization and the classification of stationary phases have been proposed in the literature and some of them highlighted the need of a better understanding of retention properties to lead to a rational choice of columns. However, unlike classical chromatographic methods, the problem of their robustness evaluation has often been left unaddressed. In the present study, we present a robustness study that was applied to the chromatographic testing procedure we had developed and optimized previously. A design of experiment (DoE) approach was implemented. Four factors, previously identified as potentially influent, were selected and subjected to small controlled variations: solvent fraction, temperature, pH and buffer concentration. As our model comprised quadratic terms instead of a simple linear model, we chose a D-optimal design in order to minimize the experiment number. As a previous batch-to-batch study [K. Le Mapihan, Caractérisation et classification des phases stationnaires utilisées pour l'analyse CPL de produits pharmaceutiques, Ph.D. Thesis, Pierre and Marie Curie University, 2004] had shown a low variability on the selected stationary phase, it was then possible to split the design into two parts, according to the solvent nature, each using one column. Actually, our testing procedure involving assays both with methanol and with acetonitrile as organic modifier, such an approach enabled to avoid a possible bias due to the column ageing considering the number of experiments required (16 + 6 center points). Experimental results were computed thanks to a Partial Least Squares regression procedure, more adapted than the classical regression to handle factors and responses not completely independent. The results showed the behavior of the solutes in relation to their physico-chemical properties and the relevance of the second term degree of our model. Finally, the robust domain of the test has been fairly identified, so that any potential user precisely knows to which extend each experimental parameter must be controlled when our testing procedure is to be implemented.

Reconfigurable Flight Control Designs With Application to the X-33 Vehicle

NASA Technical Reports Server (NTRS)

Burken, John J.; Lu, Ping; Wu, Zhenglu

1999-01-01

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

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

NASA Technical Reports Server (NTRS)

Postma, Barry Dirk

2005-01-01

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

Robustness of predator-prey models for confinement regime transitions in fusion plasmas

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

Zhu, H.; Chapman, S. C.; Department of Mathematics and Statistics, University of Tromso

2013-04-15

Energy transport and confinement in tokamak fusion plasmas is usually determined by the coupled nonlinear interactions of small-scale drift turbulence and larger scale coherent nonlinear structures, such as zonal flows, together with free energy sources such as temperature gradients. Zero-dimensional models, designed to embody plausible physical narratives for these interactions, can help to identify the origin of enhanced energy confinement and of transitions between confinement regimes. A prime zero-dimensional paradigm is predator-prey or Lotka-Volterra. Here, we extend a successful three-variable (temperature gradient; microturbulence level; one class of coherent structure) model in this genre [M. A. Malkov and P. H. Diamond,more » Phys. Plasmas 16, 012504 (2009)], by adding a fourth variable representing a second class of coherent structure. This requires a fourth coupled nonlinear ordinary differential equation. We investigate the degree of invariance of the phenomenology generated by the model of Malkov and Diamond, given this additional physics. We study and compare the long-time behaviour of the three-equation and four-equation systems, their evolution towards the final state, and their attractive fixed points and limit cycles. We explore the sensitivity of paths to attractors. It is found that, for example, an attractive fixed point of the three-equation system can become a limit cycle of the four-equation system. Addressing these questions which we together refer to as 'robustness' for convenience is particularly important for models which, as here, generate sharp transitions in the values of system variables which may replicate some key features of confinement transitions. Our results help to establish the robustness of the zero-dimensional model approach to capturing observed confinement phenomenology in tokamak fusion plasmas.« less

Curve Set Feature-Based Robust and Fast Pose Estimation Algorithm

PubMed Central

Hashimoto, Koichi

2017-01-01

Bin picking refers to picking the randomly-piled objects from a bin for industrial production purposes, and robotic bin picking is always used in automated assembly lines. In order to achieve a higher productivity, a fast and robust pose estimation algorithm is necessary to recognize and localize the randomly-piled parts. This paper proposes a pose estimation algorithm for bin picking tasks using point cloud data. A novel descriptor Curve Set Feature (CSF) is proposed to describe a point by the surface fluctuation around this point and is also capable of evaluating poses. The Rotation Match Feature (RMF) is proposed to match CSF efficiently. The matching process combines the idea of the matching in 2D space of origin Point Pair Feature (PPF) algorithm with nearest neighbor search. A voxel-based pose verification method is introduced to evaluate the poses and proved to be more than 30-times faster than the kd-tree-based verification method. Our algorithm is evaluated against a large number of synthetic and real scenes and proven to be robust to noise, able to detect metal parts, more accurately and more than 10-times faster than PPF and Oriented, Unique and Repeatable (OUR)-Clustered Viewpoint Feature Histogram (CVFH). PMID:28771216

A probabilistic approach to aircraft design emphasizing stability and control uncertainties

NASA Astrophysics Data System (ADS)

Delaurentis, Daniel Andrew

In order to address identified deficiencies in current approaches to aerospace systems design, a new method has been developed. This new method for design is based on the premise that design is a decision making activity, and that deterministic analysis and synthesis can lead to poor, or misguided decision making. This is due to a lack of disciplinary knowledge of sufficient fidelity about the product, to the presence of uncertainty at multiple levels of the aircraft design hierarchy, and to a failure to focus on overall affordability metrics as measures of goodness. Design solutions are desired which are robust to uncertainty and are based on the maximum knowledge possible. The new method represents advances in the two following general areas. 1. Design models and uncertainty. The research performed completes a transition from a deterministic design representation to a probabilistic one through a modeling of design uncertainty at multiple levels of the aircraft design hierarchy, including: (1) Consistent, traceable uncertainty classification and representation; (2) Concise mathematical statement of the Probabilistic Robust Design problem; (3) Variants of the Cumulative Distribution Functions (CDFs) as decision functions for Robust Design; (4) Probabilistic Sensitivities which identify the most influential sources of variability. 2. Multidisciplinary analysis and design. Imbedded in the probabilistic methodology is a new approach for multidisciplinary design analysis and optimization (MDA/O), employing disciplinary analysis approximations formed through statistical experimentation and regression. These approximation models are a function of design variables common to the system level as well as other disciplines. For aircraft, it is proposed that synthesis/sizing is the proper avenue for integrating multiple disciplines. Research hypotheses are translated into a structured method, which is subsequently tested for validity. Specifically, the implementation involves the study of the relaxed static stability technology for a supersonic commercial transport aircraft. The probabilistic robust design method is exercised resulting in a series of robust design solutions based on different interpretations of "robustness". Insightful results are obtained and the ability of the method to expose trends in the design space are noted as a key advantage.

Active stability augmentation of large space structures: A stochastic control problem

NASA Technical Reports Server (NTRS)

Balakrishnan, A. V.

1987-01-01

A problem in SCOLE is that of slewing an offset antenna on a long flexible beam-like truss attached to the space shuttle, with rather stringent pointing accuracy requirements. The relevant methodology aspects in robust feedback-control design for stability augmentation of the beam using on-board sensors is examined. It is framed as a stochastic control problem, boundary control of a distributed parameter system described by partial differential equations. While the framework is mathematical, the emphasis is still on an engineering solution. An abstract mathematical formulation is developed as a nonlinear wave equation in a Hilbert space. That the system is controllable is shown and a feedback control law that is robust in the sense that it does not require quantitative knowledge of system parameters is developed. The stochastic control problem that arises in instrumenting this law using appropriate sensors is treated. Using an engineering first approximation which is valid for small damping, formulas for optimal choice of the control gain are developed.

Virtual tryout planning in automotive industry based on simulation metamodels

NASA Astrophysics Data System (ADS)

Harsch, D.; Heingärtner, J.; Hortig, D.; Hora, P.

2016-11-01

Deep drawn sheet metal parts are increasingly designed to the feasibility limit, thus achieving a robust manufacturing is often challenging. The fluctuation of process and material properties often lead to robustness problems. Therefore, numerical simulations are used to detect the critical regions. To enhance the agreement with the real process conditions, the material data are acquired through a variety of experiments. Furthermore, the force distribution is taken into account. The simulation metamodel contains the virtual knowledge of a particular forming process, which is determined based on a series of finite element simulations with variable input parameters. Based on the metamodels, virtual process windows can be displayed for different configurations. This helps to improve the operating point as well as to adjust process settings in case the process becomes unstable. Furthermore, the time of tool tryout can be shortened due to transfer of the virtual knowledge contained in the metamodels on the optimisation of the drawbeads. This allows the tool manufacturer to focus on the essential, to save time and to recognize complex relationships.

Terrain Model Registration for Single Cycle Instrument Placement

NASA Technical Reports Server (NTRS)

Deans, Matthew; Kunz, Clay; Sargent, Randy; Pedersen, Liam

2003-01-01

This paper presents an efficient and robust method for registration of terrain models created using stereo vision on a planetary rover. Our approach projects two surface models into a virtual depth map, rendering the models as they would be seen from a single range sensor. Correspondence is established based on which points project to the same location in the virtual range sensor. A robust norm of the deviations in observed depth is used as the objective function, and the algorithm searches for the rigid transformation which minimizes the norm. An initial coarse search is done using rover pose information from odometry and orientation sensing. A fine search is done using Levenberg-Marquardt. Our method enables a planetary rover to keep track of designated science targets as it moves, and to hand off targets from one set of stereo cameras to another. These capabilities are essential for the rover to autonomously approach a science target and place an instrument in contact in a single command cycle.

A Novel Small-Specimen Planar Biaxial Testing System With Full In-Plane Deformation Control.

PubMed

Potter, Samuel; Graves, Jordan; Drach, Borys; Leahy, Thomas; Hammel, Chris; Feng, Yuan; Baker, Aaron; Sacks, Michael S

2018-05-01

Simulations of soft tissues require accurate and robust constitutive models, whose form is derived from carefully designed experimental studies. For such investigations of membranes or thin specimens, planar biaxial systems have been used extensively. Yet, all such systems remain limited in their ability to: (1) fully prescribe in-plane deformation gradient tensor F2D, (2) ensure homogeneity of the applied deformation, and (3) be able to accommodate sufficiently small specimens to ensure a reasonable degree of material homogeneity. To address these issues, we have developed a novel planar biaxial testing device that overcomes these difficulties and is capable of full control of the in-plane deformation gradient tensor F2D and of testing specimens as small as ∼4 mm × ∼4 mm. Individual actuation of the specimen attachment points, combined with a robust real-time feedback control, enabled the device to enforce any arbitrary F2D with a high degree of accuracy and homogeneity. Results from extensive device validation trials and example tissues illustrated the ability of the device to perform as designed and gather data needed for developing and validating constitutive models. Examples included the murine aortic tissues, allowing for investigators to take advantage of the genetic manipulation of murine disease models. These capabilities highlight the potential of the device to serve as a platform for informing and verifying the results of inverse models and for conducting robust, controlled investigation into the biomechanics of very local behaviors of soft tissues and membrane biomaterials.

Transition-Tempered Metadynamics: Robust, Convergent Metadynamics via On-the-Fly Transition Barrier Estimation.

PubMed

Dama, James F; Rotskoff, Grant; Parrinello, Michele; Voth, Gregory A

2014-09-09

Well-tempered metadynamics has proven to be a practical and efficient adaptive enhanced sampling method for the computational study of biomolecular and materials systems. However, choosing its tunable parameter can be challenging and requires balancing a trade-off between fast escape from local metastable states and fast convergence of an overall free energy estimate. In this article, we present a new smoothly convergent variant of metadynamics, transition-tempered metadynamics, that removes that trade-off and is more robust to changes in its own single tunable parameter, resulting in substantial speed and accuracy improvements. The new method is specifically designed to study state-to-state transitions in which the states of greatest interest are known ahead of time, but transition mechanisms are not. The design is guided by a picture of adaptive enhanced sampling as a means to increase dynamical connectivity of a model's state space until percolation between all points of interest is reached, and it uses the degree of dynamical percolation to automatically tune the convergence rate. We apply the new method to Brownian dynamics on 48 random 1D surfaces, blocked alanine dipeptide in vacuo, and aqueous myoglobin, finding that transition-tempered metadynamics substantially and reproducibly improves upon well-tempered metadynamics in terms of first barrier crossing rate, convergence rate, and robustness to the choice of tuning parameter. Moreover, the trade-off between first barrier crossing rate and convergence rate is eliminated: the new method drives escape from an initial metastable state as fast as metadynamics without tempering, regardless of tuning.

A Robust Shape Reconstruction Method for Facial Feature Point Detection.

PubMed

Tan, Shuqiu; Chen, Dongyi; Guo, Chenggang; Huang, Zhiqi

2017-01-01

Facial feature point detection has been receiving great research advances in recent years. Numerous methods have been developed and applied in practical face analysis systems. However, it is still a quite challenging task because of the large variability in expression and gestures and the existence of occlusions in real-world photo shoot. In this paper, we present a robust sparse reconstruction method for the face alignment problems. Instead of a direct regression between the feature space and the shape space, the concept of shape increment reconstruction is introduced. Moreover, a set of coupled overcomplete dictionaries termed the shape increment dictionary and the local appearance dictionary are learned in a regressive manner to select robust features and fit shape increments. Additionally, to make the learned model more generalized, we select the best matched parameter set through extensive validation tests. Experimental results on three public datasets demonstrate that the proposed method achieves a better robustness over the state-of-the-art methods.

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

NASA Astrophysics Data System (ADS)

Saputra, Aditya; Widowati, Sutrisno

2017-12-01

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

Flexible design in water and wastewater engineering--definitions, literature and decision guide.

PubMed

Spiller, Marc; Vreeburg, Jan H G; Leusbrock, Ingo; Zeeman, Grietje

2015-02-01

Urban water and wastewater systems face uncertain developments including technological progress, climate change and urban development. To ensure the sustainability of these systems under dynamic conditions it has been proposed that technologies and infrastructure should be flexible, adaptive and robust. However, in literature it is often unclear what these technologies and infrastructure are. Furthermore, the terms flexible, adaptive and robust are often used interchangeably, despite important differences. In this paper we will i) define the terminology, ii) provide an overview of the status of flexible infrastructure design alternatives for water and wastewater networks and treatment, and iii) develop guidelines for the selection of flexible design alternatives. Results indicate that, with the exception of Net Present Valuation methods, there is little research available on the design and evaluation of technologies that can enable flexibility. Flexible design alternatives reviewed include robust design, phased design, modular design, modular/component platform design and design for remanufacturing. As developments in the water sector are driven by slow variables (climate change, urban development), rather than market forces, it is suggested that phased design or component platform designs are suitable for responding to change, while robust design is an option when operations face highly dynamic variability. Copyright © 2014 Elsevier Ltd. All rights reserved.

Optimal Micro-Scale Secondary Flow Control for the Management of High Cycle Fatigue and Distortion in Compact Inlet Diffusers

NASA Technical Reports Server (NTRS)

Anderson, Bernhard H.; Keller, Dennis J.

2002-01-01

The purpose of this study on micro-scale secondary flow control (MSFC) is to study the aerodynamic behavior of micro-vane effectors through their factor (i.e., the design variable) interactions and to demonstrate how these statistical interactions, when brought together in an optimal manner, determine design robustness. The term micro-scale indicates the vane effectors are small in comparison to the local boundary layer height. Robustness in this situation means that it is possible to design fixed MSFC robust installation (i.e.. open loop) which operates well over the range of mission variables and is only marginally different from adaptive (i.e., closed loop) installation design, which would require a control system. The inherent robustness of MSFC micro-vane effector installation designs comes about because of their natural aerodynamic characteristics and the manner in which these characteristics are brought together in an optimal manner through a structured Response Surface Methodology design process.

The robust corrective action priority-an improved approach for selecting competing corrective actions in FMEA based on principle of robust design

NASA Astrophysics Data System (ADS)

Sutrisno, Agung; Gunawan, Indra; Vanany, Iwan

2017-11-01

In spite of being integral part in risk - based quality improvement effort, studies improving quality of selection of corrective action priority using FMEA technique are still limited in literature. If any, none is considering robustness and risk in selecting competing improvement initiatives. This study proposed a theoretical model to select risk - based competing corrective action by considering robustness and risk of competing corrective actions. We incorporated the principle of robust design in counting the preference score among corrective action candidates. Along with considering cost and benefit of competing corrective actions, we also incorporate the risk and robustness of corrective actions. An example is provided to represent the applicability of the proposed model.

Guidelines for the Effective Use of Entity-Attribute-Value Modeling for Biomedical Databases

PubMed Central

Dinu, Valentin; Nadkarni, Prakash

2007-01-01

Purpose To introduce the goals of EAV database modeling, to describe the situations where Entity-Attribute-Value (EAV) modeling is a useful alternative to conventional relational methods of database modeling, and to describe the fine points of implementation in production systems. Methods We analyze the following circumstances: 1) data are sparse and have a large number of applicable attributes, but only a small fraction will apply to a given entity; 2) numerous classes of data need to be represented, each class has a limited number of attributes, but the number of instances of each class is very small. We also consider situations calling for a mixed approach where both conventional and EAV design are used for appropriate data classes. Results and Conclusions In robust production systems, EAV-modeled databases trade a modest data sub-schema for a complex metadata sub-schema. The need to design the metadata effectively makes EAV design potentially more challenging than conventional design. PMID:17098467

Design strategy for terahertz quantum dot cascade lasers.

PubMed

Burnett, Benjamin A; Williams, Benjamin S

2016-10-31

The development of quantum dot cascade lasers has been proposed as a path to obtain terahertz semiconductor lasers that operate at room temperature. The expected benefit is due to the suppression of nonradiative electron-phonon scattering and reduced dephasing that accompanies discretization of the electronic energy spectrum. We present numerical modeling which predicts that simple scaling of conventional quantum well based designs to the quantum dot regime will likely fail due to electrical instability associated with high-field domain formation. A design strategy adapted for terahertz quantum dot cascade lasers is presented which avoids these problems. Counterintuitively, this involves the resonant depopulation of the laser's upper state with the LO-phonon energy. The strategy is tested theoretically using a density matrix model of transport and gain, which predicts sufficient gain for lasing at stable operating points. Finally, the effect of quantum dot size inhomogeneity on the optical lineshape is explored, suggesting that the design concept is robust to a moderate amount of statistical variation.

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 robust cloud registration method based on redundant data reduction using backpropagation neural network and shift window

NASA Astrophysics Data System (ADS)

Xin, Meiting; Li, Bing; Yan, Xiao; Chen, Lei; Wei, Xiang

2018-02-01

A robust coarse-to-fine registration method based on the backpropagation (BP) neural network and shift window technology is proposed in this study. Specifically, there are three steps: coarse alignment between the model data and measured data, data simplification based on the BP neural network and point reservation in the contour region of point clouds, and fine registration with the reweighted iterative closest point algorithm. In the process of rough alignment, the initial rotation matrix and the translation vector between the two datasets are obtained. After performing subsequent simplification operations, the number of points can be reduced greatly. Therefore, the time and space complexity of the accurate registration can be significantly reduced. The experimental results show that the proposed method improves the computational efficiency without loss of accuracy.

Robust design of microchannel cooler

NASA Astrophysics Data System (ADS)

He, Ye; Yang, Tao; Hu, Li; Li, Leimin

2005-12-01

Microchannel cooler has offered a new method for the cooling of high power diode lasers, with the advantages of small volume, high efficiency of thermal dissipation and low cost when mass-produced. In order to reduce the sensitivity of design to manufacture errors or other disturbances, Taguchi method that is one of robust design method was chosen to optimize three parameters important to the cooling performance of roof-like microchannel cooler. The hydromechanical and thermal mathematical model of varying section microchannel was calculated using finite volume method by FLUENT. A special program was written to realize the automation of the design process for improving efficiency. The optimal design is presented which compromises between optimal cooling performance and its robustness. This design method proves to be available.

A Unifying Mathematical Framework for Genetic Robustness, Environmental Robustness, Network Robustness and their Trade-off on Phenotype Robustness in Biological Networks Part I: Gene Regulatory Networks in Systems and Evolutionary Biology

PubMed Central

Chen, Bor-Sen; Lin, Ying-Po

2013-01-01

Robust stabilization and environmental disturbance attenuation are ubiquitous systematic properties observed in biological systems at different levels. The underlying principles for robust stabilization and environmental disturbance attenuation are universal to both complex biological systems and sophisticated engineering systems. In many biological networks, network robustness should be enough to confer intrinsic robustness in order to tolerate intrinsic parameter fluctuations, genetic robustness for buffering genetic variations, and environmental robustness for resisting environmental disturbances. With this, the phenotypic stability of biological network can be maintained, thus guaranteeing phenotype robustness. This paper presents a survey on biological systems and then develops a unifying mathematical framework for investigating the principles of both robust stabilization and environmental disturbance attenuation in systems and evolutionary biology. Further, from the unifying mathematical framework, it was discovered that the phenotype robustness criterion for biological networks at different levels relies upon intrinsic robustness + genetic robustness + environmental robustness ≦ network robustness. When this is true, the phenotype robustness can be maintained in spite of intrinsic parameter fluctuations, genetic variations, and environmental disturbances. Therefore, the trade-offs between intrinsic robustness, genetic robustness, environmental robustness, and network robustness in systems and evolutionary biology can also be investigated through their corresponding phenotype robustness criterion from the systematic point of view. PMID:23515240

A Unifying Mathematical Framework for Genetic Robustness, Environmental Robustness, Network Robustness and their Trade-off on Phenotype Robustness in Biological Networks Part I: Gene Regulatory Networks in Systems and Evolutionary Biology.

PubMed

Chen, Bor-Sen; Lin, Ying-Po

2013-01-01

Robust stabilization and environmental disturbance attenuation are ubiquitous systematic properties observed in biological systems at different levels. The underlying principles for robust stabilization and environmental disturbance attenuation are universal to both complex biological systems and sophisticated engineering systems. In many biological networks, network robustness should be enough to confer intrinsic robustness in order to tolerate intrinsic parameter fluctuations, genetic robustness for buffering genetic variations, and environmental robustness for resisting environmental disturbances. With this, the phenotypic stability of biological network can be maintained, thus guaranteeing phenotype robustness. This paper presents a survey on biological systems and then develops a unifying mathematical framework for investigating the principles of both robust stabilization and environmental disturbance attenuation in systems and evolutionary biology. Further, from the unifying mathematical framework, it was discovered that the phenotype robustness criterion for biological networks at different levels relies upon intrinsic robustness + genetic robustness + environmental robustness ≦ network robustness. When this is true, the phenotype robustness can be maintained in spite of intrinsic parameter fluctuations, genetic variations, and environmental disturbances. Therefore, the trade-offs between intrinsic robustness, genetic robustness, environmental robustness, and network robustness in systems and evolutionary biology can also be investigated through their corresponding phenotype robustness criterion from the systematic point of view.

Robust iterative closest point algorithm based on global reference point for rotation invariant registration.

PubMed

Du, Shaoyi; Xu, Yiting; Wan, Teng; Hu, Huaizhong; Zhang, Sirui; Xu, Guanglin; Zhang, Xuetao

2017-01-01

The iterative closest point (ICP) algorithm is efficient and accurate for rigid registration but it needs the good initial parameters. It is easily failed when the rotation angle between two point sets is large. To deal with this problem, a new objective function is proposed by introducing a rotation invariant feature based on the Euclidean distance between each point and a global reference point, where the global reference point is a rotation invariant. After that, this optimization problem is solved by a variant of ICP algorithm, which is an iterative method. Firstly, the accurate correspondence is established by using the weighted rotation invariant feature distance and position distance together. Secondly, the rigid transformation is solved by the singular value decomposition method. Thirdly, the weight is adjusted to control the relative contribution of the positions and features. Finally this new algorithm accomplishes the registration by a coarse-to-fine way whatever the initial rotation angle is, which is demonstrated to converge monotonically. The experimental results validate that the proposed algorithm is more accurate and robust compared with the original ICP algorithm.

Robust iterative closest point algorithm based on global reference point for rotation invariant registration

PubMed Central

Du, Shaoyi; Xu, Yiting; Wan, Teng; Zhang, Sirui; Xu, Guanglin; Zhang, Xuetao

2017-01-01

The iterative closest point (ICP) algorithm is efficient and accurate for rigid registration but it needs the good initial parameters. It is easily failed when the rotation angle between two point sets is large. To deal with this problem, a new objective function is proposed by introducing a rotation invariant feature based on the Euclidean distance between each point and a global reference point, where the global reference point is a rotation invariant. After that, this optimization problem is solved by a variant of ICP algorithm, which is an iterative method. Firstly, the accurate correspondence is established by using the weighted rotation invariant feature distance and position distance together. Secondly, the rigid transformation is solved by the singular value decomposition method. Thirdly, the weight is adjusted to control the relative contribution of the positions and features. Finally this new algorithm accomplishes the registration by a coarse-to-fine way whatever the initial rotation angle is, which is demonstrated to converge monotonically. The experimental results validate that the proposed algorithm is more accurate and robust compared with the original ICP algorithm. PMID:29176780

Robust, Decoupled, Flight Control Design with Rate Saturating Actuators

NASA Technical Reports Server (NTRS)

Snell, S. A.; Hess, R. A.

1997-01-01

Techniques for the design of control systems for manually controlled, high-performance aircraft must provide the following: (1) multi-input, multi-output (MIMO) solutions, (2) acceptable handling qualities including no tendencies for pilot-induced oscillations, (3) a tractable approach for compensator design, (4) performance and stability robustness in the presence of significant plant uncertainty, and (5) performance and stability robustness in the presence actuator saturation (particularly rate saturation). A design technique built upon Quantitative Feedback Theory is offered as a candidate methodology which can provide flight control systems meeting these requirements, and do so over a considerable part of the flight envelope. An example utilizing a simplified model of a supermaneuverable fighter aircraft demonstrates the proposed design methodology.

Community-based restaurant interventions to promote healthy eating: a systematic review.

PubMed

Valdivia Espino, Jennifer N; Guerrero, Natalie; Rhoads, Natalie; Simon, Norma-Jean; Escaron, Anne L; Meinen, Amy; Nieto, F Javier; Martinez-Donate, Ana P

2015-05-21

Eating in restaurants is associated with high caloric intake. This review summarizes and evaluates the evidence supporting community-based restaurant interventions. We searched all years of PubMed and Web of Knowledge through January 2014 for original articles describing or evaluating community-based restaurant interventions to promote healthy eating. We extracted summary information and classified the interventions into 9 categories according to the strategies implemented. A scoring system was adapted to evaluate the evidence, assigning 0 to 3 points to each intervention for study design, public awareness, and effectiveness. The average values were summed and then multiplied by 1 to 3 points, according to the volume of research available for each category. These summary scores were used to determine the level of evidence (insufficient, sufficient, or strong) supporting the effectiveness of each category. This review included 27 interventions described in 25 studies published since 1979. Most interventions took place in exclusively urban areas of the United States, either in the West or the South. The most common intervention categories were the use of point-of-purchase information with promotion and communication (n = 6), and point-of-purchase information with increased availability of healthy choices (n = 6). Only the latter category had sufficient evidence. The remaining 8 categories had insufficient evidence because of interventions showing no, minimal, or mixed findings; limited reporting of awareness and effectiveness; low volume of research; or weak study designs. No intervention reported an average negative impact on outcomes. Evidence about effective community-based strategies to promote healthy eating in restaurants is limited, especially for interventions in rural areas. To expand the evidence base, more studies should be conducted using robust study designs, standardized evaluation methods, and measures of sales, behavior, and health outcomes.

Community-Based Restaurant Interventions to Promote Healthy Eating: A Systematic Review

PubMed Central

Valdivia Espino, Jennifer N.; Guerrero, Natalie; Rhoads, Natalie; Simon, Norma-Jean; Escaron, Anne L.; Meinen, Amy; Nieto, F. Javier

2015-01-01

Introduction Eating in restaurants is associated with high caloric intake. This review summarizes and evaluates the evidence supporting community-based restaurant interventions. Methods We searched all years of PubMed and Web of Knowledge through January 2014 for original articles describing or evaluating community-based restaurant interventions to promote healthy eating. We extracted summary information and classified the interventions into 9 categories according to the strategies implemented. A scoring system was adapted to evaluate the evidence, assigning 0 to 3 points to each intervention for study design, public awareness, and effectiveness. The average values were summed and then multiplied by 1 to 3 points, according to the volume of research available for each category. These summary scores were used to determine the level of evidence (insufficient, sufficient, or strong) supporting the effectiveness of each category. Results This review included 27 interventions described in 25 studies published since 1979. Most interventions took place in exclusively urban areas of the United States, either in the West or the South. The most common intervention categories were the use of point-of-purchase information with promotion and communication (n = 6), and point-of-purchase information with increased availability of healthy choices (n = 6). Only the latter category had sufficient evidence. The remaining 8 categories had insufficient evidence because of interventions showing no, minimal, or mixed findings; limited reporting of awareness and effectiveness; low volume of research; or weak study designs. No intervention reported an average negative impact on outcomes. Conclusion Evidence about effective community-based strategies to promote healthy eating in restaurants is limited, especially for interventions in rural areas. To expand the evidence base, more studies should be conducted using robust study designs, standardized evaluation methods, and measures of sales, behavior, and health outcomes. PMID:25996986

Towards Robust Designs Via Multiple-Objective Optimization Methods

NASA Technical Reports Server (NTRS)

Man Mohan, Rai

2006-01-01

Fabricating and operating complex systems involves dealing with uncertainty in the relevant variables. In the case of aircraft, flow conditions are subject to change during operation. Efficiency and engine noise may be different from the expected values because of manufacturing tolerances and normal wear and tear. Engine components may have a shorter life than expected because of manufacturing tolerances. In spite of the important effect of operating- and manufacturing-uncertainty on the performance and expected life of the component or system, traditional aerodynamic shape optimization has focused on obtaining the best design given a set of deterministic flow conditions. Clearly it is important to both maintain near-optimal performance levels at off-design operating conditions, and, ensure that performance does not degrade appreciably when the component shape differs from the optimal shape due to manufacturing tolerances and normal wear and tear. These requirements naturally lead to the idea of robust optimal design wherein the concept of robustness to various perturbations is built into the design optimization procedure. The basic ideas involved in robust optimal design will be included in this lecture. The imposition of the additional requirement of robustness results in a multiple-objective optimization problem requiring appropriate solution procedures. Typically the costs associated with multiple-objective optimization are substantial. Therefore efficient multiple-objective optimization procedures are crucial to the rapid deployment of the principles of robust design in industry. Hence the companion set of lecture notes (Single- and Multiple-Objective Optimization with Differential Evolution and Neural Networks ) deals with methodology for solving multiple-objective Optimization problems efficiently, reliably and with little user intervention. Applications of the methodologies presented in the companion lecture to robust design will be included here. The evolutionary method (DE) is first used to solve a relatively difficult problem in extended surface heat transfer wherein optimal fin geometries are obtained for different safe operating base temperatures. The objective of maximizing the safe operating base temperature range is in direct conflict with the objective of maximizing fin heat transfer. This problem is a good example of achieving robustness in the context of changing operating conditions. The evolutionary method is then used to design a turbine airfoil; the two objectives being reduced sensitivity of the pressure distribution to small changes in the airfoil shape and the maximization of the trailing edge wedge angle with the consequent increase in airfoil thickness and strength. This is a relevant example of achieving robustness to manufacturing tolerances and wear and tear in the presence of other objectives.

Robust dynamic inversion controller design and analysis (using the X-38 vehicle as a case study)

NASA Astrophysics Data System (ADS)

Ito, Daigoro

A new way to approach robust Dynamic Inversion controller synthesis is addressed in this paper. A Linear Quadratic Gaussian outer-loop controller improves the robustness of a Dynamic Inversion inner-loop controller in the presence of uncertainties. Desired dynamics are given by the dynamic compensator, which shapes the loop. The selected dynamics are based on both performance and stability robustness requirements. These requirements are straightforwardly formulated as frequency-dependent singular value bounds during synthesis of the controller. Performance and robustness of the designed controller is tested using a worst case time domain quadratic index, which is a simple but effective way to measure robustness due to parameter variation. Using this approach, a lateral-directional controller for the X-38 vehicle is designed and its robustness to parameter variations and disturbances is analyzed. It is found that if full state measurements are available, the performance of the designed lateral-directional control system, measured by the chosen cost function, improves by approximately a factor of four. Also, it is found that the designed system is stable up to a parametric variation of 1.65 standard deviation with the set of uncertainty considered. The system robustness is determined to be highly sensitive to the dihedral derivative and the roll damping coefficients. The controller analysis is extended to the nonlinear system where both control input displacements and rates are bounded. In this case, the considered nonlinear system is stable up to 48.1° in bank angle and 1.59° in sideslip angle variations, indicating it is more sensitive to variations in sideslip angle than in bank angle. This nonlinear approach is further extended for the actuator failure mode analysis. The results suggest that the designed system maintains a high level of stability in the event of aileron failure. However, only 35% or less of the original stability range is maintained for the rudder failure case. Overall, this combination of controller synthesis and robustness criteria compares well with the mu-synthesis technique. It also is readily accessible to the practicing engineer, in terms of understanding and use.

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.

Generalized Stability Analysis of Capillary Flow in Slender V-Grooves

NASA Astrophysics Data System (ADS)

White, Nicholas; Troian, Sandra

2017-11-01

Spontaneous capillary flow, an especially rapid process in slender open microchannels resembling V-grooves, is of significant importance to many applications requiring passive robust flow control. Many types of biomedical devices for point-of-care use in developing countries are being designed around this principle. Important fundamental work by Romero and Yost (1996) and Weislogel (1996) elucidated the behavior of Newtonian films in slender V-grooves driven to flow by the streamwise change in capillary pressure due to the change in radius of curvature of the circular arc describing the interface of wetting or non-wetting fluids. Self-similar solutions describing Washburn type dynamics were found but other solutions are possible. Here we extend the Romero and Yost model to include a variety of inlet and outlet boundary conditions and examine the transient growth and generalized stability of perturbations to steady state and self-similar flows. Although most cases examined for wetting fluids exhibit robust stability against small perturbations, some exceptions reveal unstable flow. In total, these results support decades of experimental work which has found this method of flow control to be especially reliable, robust and self-healing. The authors gratefully acknowledge financial support from the 2016 NASA/Jet Propulsion Laboratory President's and Director's Fund as well as a 2017 NASA Space Technology Research Fellowship.

A Cosmic Dust Sensor Based on an Array of Grid Electrodes

NASA Astrophysics Data System (ADS)

Li, Y. W.; Bugiel, S.; Strack, H.; Srama, R.

2014-04-01

We described a low mass and high sensitivity cosmic dust trajectory sensor using a array of grid segments[1]. the sensor determines the particle velocity vector and the particle mass. An impact target is used for the detection of the impact plasma of high speed particles like interplanetary dust grains or high speed ejecta. Slower particles are measured by three planes of grid electrodes using charge induction. In contrast to conventional Dust Trajectory Sensor based on wire electrodes, grid electrodes a robust and sensitive design with a trajectory resolution of a few degree. Coulomb simulation and laboratory tests were performed in order to verify the instrument design. The signal shapes are used to derive the particle plane intersection points and to derive the exact particle trajectory. The accuracy of the instrument for the incident angle depends on the particle charge, the position of the intersection point and the signal-to-noise of the charge sensitive amplifier (CSA). There are some advantages of this grid-electrodes based design with respect to conventional trajectory sensor using individual wire electrodes: the grid segment electrodes show higher amplitudes (close to 100%induced charge) and the overall number of measurement channels can be reduced. This allows a compact instrument with low power and mass requirements.

A novel method for predicting the power outputs of wave energy converters

NASA Astrophysics Data System (ADS)

Wang, Yingguang

2018-03-01

This paper focuses on realistically predicting the power outputs of wave energy converters operating in shallow water nonlinear waves. A heaving two-body point absorber is utilized as a specific calculation example, and the generated power of the point absorber has been predicted by using a novel method (a nonlinear simulation method) that incorporates a second order random wave model into a nonlinear dynamic filter. It is demonstrated that the second order random wave model in this article can be utilized to generate irregular waves with realistic crest-trough asymmetries, and consequently, more accurate generated power can be predicted by subsequently solving the nonlinear dynamic filter equation with the nonlinearly simulated second order waves as inputs. The research findings demonstrate that the novel nonlinear simulation method in this article can be utilized as a robust tool for ocean engineers in their design, analysis and optimization of wave energy converters.

Image interpolation via regularized local linear regression.

PubMed

Liu, Xianming; Zhao, Debin; Xiong, Ruiqin; Ma, Siwei; Gao, Wen; Sun, Huifang

2011-12-01

The linear regression model is a very attractive tool to design effective image interpolation schemes. Some regression-based image interpolation algorithms have been proposed in the literature, in which the objective functions are optimized by ordinary least squares (OLS). However, it is shown that interpolation with OLS may have some undesirable properties from a robustness point of view: even small amounts of outliers can dramatically affect the estimates. To address these issues, in this paper we propose a novel image interpolation algorithm based on regularized local linear regression (RLLR). Starting with the linear regression model where we replace the OLS error norm with the moving least squares (MLS) error norm leads to a robust estimator of local image structure. To keep the solution stable and avoid overfitting, we incorporate the l(2)-norm as the estimator complexity penalty. Moreover, motivated by recent progress on manifold-based semi-supervised learning, we explicitly consider the intrinsic manifold structure by making use of both measured and unmeasured data points. Specifically, our framework incorporates the geometric structure of the marginal probability distribution induced by unmeasured samples as an additional local smoothness preserving constraint. The optimal model parameters can be obtained with a closed-form solution by solving a convex optimization problem. Experimental results on benchmark test images demonstrate that the proposed method achieves very competitive performance with the state-of-the-art interpolation algorithms, especially in image edge structure preservation. © 2011 IEEE

Microscale solid-state thermal diodes enabling ambient temperature thermal circuits for energy applications.

PubMed

Wang, Song; Cottrill, Anton L; Kunai, Yuichiro; Toland, Aubrey R; Liu, Pingwei; Wang, Wen-Jun; Strano, Michael S

2017-05-24

Thermal diodes, or devices that transport thermal energy asymmetrically, analogous to electrical diodes, hold promise for thermal energy harvesting and conservation, as well as for phononics or information processing. The junction of a phase change material and phase invariant material can form a thermal diode; however, there are limited constituent materials available for a given target temperature, particularly near ambient. In this work, we demonstrate that a micro and nanoporous polystyrene foam can house a paraffin-based phase change material, fused to PMMA, to produce mechanically robust, solid-state thermal diodes capable of ambient operation with Young's moduli larger than 11.5 MPa and 55.2 MPa above and below the melting transition point, respectively. Moreover, the composites show significant changes in thermal conductivity above and below the melting point of the constituent paraffin and rectification that is well-described by our previous theory and the Maxwell-Eucken model. Maximum thermal rectifications range from 1.18 to 1.34. We show that such devices perform reliably enough to operate in thermal diode bridges, dynamic thermal circuits capable of transforming oscillating temperature inputs into single polarity temperature differences - analogous to an electrical diode bridge with widespread implications for transient thermal energy harvesting and conservation. Overall, our approach yields mechanically robust, solid-state thermal diodes capable of engineering design from a mathematical model of phase change and thermal transport, with implications for energy harvesting.

Optimization of robustness of interdependent network controllability by redundant design

PubMed Central

2018-01-01

Controllability of complex networks has been a hot topic in recent years. Real networks regarded as interdependent networks are always coupled together by multiple networks. The cascading process of interdependent networks including interdependent failure and overload failure will destroy the robustness of controllability for the whole network. Therefore, the optimization of the robustness of interdependent network controllability is of great importance in the research area of complex networks. In this paper, based on the model of interdependent networks constructed first, we determine the cascading process under different proportions of node attacks. Then, the structural controllability of interdependent networks is measured by the minimum driver nodes. Furthermore, we propose a parameter which can be obtained by the structure and minimum driver set of interdependent networks under different proportions of node attacks and analyze the robustness for interdependent network controllability. Finally, we optimize the robustness of interdependent network controllability by redundant design including node backup and redundancy edge backup and improve the redundant design by proposing different strategies according to their cost. Comparative strategies of redundant design are conducted to find the best strategy. Results shows that node backup and redundancy edge backup can indeed decrease those nodes suffering from failure and improve the robustness of controllability. Considering the cost of redundant design, we should choose BBS (betweenness-based strategy) or DBS (degree based strategy) for node backup and HDF(high degree first) for redundancy edge backup. Above all, our proposed strategies are feasible and effective at improving the robustness of interdependent network controllability. PMID:29438426

Zero point and zero suffix methods with robust ranking for solving fully fuzzy transportation problems

NASA Astrophysics Data System (ADS)

Ngastiti, P. T. B.; Surarso, Bayu; Sutimin

2018-05-01

Transportation issue of the distribution problem such as the commodity or goods from the supply tothe demmand is to minimize the transportation costs. Fuzzy transportation problem is an issue in which the transport costs, supply and demand are in the form of fuzzy quantities. Inthe case study at CV. Bintang Anugerah Elektrik, a company engages in the manufacture of gensets that has more than one distributors. We use the methods of zero point and zero suffix to investigate the transportation minimum cost. In implementing both methods, we use robust ranking techniques for the defuzzification process. The studyresult show that the iteration of zero suffix method is less than that of zero point method.

Robust consensus algorithm for multi-agent systems with exogenous disturbances under convergence conditions

NASA Astrophysics Data System (ADS)

Jiang, Yulian; Liu, Jianchang; Tan, Shubin; Ming, Pingsong

2014-09-01

In this paper, a robust consensus algorithm is developed and sufficient conditions for convergence to consensus are proposed for a multi-agent system (MAS) with exogenous disturbances subject to partial information. By utilizing H∞ robust control, differential game theory and a design-based approach, the consensus problem of the MAS with exogenous bounded interference is resolved and the disturbances are restrained, simultaneously. Attention is focused on designing an H∞ robust controller (the robust consensus algorithm) based on minimisation of our proposed rational and individual cost functions according to goals of the MAS. Furthermore, sufficient conditions for convergence of the robust consensus algorithm are given. An example is employed to demonstrate that our results are effective and more capable to restrain exogenous disturbances than the existing literature.

Neutral face classification using personalized appearance models for fast and robust emotion detection.

PubMed

Chiranjeevi, Pojala; Gopalakrishnan, Viswanath; Moogi, Pratibha

2015-09-01

Facial expression recognition is one of the open problems in computer vision. Robust neutral face recognition in real time is a major challenge for various supervised learning-based facial expression recognition methods. This is due to the fact that supervised methods cannot accommodate all appearance variability across the faces with respect to race, pose, lighting, facial biases, and so on, in the limited amount of training data. Moreover, processing each and every frame to classify emotions is not required, as user stays neutral for majority of the time in usual applications like video chat or photo album/web browsing. Detecting neutral state at an early stage, thereby bypassing those frames from emotion classification would save the computational power. In this paper, we propose a light-weight neutral versus emotion classification engine, which acts as a pre-processer to the traditional supervised emotion classification approaches. It dynamically learns neutral appearance at key emotion (KE) points using a statistical texture model, constructed by a set of reference neutral frames for each user. The proposed method is made robust to various types of user head motions by accounting for affine distortions based on a statistical texture model. Robustness to dynamic shift of KE points is achieved by evaluating the similarities on a subset of neighborhood patches around each KE point using the prior information regarding the directionality of specific facial action units acting on the respective KE point. The proposed method, as a result, improves emotion recognition (ER) accuracy and simultaneously reduces computational complexity of the ER system, as validated on multiple databases.

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

NASA Astrophysics Data System (ADS)

Zhou, Hong-Li; Zhang, Xiao-Dong

2018-01-01

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

Enabling Rapid and Robust Structural Analysis During Conceptual Design

NASA Technical Reports Server (NTRS)

Eldred, Lloyd B.; Padula, Sharon L.; Li, Wu

2015-01-01

This paper describes a multi-year effort to add a structural analysis subprocess to a supersonic aircraft conceptual design process. The desired capabilities include parametric geometry, automatic finite element mesh generation, static and aeroelastic analysis, and structural sizing. The paper discusses implementation details of the new subprocess, captures lessons learned, and suggests future improvements. The subprocess quickly compares concepts and robustly handles large changes in wing or fuselage geometry. The subprocess can rank concepts with regard to their structural feasibility and can identify promising regions of the design space. The automated structural analysis subprocess is deemed robust and rapid enough to be included in multidisciplinary conceptual design and optimization studies.

Designing for Damage: Robust Flight Control Design using Sliding Mode Techniques

NASA Technical Reports Server (NTRS)

Vetter, T. K.; Wells, S. R.; Hess, Ronald A.; Bacon, Barton (Technical Monitor); Davidson, John (Technical Monitor)

2002-01-01

A brief review of sliding model control is undertaken, with particular emphasis upon the effects of neglected parasitic dynamics. Sliding model control design is interpreted in the frequency domain. The inclusion of asymptotic observers and control 'hedging' is shown to reduce the effects of neglected parasitic dynamics. An investigation into the application of observer-based sliding mode control to the robust longitudinal control of a highly unstable is described. The sliding mode controller is shown to exhibit stability and performance robustness superior to that of a classical loop-shaped design when significant changes in vehicle and actuator dynamics are employed to model airframe damage.

Vortex methods for separated flows

NASA Technical Reports Server (NTRS)

Spalart, Philippe R.

1988-01-01

The numerical solution of the Euler or Navier-Stokes equations by Lagrangian vortex methods is discussed. The mathematical background is presented and includes the relationship with traditional point-vortex studies, convergence to smooth solutions of the Euler equations, and the essential differences between two and three-dimensional cases. The difficulties in extending the method to viscous or compressible flows are explained. Two-dimensional flows around bluff bodies are emphasized. Robustness of the method and the assessment of accuracy, vortex-core profiles, time-marching schemes, numerical dissipation, and efficient programming are treated. Operation counts for unbounded and periodic flows are given, and two algorithms designed to speed up the calculations are described.

Experimental Test Rig for Optimal Control of Flexible Space Robotic Arms

DTIC Science & Technology

2016-12-01

was used to refine the test bed design and the experimental workflow. Three concepts incorporated various strategies to design a robust flexible link...used to refine the test bed design and the experimental workflow. Three concepts incorporated various strategies to design a robust flexible link... designed to perform the experimentation . The first and second concepts use traditional elastic springs in varying configurations while a third uses a

Rocket Design for the Future

NASA Technical Reports Server (NTRS)

Follett, William W.; Rajagopal, Raj

2001-01-01

The focus of the AA MDO team is to reduce product development cost through the capture and automation of best design and analysis practices and through increasing the availability of low-cost, high-fidelity analysis. Implementation of robust designs reduces costs associated with the Test-Fall-Fix cycle. RD is currently focusing on several technologies to improve the design process, including optimization and robust design, expert and rule-based systems, and collaborative technologies.

Robust Frequency-Domain Constrained Feedback Design via a Two-Stage Heuristic Approach.

PubMed

Li, Xianwei; Gao, Huijun

2015-10-01

Based on a two-stage heuristic method, this paper is concerned with the design of robust feedback controllers with restricted frequency-domain specifications (RFDSs) for uncertain linear discrete-time systems. Polytopic uncertainties are assumed to enter all the system matrices, while RFDSs are motivated by the fact that practical design specifications are often described in restricted finite frequency ranges. Dilated multipliers are first introduced to relax the generalized Kalman-Yakubovich-Popov lemma for output feedback controller synthesis and robust performance analysis. Then a two-stage approach to output feedback controller synthesis is proposed: at the first stage, a robust full-information (FI) controller is designed, which is used to construct a required output feedback controller at the second stage. To improve the solvability of the synthesis method, heuristic iterative algorithms are further formulated for exploring the feedback gain and optimizing the initial FI controller at the individual stage. The effectiveness of the proposed design method is finally demonstrated by the application to active control of suspension systems.

Robust Spatial Approximation of Laser Scanner Point Clouds by Means of Free-form Curve Approaches in Deformation Analysis

NASA Astrophysics Data System (ADS)

Bureick, Johannes; Alkhatib, Hamza; Neumann, Ingo

2016-03-01

In many geodetic engineering applications it is necessary to solve the problem of describing a measured data point cloud, measured, e. g. by laser scanner, by means of free-form curves or surfaces, e. g., with B-Splines as basis functions. The state of the art approaches to determine B-Splines yields results which are seriously manipulated by the occurrence of data gaps and outliers. Optimal and robust B-Spline fitting depend, however, on optimal selection of the knot vector. Hence we combine in our approach Monte-Carlo methods and the location and curvature of the measured data in order to determine the knot vector of the B-Spline in such a way that no oscillating effects at the edges of data gaps occur. We introduce an optimized approach based on computed weights by means of resampling techniques. In order to minimize the effect of outliers, we apply robust M-estimators for the estimation of control points. The above mentioned approach will be applied to a multi-sensor system based on kinematic terrestrial laserscanning in the field of rail track inspection.

Hierarchical extraction of urban objects from mobile laser scanning data

NASA Astrophysics Data System (ADS)

Yang, Bisheng; Dong, Zhen; Zhao, Gang; Dai, Wenxia

2015-01-01

Point clouds collected in urban scenes contain a huge number of points (e.g., billions), numerous objects with significant size variability, complex and incomplete structures, and variable point densities, raising great challenges for the automated extraction of urban objects in the field of photogrammetry, computer vision, and robotics. This paper addresses these challenges by proposing an automated method to extract urban objects robustly and efficiently. The proposed method generates multi-scale supervoxels from 3D point clouds using the point attributes (e.g., colors, intensities) and spatial distances between points, and then segments the supervoxels rather than individual points by combining graph based segmentation with multiple cues (e.g., principal direction, colors) of the supervoxels. The proposed method defines a set of rules for merging segments into meaningful units according to types of urban objects and forms the semantic knowledge of urban objects for the classification of objects. Finally, the proposed method extracts and classifies urban objects in a hierarchical order ranked by the saliency of the segments. Experiments show that the proposed method is efficient and robust for extracting buildings, streetlamps, trees, telegraph poles, traffic signs, cars, and enclosures from mobile laser scanning (MLS) point clouds, with an overall accuracy of 92.3%.

Control design for robust stability in linear regulators: Application to aerospace flight control

NASA Technical Reports Server (NTRS)

Yedavalli, R. K.

1986-01-01

Time domain stability robustness analysis and design for linear multivariable uncertain systems with bounded uncertainties is the central theme of the research. After reviewing the recently developed upper bounds on the linear elemental (structured), time varying perturbation of an asymptotically stable linear time invariant regulator, it is shown that it is possible to further improve these bounds by employing state transformations. Then introducing a quantitative measure called the stability robustness index, a state feedback conrol design algorithm is presented for a general linear regulator problem and then specialized to the case of modal systems as well as matched systems. The extension of the algorithm to stochastic systems with Kalman filter as the state estimator is presented. Finally an algorithm for robust dynamic compensator design is presented using Parameter Optimization (PO) procedure. Applications in a aircraft control and flexible structure control are presented along with a comparison with other existing methods.

Hard Constraints in Optimization Under Uncertainty

NASA Technical Reports Server (NTRS)

Crespo, Luis G.; Giesy, Daniel P.; Kenny, Sean P.

2008-01-01

This paper proposes a methodology for the analysis and design of systems subject to parametric uncertainty where design requirements are specified via hard inequality constraints. Hard constraints are those that must be satisfied for all parameter realizations within a given uncertainty model. Uncertainty models given by norm-bounded perturbations from a nominal parameter value, i.e., hyper-spheres, and by sets of independently bounded uncertain variables, i.e., hyper-rectangles, are the focus of this paper. These models, which are also quite practical, allow for a rigorous mathematical treatment within the proposed framework. Hard constraint feasibility is determined by sizing the largest uncertainty set for which the design requirements are satisfied. Analytically verifiable assessments of robustness are attained by comparing this set with the actual uncertainty model. Strategies that enable the comparison of the robustness characteristics of competing design alternatives, the description and approximation of the robust design space, and the systematic search for designs with improved robustness are also proposed. Since the problem formulation is generic and the tools derived only require standard optimization algorithms for their implementation, this methodology is applicable to a broad range of engineering problems.

A Robust Linear Feature-Based Procedure for Automated Registration of Point Clouds

PubMed Central

Poreba, Martyna; Goulette, François

2015-01-01

With the variety of measurement techniques available on the market today, fusing multi-source complementary information into one dataset is a matter of great interest. Target-based, point-based and feature-based methods are some of the approaches used to place data in a common reference frame by estimating its corresponding transformation parameters. This paper proposes a new linear feature-based method to perform accurate registration of point clouds, either in 2D or 3D. A two-step fast algorithm called Robust Line Matching and Registration (RLMR), which combines coarse and fine registration, was developed. The initial estimate is found from a triplet of conjugate line pairs, selected by a RANSAC algorithm. Then, this transformation is refined using an iterative optimization algorithm. Conjugates of linear features are identified with respect to a similarity metric representing a line-to-line distance. The efficiency and robustness to noise of the proposed method are evaluated and discussed. The algorithm is valid and ensures valuable results when pre-aligned point clouds with the same scale are used. The studies show that the matching accuracy is at least 99.5%. The transformation parameters are also estimated correctly. The error in rotation is better than 2.8% full scale, while the translation error is less than 12.7%. PMID:25594589

Failure detection system design methodology. Ph.D. Thesis

NASA Technical Reports Server (NTRS)

Chow, E. Y.

1980-01-01

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

Recent Progress in Active Antenna Designs for the Long Wavelength Array (LWA)

NASA Astrophysics Data System (ADS)

Hicks, B. C.; Stewart, K. P.; Paravastu, N.; Bradley, R. F.; Parashare, C. R.; Erickson, W. C.; Gross, C.; Polisensky, E.; Crane, P. C.; Ray, P. S.; Kassim, N. E.; Weiler, K. W.

2005-12-01

We present new designs for active antenna systems optimized for HF/VHF radio astronomy, ionospheric science, space weather, and other radio science applications. Active antenna designs have been developed and tested which satisfy the need for high linearity and stability while achieving Galactic background dominated noise levels. The presence of very strong terrestrial radio-frequency interference (RFI), and world-wide propagation at these frequencies require that the preamplifiers have very high dynamic range. Distortion products must be below the Galactic background level for RFI mitigation techniques to be successful. Individual antennas should have broad response patterns to cover most of the sky without pointing mechanisms, but with decreased sensitivity at low elevations. Ideal designs would also be immune to environmental effects such as temperature variations and precipitation. For projects such as the LWA, where thousands of receptors will be needed, they must also be robust, inexpensive, and easy to manufacture and install. We discuss high-performance designs that are optimized for cost-sensitive applications such as the LWA. Basic research in astronomy is supported by the Office of Naval Research.

Systematic design of membership functions for fuzzy-logic control: A case study on one-stage partial nitritation/anammox treatment systems.

PubMed

Boiocchi, Riccardo; Gernaey, Krist V; Sin, Gürkan

2016-10-01

A methodology is developed to systematically design the membership functions of fuzzy-logic controllers for multivariable systems. The methodology consists of a systematic derivation of the critical points of the membership functions as a function of predefined control objectives. Several constrained optimization problems corresponding to different qualitative operation states of the system are defined and solved to identify, in a consistent manner, the critical points of the membership functions for the input variables. The consistently identified critical points, together with the linguistic rules, determine the long term reachability of the control objectives by the fuzzy logic controller. The methodology is highlighted using a single-stage side-stream partial nitritation/Anammox reactor as a case study. As a result, a new fuzzy-logic controller for high and stable total nitrogen removal efficiency is designed. Rigorous simulations are carried out to evaluate and benchmark the performance of the controller. The results demonstrate that the novel control strategy is capable of rejecting the long-term influent disturbances, and can achieve a stable and high TN removal efficiency. Additionally, the controller was tested, and showed robustness, against measurement noise levels typical for wastewater sensors. A feedforward-feedback configuration using the present controller would give even better performance. In comparison, a previously developed fuzzy-logic controller using merely expert and intuitive knowledge performed worse. This proved the importance of using a systematic methodology for the derivation of the membership functions for multivariable systems. These results are promising for future applications of the controller in real full-scale plants. Furthermore, the methodology can be used as a tool to help systematically design fuzzy logic control applications for other biological processes. Copyright © 2016 Elsevier Ltd. All rights reserved.

Engineering Trade-off Considerations Regarding Design-for-Security, Design-for-Verification, and Design-for-Test

NASA Technical Reports Server (NTRS)

Berg, Melanie; Label, Kenneth

2018-01-01

The United States government has identified that application specific integrated circuit (ASIC) and field programmable gate array (FPGA) hardware are at risk from a variety of adversary attacks. This finding affects system security and trust. Consequently, processes are being developed for system mitigation and countermeasure application. The scope of this tutorial pertains to potential vulnerabilities and countermeasures within the ASIC/FPGA design cycle. The presentation demonstrates how design practices can affect the risk for the adversary to: change circuitry, steal intellectual property, and listen to data operations. An important portion of the design cycle is assuring the design is working as specified or as expected. This is accomplished by exhaustive testing of the target design. Alternatively, it has been shown that well established schemes for test coverage enhancement (design-for-verification (DFV) and design-for-test (DFT)) can create conduits for adversary accessibility. As a result, it is essential to perform a trade between robust test coverage versus reliable design implementation. The goal of this tutorial is to explain the evolution of design practices; review adversary accessibility points due to DFV and DFT circuitry insertion (back door circuitry); and to describe common engineering trade-off considerations for test versus adversary threats.

Feature-based three-dimensional registration for repetitive geometry in machine vision

PubMed Central

Gong, Yuanzheng; Seibel, Eric J.

2016-01-01

As an important step in three-dimensional (3D) machine vision, 3D registration is a process of aligning two or multiple 3D point clouds that are collected from different perspectives together into a complete one. The most popular approach to register point clouds is to minimize the difference between these point clouds iteratively by Iterative Closest Point (ICP) algorithm. However, ICP does not work well for repetitive geometries. To solve this problem, a feature-based 3D registration algorithm is proposed to align the point clouds that are generated by vision-based 3D reconstruction. By utilizing texture information of the object and the robustness of image features, 3D correspondences can be retrieved so that the 3D registration of two point clouds is to solve a rigid transformation. The comparison of our method and different ICP algorithms demonstrates that our proposed algorithm is more accurate, efficient and robust for repetitive geometry registration. Moreover, this method can also be used to solve high depth uncertainty problem caused by little camera baseline in vision-based 3D reconstruction. PMID:28286703

A Statistical Approach Reveals Designs for the Most Robust Stochastic Gene Oscillators

PubMed Central

2016-01-01

The engineering of transcriptional networks presents many challenges due to the inherent uncertainty in the system structure, changing cellular context, and stochasticity in the governing dynamics. One approach to address these problems is to design and build systems that can function across a range of conditions; that is they are robust to uncertainty in their constituent components. Here we examine the parametric robustness landscape of transcriptional oscillators, which underlie many important processes such as circadian rhythms and the cell cycle, plus also serve as a model for the engineering of complex and emergent phenomena. The central questions that we address are: Can we build genetic oscillators that are more robust than those already constructed? Can we make genetic oscillators arbitrarily robust? These questions are technically challenging due to the large model and parameter spaces that must be efficiently explored. Here we use a measure of robustness that coincides with the Bayesian model evidence, combined with an efficient Monte Carlo method to traverse model space and concentrate on regions of high robustness, which enables the accurate evaluation of the relative robustness of gene network models governed by stochastic dynamics. We report the most robust two and three gene oscillator systems, plus examine how the number of interactions, the presence of autoregulation, and degradation of mRNA and protein affects the frequency, amplitude, and robustness of transcriptional oscillators. We also find that there is a limit to parametric robustness, beyond which there is nothing to be gained by adding additional feedback. Importantly, we provide predictions on new oscillator systems that can be constructed to verify the theory and advance design and modeling approaches to systems and synthetic biology. PMID:26835539

Identification and robust control of an experimental servo motor.

PubMed

Adam, E J; Guestrin, E D

2002-04-01

In this work, the design of a robust controller for an experimental laboratory-scale position control system based on a dc motor drive as well as the corresponding identification and robust stability analysis are presented. In order to carry out the robust design procedure, first, a classic closed-loop identification technique is applied and then, the parametrization by internal model control is used. The model uncertainty is evaluated under both parametric and global representation. For the latter case, an interesting discussion about the conservativeness of this description is presented by means of a comparison between the uncertainty disk and the critical perturbation radius approaches. Finally, conclusions about the performance of the experimental system with the robust controller are discussed using comparative graphics of the controlled variable and the Nyquist stability margin as a robustness measurement.

Integrated direct/indirect adaptive robust motion trajectory tracking control of pneumatic cylinders

NASA Astrophysics Data System (ADS)

Meng, Deyuan; Tao, Guoliang; Zhu, Xiaocong

2013-09-01

This paper studies the precision motion trajectory tracking control of a pneumatic cylinder driven by a proportional-directional control valve. An integrated direct/indirect adaptive robust controller is proposed. The controller employs a physical model based indirect-type parameter estimation to obtain reliable estimates of unknown model parameters, and utilises a robust control method with dynamic compensation type fast adaptation to attenuate the effects of parameter estimation errors, unmodelled dynamics and disturbances. Due to the use of projection mapping, the robust control law and the parameter adaption algorithm can be designed separately. Since the system model uncertainties are unmatched, the recursive backstepping technology is adopted to design the robust control law. Extensive comparative experimental results are presented to illustrate the effectiveness of the proposed controller and its performance robustness to parameter variations and sudden disturbances.

Real-time control systems: feedback, scheduling and robustness

NASA Astrophysics Data System (ADS)

Simon, Daniel; Seuret, Alexandre; Sename, Olivier

2017-08-01

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

Robust Design of Biological Circuits: Evolutionary Systems Biology Approach

PubMed Central

Chen, Bor-Sen; Hsu, Chih-Yuan; Liou, Jing-Jia

2011-01-01

Artificial gene circuits have been proposed to be embedded into microbial cells that function as switches, timers, oscillators, and the Boolean logic gates. Building more complex systems from these basic gene circuit components is one key advance for biologic circuit design and synthetic biology. However, the behavior of bioengineered gene circuits remains unstable and uncertain. In this study, a nonlinear stochastic system is proposed to model the biological systems with intrinsic parameter fluctuations and environmental molecular noise from the cellular context in the host cell. Based on evolutionary systems biology algorithm, the design parameters of target gene circuits can evolve to specific values in order to robustly track a desired biologic function in spite of intrinsic and environmental noise. The fitness function is selected to be inversely proportional to the tracking error so that the evolutionary biological circuit can achieve the optimal tracking mimicking the evolutionary process of a gene circuit. Finally, several design examples are given in silico with the Monte Carlo simulation to illustrate the design procedure and to confirm the robust performance of the proposed design method. The result shows that the designed gene circuits can robustly track desired behaviors with minimal errors even with nontrivial intrinsic and external noise. PMID:22187523

Robust design of biological circuits: evolutionary systems biology approach.

PubMed

Chen, Bor-Sen; Hsu, Chih-Yuan; Liou, Jing-Jia

2011-01-01

Artificial gene circuits have been proposed to be embedded into microbial cells that function as switches, timers, oscillators, and the Boolean logic gates. Building more complex systems from these basic gene circuit components is one key advance for biologic circuit design and synthetic biology. However, the behavior of bioengineered gene circuits remains unstable and uncertain. In this study, a nonlinear stochastic system is proposed to model the biological systems with intrinsic parameter fluctuations and environmental molecular noise from the cellular context in the host cell. Based on evolutionary systems biology algorithm, the design parameters of target gene circuits can evolve to specific values in order to robustly track a desired biologic function in spite of intrinsic and environmental noise. The fitness function is selected to be inversely proportional to the tracking error so that the evolutionary biological circuit can achieve the optimal tracking mimicking the evolutionary process of a gene circuit. Finally, several design examples are given in silico with the Monte Carlo simulation to illustrate the design procedure and to confirm the robust performance of the proposed design method. The result shows that the designed gene circuits can robustly track desired behaviors with minimal errors even with nontrivial intrinsic and external noise.

Robust Kalman filter design for predictive wind shear detection

NASA Technical Reports Server (NTRS)

Stratton, Alexander D.; Stengel, Robert F.

1991-01-01

Severe, low-altitude wind shear is a threat to aviation safety. Airborne sensors under development measure the radial component of wind along a line directly in front of an aircraft. In this paper, optimal estimation theory is used to define a detection algorithm to warn of hazardous wind shear from these sensors. To achieve robustness, a wind shear detection algorithm must distinguish threatening wind shear from less hazardous gustiness, despite variations in wind shear structure. This paper presents statistical analysis methods to refine wind shear detection algorithm robustness. Computational methods predict the ability to warn of severe wind shear and avoid false warning. Comparative capability of the detection algorithm as a function of its design parameters is determined, identifying designs that provide robust detection of severe wind shear.

Specifying the Determinants of Neighborhood Satisfaction: A Robust Assessment in 24 Metropolitan Areas

ERIC Educational Resources Information Center

Hipp, John R.

2009-01-01

Using a sample of households nested in census tracts in 24 metropolitan areas over four time points, this study provides a robust test of the determinants of neighborhood satisfaction, taking into account the census tract context. Consistent with social disorganization theory, the presence of racial/ethnic heterogeneity and single-parent…

Control design for future agile fighters

NASA Technical Reports Server (NTRS)

Murphy, Patrick C.; Davidson, John B.

1991-01-01

The CRAFT control design methodology is presented. CRAFT stands for the design objectives addressed, namely, Control power, Robustness, Agility, and Flying Qualities Tradeoffs. The approach combines eigenspace assignment, which allows for direct specification of eigenvalues and eigenvectors, and a graphical approach for representing control design metrics that captures numerous design goals in one composite illustration. The methodology makes use of control design metrics from four design objective areas, namely, control power, robustness, agility, and flying qualities. An example of the CRAFT methodology as well as associated design issues are presented.

Stochastic simulation and robust design optimization of integrated photonic filters

NASA Astrophysics Data System (ADS)

Weng, Tsui-Wei; Melati, Daniele; Melloni, Andrea; Daniel, Luca

2017-01-01

Manufacturing variations are becoming an unavoidable issue in modern fabrication processes; therefore, it is crucial to be able to include stochastic uncertainties in the design phase. In this paper, integrated photonic coupled ring resonator filters are considered as an example of significant interest. The sparsity structure in photonic circuits is exploited to construct a sparse combined generalized polynomial chaos model, which is then used to analyze related statistics and perform robust design optimization. Simulation results show that the optimized circuits are more robust to fabrication process variations and achieve a reduction of 11%-35% in the mean square errors of the 3 dB bandwidth compared to unoptimized nominal designs.

Integrated Force and Distance Sensing using Elastomer-Embedded Commodity Proximity Sensors.

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

Patel, Radhen; Cox, Rebecca E.; Correll, Nikolaus

We describe a combined proximity, contact and force (PCF) sensor based on a commodity infrared distance sensor embedded in a transparent elastomer with applications in robotic manipulation. Prior to contact, the sensor works as a distance sensor (0{6 cm), whereas after contact the material doubles as a spring, with force proportional to the compression of the elastomer (0{5 N). We describe its principle of operation and design parameters, including polymer thickness, mixing ratio, and emitter current, and show that the sensor response has an in ection point at contact that is independent of an object's surface properties, making it amore » robust detector for contact events. We then demonstrate how arrays of sensors, custom made for a standard Baxter gripper as well as embedded in the nger of the Kinova hand, can be used to (1) improve gripper alignment during grasping, (2) determine contact points with objects, (3) obtain simple 3D models using both proximity and touch, and (4) register point clouds from touch and RGB-D data.« less

Global robust stability of bidirectional associative memory neural networks with multiple time delays.

PubMed

Senan, Sibel; Arik, Sabri

2007-10-01

This correspondence presents a sufficient condition for the existence, uniqueness, and global robust asymptotic stability of the equilibrium point for bidirectional associative memory neural networks with discrete time delays. The results impose constraint conditions on the network parameters of the neural system independently of the delay parameter, and they are applicable to all bounded continuous nonmonotonic neuron activation functions. Some numerical examples are given to compare our results with the previous robust stability results derived in the literature.

Liquid crystal point diffraction interferometer. Ph.D. Thesis - Arizona Univ., 1995

NASA Technical Reports Server (NTRS)

Mercer, Carolyn R.

1995-01-01

A new instrument, the liquid crystal point diffraction-interferometer (LCPDI), has been developed for the measurement of phase objects. This instrument maintains the compact, robust design of Linnik's point diffraction interferometer (PDI) and adds to it phase stepping capability for quantitative interferogram analysis. The result is a compact, simple to align, environmentally insensitive interferometer capable of accurately measuring optical wavefronts with very high data density and with automated data reduction. This dissertation describes the theory of both the PDI and liquid crystal phase control. The design considerations for the LCPDI are presented, including manufacturing considerations. The operation and performance of the LCPDI are discussed, including sections regarding alignment, calibration, and amplitude modulation effects. The LCPDI is then demonstrated using two phase objects: defocus difference wavefront, and a temperature distribution across a heated chamber filled with silicone oil. The measured results are compared to theoretical or independently measured results and show excellent agreement. A computer simulation of the LCPDI was performed to verify the source of observed periodic phase measurement error. The error stems from intensity variations caused by dye molecules rotating within the liquid crystal layer. Methods are discussed for reducing this error. Algorithms are presented which reduce this error; they are also useful for any phase-stepping interferometer that has unwanted intensity fluctuations, such as those caused by unregulated lasers.

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

NASA Technical Reports Server (NTRS)

Garg, Sanjay

1993-01-01

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

Robustness of linear quadratic state feedback designs in the presence of system uncertainty. [application to Augmentor Wing Jet STOL Research Aircraft flare control autopilot design

NASA Technical Reports Server (NTRS)

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

1977-01-01

The paper deals with the problem of expressing the robustness (stability) property of a linear quadratic state feedback (LQSF) design quantitatively in terms of bounds on the perturbations (modeling errors or parameter variations) in the system matrices so that the closed-loop system remains stable. Nonlinear time-varying and linear time-invariant perturbations are considered. The only computation required in obtaining a measure of the robustness of an LQSF design is to determine the eigenvalues of two symmetric matrices determined when solving the algebraic Riccati equation corresponding to the LQSF design problem. Results are applied to a complex dynamic system consisting of the flare control of a STOL aircraft. The design of the flare control is formulated as an LQSF tracking problem.

Grammar-Supported 3d Indoor Reconstruction from Point Clouds for As-Built Bim

NASA Astrophysics Data System (ADS)

Becker, S.; Peter, M.; Fritsch, D.

2015-03-01

The paper presents a grammar-based approach for the robust automatic reconstruction of 3D interiors from raw point clouds. The core of the approach is a 3D indoor grammar which is an extension of our previously published grammar concept for the modeling of 2D floor plans. The grammar allows for the modeling of buildings whose horizontal, continuous floors are traversed by hallways providing access to the rooms as it is the case for most office buildings or public buildings like schools, hospitals or hotels. The grammar is designed in such way that it can be embedded in an iterative automatic learning process providing a seamless transition from LOD3 to LOD4 building models. Starting from an initial low-level grammar, automatically derived from the window representations of an available LOD3 building model, hypotheses about indoor geometries can be generated. The hypothesized indoor geometries are checked against observation data - here 3D point clouds - collected in the interior of the building. The verified and accepted geometries form the basis for an automatic update of the initial grammar. By this, the knowledge content of the initial grammar is enriched, leading to a grammar with increased quality. This higher-level grammar can then be applied to predict realistic geometries to building parts where only sparse observation data are available. Thus, our approach allows for the robust generation of complete 3D indoor models whose quality can be improved continuously as soon as new observation data are fed into the grammar-based reconstruction process. The feasibility of our approach is demonstrated based on a real-world example.

MicroRNA inhibition fine-tunes and provides robustness to the restriction point switch of the cell cycle.

PubMed

Del Rosario, Ricardo C H; Damasco, Joseph Ray Clarence G; Aguda, Baltazar D

2016-09-09

The restriction point marks a switch in G1 from growth factor-dependent to growth factor-independent progression of the cell cycle. The proper regulation of this switch is important for normal cell processes; aberrations could result in a number of diseases such as cancer, neurodegenerative disorders, stroke and myocardial infarction. To further understand the regulation of the restriction point, we extended a mathematical model of the Rb-E2F pathway to include members of the microRNA cluster miR-17-92. Our mathematical analysis shows that microRNAs play an essential role in fine-tuning and providing robustness to the switch. We also demonstrate how microRNA regulation can steer cells in or out of cancer states.

MicroRNA inhibition fine-tunes and provides robustness to the restriction point switch of the cell cycle

PubMed Central

del Rosario, Ricardo C. H.; Damasco, Joseph Ray Clarence G.; Aguda, Baltazar D.

2016-01-01

The restriction point marks a switch in G1 from growth factor-dependent to growth factor-independent progression of the cell cycle. The proper regulation of this switch is important for normal cell processes; aberrations could result in a number of diseases such as cancer, neurodegenerative disorders, stroke and myocardial infarction. To further understand the regulation of the restriction point, we extended a mathematical model of the Rb-E2F pathway to include members of the microRNA cluster miR-17-92. Our mathematical analysis shows that microRNAs play an essential role in fine-tuning and providing robustness to the switch. We also demonstrate how microRNA regulation can steer cells in or out of cancer states. PMID:27610602

Practical robustness measures in multivariable control system analysis. Ph.D. Thesis

NASA Technical Reports Server (NTRS)

Lehtomaki, N. A.

1981-01-01

The robustness of the stability of multivariable linear time invariant feedback control systems with respect to model uncertainty is considered using frequency domain criteria. Available robustness tests are unified under a common framework based on the nature and structure of model errors. These results are derived using a multivariable version of Nyquist's stability theorem in which the minimum singular value of the return difference transfer matrix is shown to be the multivariable generalization of the distance to the critical point on a single input, single output Nyquist diagram. Using the return difference transfer matrix, a very general robustness theorem is presented from which all of the robustness tests dealing with specific model errors may be derived. The robustness tests that explicitly utilized model error structure are able to guarantee feedback system stability in the face of model errors of larger magnitude than those robustness tests that do not. The robustness of linear quadratic Gaussian control systems are analyzed.

A Study of Energy Management Systems and its Failure Modes in Smart Grid Power Distribution

NASA Astrophysics Data System (ADS)

Musani, Aatif

The subject of this thesis is distribution level load management using a pricing signal in a smart grid infrastructure. The project relates to energy management in a spe-cialized distribution system known as the Future Renewable Electric Energy Delivery and Management (FREEDM) system. Energy management through demand response is one of the key applications of smart grid. Demand response today is envisioned as a method in which the price could be communicated to the consumers and they may shift their loads from high price periods to the low price periods. The development and deployment of the FREEDM system necessitates controls of energy and power at the point of end use. In this thesis, the main objective is to develop the control model of the Energy Management System (EMS). The energy and power management in the FREEDM system is digitally controlled therefore all signals containing system states are discrete. The EMS is modeled as a discrete closed loop transfer function in the z-domain. A breakdown of power and energy control devices such as EMS components may result in energy con-sumption error. This leads to one of the main focuses of the thesis which is to identify and study component failures of the designed control system. Moreover, H-infinity ro-bust control method is applied to ensure effectiveness of the control architecture. A focus of the study is cyber security attack, specifically bad data detection in price. Test cases are used to illustrate the performance of the EMS control design, the effect of failure modes and the application of robust control technique. The EMS was represented by a linear z-domain model. The transfer function be-tween the pricing signal and the demand response was designed and used as a test bed. EMS potential failure modes were identified and studied. Three bad data detection meth-odologies were implemented and a voting policy was used to declare bad data. The run-ning mean and standard deviation analysis method proves to be the best method to detect bad data. An H-infinity robust control technique was applied for the first time to design discrete EMS controller for the FREEDM system.

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

NASA Astrophysics Data System (ADS)

Ju, Yaping; Zhang, Chuhua

2016-03-01

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

Design principles for robust oscillatory behavior.

PubMed

Castillo-Hair, Sebastian M; Villota, Elizabeth R; Coronado, Alberto M

2015-09-01

Oscillatory responses are ubiquitous in regulatory networks of living organisms, a fact that has led to extensive efforts to study and replicate the circuits involved. However, to date, design principles that underlie the robustness of natural oscillators are not completely known. Here we study a three-component enzymatic network model in order to determine the topological requirements for robust oscillation. First, by simulating every possible topological arrangement and varying their parameter values, we demonstrate that robust oscillators can be obtained by augmenting the number of both negative feedback loops and positive autoregulations while maintaining an appropriate balance of positive and negative interactions. We then identify network motifs, whose presence in more complex topologies is a necessary condition for obtaining oscillatory responses. Finally, we pinpoint a series of simple architectural patterns that progressively render more robust oscillators. Together, these findings can help in the design of more reliable synthetic biomolecular networks and may also have implications in the understanding of other oscillatory systems.

When Dijkstra Meets Vanishing Point: A Stereo Vision Approach for Road Detection.

PubMed

Zhang, Yigong; Su, Yingna; Yang, Jian; Ponce, Jean; Kong, Hui

2018-05-01

In this paper, we propose a vanishing-point constrained Dijkstra road model for road detection in a stereo-vision paradigm. First, the stereo-camera is used to generate the u- and v-disparity maps of road image, from which the horizon can be extracted. With the horizon and ground region constraints, we can robustly locate the vanishing point of road region. Second, a weighted graph is constructed using all pixels of the image, and the detected vanishing point is treated as the source node of the graph. By computing a vanishing-point constrained Dijkstra minimum-cost map, where both disparity and gradient of gray image are used to calculate cost between two neighbor pixels, the problem of detecting road borders in image is transformed into that of finding two shortest paths that originate from the vanishing point to two pixels in the last row of image. The proposed approach has been implemented and tested over 2600 grayscale images of different road scenes in the KITTI data set. The experimental results demonstrate that this training-free approach can detect horizon, vanishing point, and road regions very accurately and robustly. It can achieve promising performance.

Filtering Photogrammetric Point Clouds Using Standard LIDAR Filters Towards DTM Generation

NASA Astrophysics Data System (ADS)

Zhang, Z.; Gerke, M.; Vosselman, G.; Yang, M. Y.

2018-05-01

Digital Terrain Models (DTMs) can be generated from point clouds acquired by laser scanning or photogrammetric dense matching. During the last two decades, much effort has been paid to developing robust filtering algorithms for the airborne laser scanning (ALS) data. With the point cloud quality from dense image matching (DIM) getting better and better, the research question that arises is whether those standard Lidar filters can be used to filter photogrammetric point clouds as well. Experiments are implemented to filter two dense matching point clouds with different noise levels. Results show that the standard Lidar filter is robust to random noise. However, artefacts and blunders in the DIM points often appear due to low contrast or poor texture in the images. Filtering will be erroneous in these locations. Filtering the DIM points pre-processed by a ranking filter will bring higher Type II error (i.e. non-ground points actually labelled as ground points) but much lower Type I error (i.e. bare ground points labelled as non-ground points). Finally, the potential DTM accuracy that can be achieved by DIM points is evaluated. Two DIM point clouds derived by Pix4Dmapper and SURE are compared. On grassland dense matching generates points higher than the true terrain surface, which will result in incorrectly elevated DTMs. The application of the ranking filter leads to a reduced bias in the DTM height, but a slightly increased noise level.

Experimental design for dynamics identification of cellular processes.

PubMed

Dinh, Vu; Rundell, Ann E; Buzzard, Gregery T

2014-03-01

We address the problem of using nonlinear models to design experiments to characterize the dynamics of cellular processes by using the approach of the Maximally Informative Next Experiment (MINE), which was introduced in W. Dong et al. (PLoS ONE 3(8):e3105, 2008) and independently in M.M. Donahue et al. (IET Syst. Biol. 4:249-262, 2010). In this approach, existing data is used to define a probability distribution on the parameters; the next measurement point is the one that yields the largest model output variance with this distribution. Building upon this approach, we introduce the Expected Dynamics Estimator (EDE), which is the expected value using this distribution of the output as a function of time. We prove the consistency of this estimator (uniform convergence to true dynamics) even when the chosen experiments cluster in a finite set of points. We extend this proof of consistency to various practical assumptions on noisy data and moderate levels of model mismatch. Through the derivation and proof, we develop a relaxed version of MINE that is more computationally tractable and robust than the original formulation. The results are illustrated with numerical examples on two nonlinear ordinary differential equation models of biomolecular and cellular processes.

Fast and robust shape diameter function.

PubMed

Chen, Shuangmin; Liu, Taijun; Shu, Zhenyu; Xin, Shiqing; He, Ying; Tu, Changhe

2018-01-01

The shape diameter function (SDF) is a scalar function defined on a closed manifold surface, measuring the neighborhood diameter of the object at each point. Due to its pose oblivious property, SDF is widely used in shape analysis, segmentation and retrieval. However, computing SDF is computationally expensive since one has to place an inverted cone at each point and then average the penetration distances for a number of rays inside the cone. Furthermore, the shape diameters are highly sensitive to local geometric features as well as the normal vectors, hence diminishing their applications to real-world meshes which often contain rich geometric details and/or various types of defects, such as noise and gaps. In order to increase the robustness of SDF and promote it to a wide range of 3D models, we define SDF by offsetting the input object a little bit. This seemingly minor change brings three significant benefits: First, it allows us to compute SDF in a robust manner since the offset surface is able to give reliable normal vectors. Second, it runs many times faster since at each point we only need to compute the penetration distance along a single direction, rather than tens of directions. Third, our method does not require watertight surfaces as the input-it supports both point clouds and meshes with noise and gaps. Extensive experimental results show that the offset-surface based SDF is robust to noise and insensitive to geometric details, and it also runs about 10 times faster than the existing method. We also exhibit its usefulness using two typical applications including shape retrieval and shape segmentation, and observe a significant improvement over the existing SDF.

A random sampling approach for robust estimation of tissue-to-plasma ratio from extremely sparse data.

PubMed

Chu, Hui-May; Ette, Ene I

2005-09-02

his study was performed to develop a new nonparametric approach for the estimation of robust tissue-to-plasma ratio from extremely sparsely sampled paired data (ie, one sample each from plasma and tissue per subject). Tissue-to-plasma ratio was estimated from paired/unpaired experimental data using independent time points approach, area under the curve (AUC) values calculated with the naïve data averaging approach, and AUC values calculated using sampling based approaches (eg, the pseudoprofile-based bootstrap [PpbB] approach and the random sampling approach [our proposed approach]). The random sampling approach involves the use of a 2-phase algorithm. The convergence of the sampling/resampling approaches was investigated, as well as the robustness of the estimates produced by different approaches. To evaluate the latter, new data sets were generated by introducing outlier(s) into the real data set. One to 2 concentration values were inflated by 10% to 40% from their original values to produce the outliers. Tissue-to-plasma ratios computed using the independent time points approach varied between 0 and 50 across time points. The ratio obtained from AUC values acquired using the naive data averaging approach was not associated with any measure of uncertainty or variability. Calculating the ratio without regard to pairing yielded poorer estimates. The random sampling and pseudoprofile-based bootstrap approaches yielded tissue-to-plasma ratios with uncertainty and variability. However, the random sampling approach, because of the 2-phase nature of its algorithm, yielded more robust estimates and required fewer replications. Therefore, a 2-phase random sampling approach is proposed for the robust estimation of tissue-to-plasma ratio from extremely sparsely sampled data.

A new robust adaptive controller for vibration control of active engine mount subjected to large uncertainties

NASA Astrophysics Data System (ADS)

Fakhari, Vahid; Choi, Seung-Bok; Cho, Chang-Hyun

2015-04-01

This work presents a new robust model reference adaptive control (MRAC) for vibration control caused from vehicle engine using an electromagnetic type of active engine mount. Vibration isolation performances of the active mount associated with the robust controller are evaluated in the presence of large uncertainties. As a first step, an active mount with linear solenoid actuator is prepared and its dynamic model is identified via experimental test. Subsequently, a new robust MRAC based on the gradient method with σ-modification is designed by selecting a proper reference model. In designing the robust adaptive control, structured (parametric) uncertainties in the stiffness of the passive part of the mount and in damping ratio of the active part of the mount are considered to investigate the robustness of the proposed controller. Experimental and simulation results are presented to evaluate performance focusing on the robustness behavior of the controller in the face of large uncertainties. The obtained results show that the proposed controller can sufficiently provide the robust vibration control performance even in the presence of large uncertainties showing an effective vibration isolation.

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

PubMed

Chang, Yeong-Chan

2005-12-01

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

Robust EM Continual Reassessment Method in Oncology Dose Finding

PubMed Central

Yuan, Ying; Yin, Guosheng

2012-01-01

The continual reassessment method (CRM) is a commonly used dose-finding design for phase I clinical trials. Practical applications of this method have been restricted by two limitations: (1) the requirement that the toxicity outcome needs to be observed shortly after the initiation of the treatment; and (2) the potential sensitivity to the prespecified toxicity probability at each dose. To overcome these limitations, we naturally treat the unobserved toxicity outcomes as missing data, and use the expectation-maximization (EM) algorithm to estimate the dose toxicity probabilities based on the incomplete data to direct dose assignment. To enhance the robustness of the design, we propose prespecifying multiple sets of toxicity probabilities, each set corresponding to an individual CRM model. We carry out these multiple CRMs in parallel, across which model selection and model averaging procedures are used to make more robust inference. We evaluate the operating characteristics of the proposed robust EM-CRM designs through simulation studies and show that the proposed methods satisfactorily resolve both limitations of the CRM. Besides improving the MTD selection percentage, the new designs dramatically shorten the duration of the trial, and are robust to the prespecification of the toxicity probabilities. PMID:22375092

Experimental verification of internal parameter in magnetically coupled boost used as PV optimizer in parallel association

NASA Astrophysics Data System (ADS)

Sawicki, Jean-Paul; Saint-Eve, Frédéric; Petit, Pierre; Aillerie, Michel

2017-02-01

This paper presents results of experiments aimed to verify a formula able to compute duty cycle in the case of pulse width modulation control for a DC-DC converter designed and realized in laboratory. This converter, called Magnetically Coupled Boost (MCB) is sized to step up only one photovoltaic module voltage to supply directly grid inverters. Duty cycle formula will be checked in a first time by identifying internal parameter, auto-transformer ratio, and in a second time by checking stability of operating point on the side of photovoltaic module. Thinking on nature of generator source and load connected to converter leads to imagine additional experiments to decide if auto-transformer ratio parameter could be used with fixed value or on the contrary with adaptive value. Effects of load variations on converter behavior or impact of possible shading on photovoltaic module are also mentioned, with aim to design robust control laws, in the case of parallel association, designed to compensate unwanted effects due to output voltage coupling.

A simple and efficient alternative to implementing systematic random sampling in stereological designs without a motorized microscope stage.

PubMed

Melvin, Neal R; Poda, Daniel; Sutherland, Robert J

2007-10-01

When properly applied, stereology is a very robust and efficient method to quantify a variety of parameters from biological material. A common sampling strategy in stereology is systematic random sampling, which involves choosing a random sampling [corrected] start point outside the structure of interest, and sampling relevant objects at [corrected] sites that are placed at pre-determined, equidistant intervals. This has proven to be a very efficient sampling strategy, and is used widely in stereological designs. At the microscopic level, this is most often achieved through the use of a motorized stage that facilitates the systematic random stepping across the structure of interest. Here, we report a simple, precise and cost-effective software-based alternative to accomplishing systematic random sampling under the microscope. We believe that this approach will facilitate the use of stereological designs that employ systematic random sampling in laboratories that lack the resources to acquire costly, fully automated systems.

Holonic Rationale and Bio-inspiration on Design of Complex Emergent and Evolvable Systems

NASA Astrophysics Data System (ADS)

Leitao, Paulo

Traditional centralized and rigid control structures are becoming inflexible to face the requirements of reconfigurability, responsiveness and robustness, imposed by customer demands in the current global economy. The Holonic Manufacturing Systems (HMS) paradigm, which was pointed out as a suitable solution to face these requirements, translates the concepts inherited from social organizations and biology to the manufacturing world. It offers an alternative way of designing adaptive systems where the traditional centralized control is replaced by decentralization over distributed and autonomous entities organized in hierarchical structures formed by intermediate stable forms. In spite of its enormous potential, methods regarding the self-adaptation and self-organization of complex systems are still missing. This paper discusses how the insights from biology in connection with new fields of computer science can be useful to enhance the holonic design aiming to achieve more self-adaptive and evolvable systems. Special attention is devoted to the discussion of emergent behavior and self-organization concepts, and the way they can be combined with the holonic rationale.

Atomic-scale insight and design principles for turbine engine thermal barrier coatings from theory

PubMed Central

Marino, Kristen A.; Hinnemann, Berit; Carter, Emily A.

2011-01-01

To maximize energy efficiency, gas turbine engines used in airplanes and for power generation operate at very high temperatures, even above the melting point of the metal alloys from which they are comprised. This feat is accomplished in part via the deposition of a multilayer, multicomponent thermal barrier coating (TBC), which lasts up to approximately 40,000 h before failing. Understanding failure mechanisms can aid in designing circumvention strategies. We review results of quantum mechanics calculations used to test hypotheses about impurities that harm TBCs and transition metal (TM) additives that render TBCs more robust. In particular, we discovered a number of roles that Pt and early TMs such as Hf and Y additives play in extending the lifetime of TBCs. Fundamental insight into the nature of the bonding created by such additives and its effect on high-temperature evolution of the TBCs led to design principles that can be used to create materials for even more efficient engines.

Robust PD Sway Control of a Lifted Load for a Crane Using a Genetic Algorithm

NASA Astrophysics Data System (ADS)

Kawada, Kazuo; Sogo, Hiroyuki; Yamamoto, Toru; Mada, Yasuhiro

PID control schemes still continue to be widely used for most industrial control systems. This is mainly because PID controllers have simple control structures, and are simple to maintain and tune. However, it is difficult to find a set of suitable control parameters in the case of time-varying and/or nonlinear systems. For such a problem, the robust controller has been proposed.Although it is important to choose the suitable nominal model in designing the robust controller, it is not usually easy.In this paper, a new robust PD controller design scheme is proposed, which utilizes a genetic algorithm.

Robust Transceiver Design for Multiuser MIMO Downlink with Channel Uncertainties

NASA Astrophysics Data System (ADS)

Miao, Wei; Li, Yunzhou; Chen, Xiang; Zhou, Shidong; Wang, Jing

This letter addresses the problem of robust transceiver design for the multiuser multiple-input-multiple-output (MIMO) downlink where the channel state information at the base station (BS) is imperfect. A stochastic approach which minimizes the expectation of the total mean square error (MSE) of the downlink conditioned on the channel estimates under a total transmit power constraint is adopted. The iterative algorithm reported in [2] is improved to handle the proposed robust optimization problem. Simulation results show that our proposed robust scheme effectively reduces the performance loss due to channel uncertainties and outperforms existing methods, especially when the channel errors of the users are different.

Robust approximation-free prescribed performance control for nonlinear systems and its application

NASA Astrophysics Data System (ADS)

Sun, Ruisheng; Na, Jing; Zhu, Bin

2018-02-01

This paper presents a robust prescribed performance control approach and its application to nonlinear tail-controlled missile systems with unknown dynamics and uncertainties. The idea of prescribed performance function (PPF) is incorporated into the control design, such that both the steady-state and transient control performance can be strictly guaranteed. Unlike conventional PPF-based control methods, we further tailor a recently proposed systematic control design procedure (i.e. approximation-free control) using the transformed tracking error dynamics, which provides a proportional-like control action. Hence, the function approximators (e.g. neural networks, fuzzy systems) that are widely used to address the unknown nonlinearities in the nonlinear control designs are not needed. The proposed control design leads to a robust yet simplified function approximation-free control for nonlinear systems. The closed-loop system stability and the control error convergence are all rigorously proved. Finally, comparative simulations are conducted based on nonlinear missile systems to validate the improved response and the robustness of the proposed control method.

Nonlinear control for a class of hydraulic servo system.

PubMed

Yu, Hong; Feng, Zheng-jin; Wang, Xu-yong

2004-11-01

The dynamics of hydraulic systems are highly nonlinear and the system may be subjected to non-smooth and discontinuous nonlinearities due to directional change of valve opening, friction, etc. Aside from the nonlinear nature of hydraulic dynamics, hydraulic servo systems also have large extent of model uncertainties. To address these challenging issues, a robust state-feedback controller is designed by employing backstepping design technique such that the system output tracks a given signal arbitrarily well, and all signals in the closed-loop system remain bounded. Moreover, a relevant disturbance attenuation inequality is satisfied by the closed-loop signals. Compared with previously proposed robust controllers, this paper's robust controller based on backstepping recursive design method is easier to design, and is more suitable for implementation.

Parameterized LMI Based Diagonal Dominance Compensator Study for Polynomial Linear Parameter Varying System

NASA Astrophysics Data System (ADS)

Han, Xiaobao; Li, Huacong; Jia, Qiusheng

2017-12-01

For dynamic decoupling of polynomial linear parameter varying(PLPV) system, a robust dominance pre-compensator design method is given. The parameterized precompensator design problem is converted into an optimal problem constrained with parameterized linear matrix inequalities(PLMI) by using the conception of parameterized Lyapunov function(PLF). To solve the PLMI constrained optimal problem, the precompensator design problem is reduced into a normal convex optimization problem with normal linear matrix inequalities (LMI) constraints on a new constructed convex polyhedron. Moreover, a parameter scheduling pre-compensator is achieved, which satisfies robust performance and decoupling performances. Finally, the feasibility and validity of the robust diagonal dominance pre-compensator design method are verified by the numerical simulation on a turbofan engine PLPV model.

Computational methods of robust controller design for aerodynamic flutter suppression

NASA Technical Reports Server (NTRS)

Anderson, L. R.

1981-01-01

The development of Riccati iteration, a tool for the design and analysis of linear control systems is examined. First, Riccati iteration is applied to the problem of pole placement and order reduction in two-time scale control systems. Order reduction, yielding a good approximation to the original system, is demonstrated using a 16th order linear model of a turbofan engine. Next, a numerical method for solving the Riccati equation is presented and demonstrated for a set of eighth order random examples. A literature review of robust controller design methods follows which includes a number of methods for reducing the trajectory and performance index sensitivity in linear regulators. Lastly, robust controller design for large parameter variations is discussed.

Penetrating transmission zeros in the design of robust servomechanism systems

NASA Technical Reports Server (NTRS)

Wang, S. H.; Davison, E. J.

1981-01-01

In the design of a robust servomechanism system, it is well known that the system cannot track a reference signal whose frequency coincides with the transmission zeros of the system. This paper proposes a new design method for overcoming this difficulty. The controller to be used employs a sampler and holding device with exponential decay. It is shown that the transmission zeros of the discretized system can be shifted by changing the rate of the exponential decay of the holding device. Thus, it is possible to design a robust controller for the discretized system to track any reference signal of given frequency, even if the given frequency coincides with the transmission zeros of the original continuous-time system.

Interrupted time series regression for the evaluation of public health interventions: a tutorial.

PubMed

Bernal, James Lopez; Cummins, Steven; Gasparrini, Antonio

2017-02-01

Interrupted time series (ITS) analysis is a valuable study design for evaluating the effectiveness of population-level health interventions that have been implemented at a clearly defined point in time. It is increasingly being used to evaluate the effectiveness of interventions ranging from clinical therapy to national public health legislation. Whereas the design shares many properties of regression-based approaches in other epidemiological studies, there are a range of unique features of time series data that require additional methodological considerations. In this tutorial we use a worked example to demonstrate a robust approach to ITS analysis using segmented regression. We begin by describing the design and considering when ITS is an appropriate design choice. We then discuss the essential, yet often omitted, step of proposing the impact model a priori. Subsequently, we demonstrate the approach to statistical analysis including the main segmented regression model. Finally we describe the main methodological issues associated with ITS analysis: over-dispersion of time series data, autocorrelation, adjusting for seasonal trends and controlling for time-varying confounders, and we also outline some of the more complex design adaptations that can be used to strengthen the basic ITS design.

Key issues in the thermal design of spaceborne cryogenic infrared instruments

NASA Astrophysics Data System (ADS)

Schember, Helene R.; Rapp, Donald

1992-12-01

Thermal design and analysis play an integral role in the development of spaceborne cryogenic infrared (IR) instruments. From conceptual sketches to final testing, both direct and derived thermal requirements place significant constraints on the instrument design. Although in practice these thermal requirements are interdependent, the sources of most thermal constraints may be grouped into six distinct categories. These are: (1) Detector temperatures, (2) Optics temperatures, (3) Pointing or alignment stability, (4) Mission lifetime, (5) Orbit, and (6) Test and Integration. In this paper, we discuss these six sources of thermal requirements with particular regard to development of instrument packages for low background infrared astronomical observatories. In the end, the thermal performance of these instruments must meet a set of thermal requirements. The development of these requirements is typically an ongoing and interactive process, however, and the thermal design must maintain flexibility and robustness throughout the process. The thermal (or cryogenic) engineer must understand the constraints imposed by the science requirements, the specific hardware, the observing environment, the mission design, and the testing program. By balancing these often competing factors, the system-oriented thermal engineer can work together with the experiment team to produce an effective overall design of the instrument.

Interrupted time series regression for the evaluation of public health interventions: a tutorial

PubMed Central

Bernal, James Lopez; Cummins, Steven; Gasparrini, Antonio

2017-01-01

Abstract Interrupted time series (ITS) analysis is a valuable study design for evaluating the effectiveness of population-level health interventions that have been implemented at a clearly defined point in time. It is increasingly being used to evaluate the effectiveness of interventions ranging from clinical therapy to national public health legislation. Whereas the design shares many properties of regression-based approaches in other epidemiological studies, there are a range of unique features of time series data that require additional methodological considerations. In this tutorial we use a worked example to demonstrate a robust approach to ITS analysis using segmented regression. We begin by describing the design and considering when ITS is an appropriate design choice. We then discuss the essential, yet often omitted, step of proposing the impact model a priori. Subsequently, we demonstrate the approach to statistical analysis including the main segmented regression model. Finally we describe the main methodological issues associated with ITS analysis: over-dispersion of time series data, autocorrelation, adjusting for seasonal trends and controlling for time-varying confounders, and we also outline some of the more complex design adaptations that can be used to strengthen the basic ITS design. PMID:27283160

Model based control of dynamic atomic force microscope.

PubMed

Lee, Chibum; Salapaka, Srinivasa M

2015-04-01

A model-based robust control approach is proposed that significantly improves imaging bandwidth for the dynamic mode atomic force microscopy. A model for cantilever oscillation amplitude and phase dynamics is derived and used for the control design. In particular, the control design is based on a linearized model and robust H(∞) control theory. This design yields a significant improvement when compared to the conventional proportional-integral designs and verified by experiments.

TH-CD-209-10: Scanning Proton Arc Therapy (SPArc) - The First Robust and Delivery-Efficient Spot Scanning Proton Arc Therapy

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

Ding, X; Li, X; Zhang, J

Purpose: To develop a delivery-efficient proton spot-scanning arc therapy technique with robust plan quality. Methods: We developed a Scanning Proton Arc(SPArc) optimization algorithm integrated with (1)Control point re-sampling by splitting control point into adjacent sub-control points; (2)Energy layer re-distribution by assigning the original energy layers to the new sub-control points; (3)Energy layer filtration by deleting low MU weighting energy layers; (4)Energy layer re-sampling by sampling additional layers to ensure the optimal solution. A bilateral head and neck oropharynx case and a non-mobile lung target case were tested. Plan quality and total estimated delivery time were compared to original robust optimizedmore » multi-field step-and-shoot arc plan without SPArc optimization (Arcmulti-field) and standard robust optimized Intensity Modulated Proton Therapy(IMPT) plans. Dose-Volume-Histograms (DVH) of target and Organ-at-Risks (OARs) were analyzed along with all worst case scenarios. Total delivery time was calculated based on the assumption of a 360 degree gantry room with 1 RPM rotation speed, 2ms spot switching time, beam current 1nA, minimum spot weighting 0.01 MU, energy-layer-switching-time (ELST) from 0.5 to 4s. Results: Compared to IMPT, SPArc delivered less integral dose(−14% lung and −8% oropharynx). For lung case, SPArc reduced 60% of skin max dose, 35% of rib max dose and 15% of lung mean dose. Conformity Index is improved from 7.6(IMPT) to 4.0(SPArc). Compared to Arcmulti-field, SPArc reduced number of energy layers by 61%(276 layers in lung) and 80%(1008 layers in oropharynx) while kept the same robust plan quality. With ELST from 0.5s to 4s, it reduced 55%–60% of Arcmulti-field delivery time for the lung case and 56%–67% for the oropharynx case. Conclusion: SPArc is the first robust and delivery-efficient proton spot-scanning arc therapy technique which could be implemented in routine clinic. For modern proton machine with ELST close to 0.5s, SPArc would be a popular treatment option for both single and multi-room center.« less

Robust model predictive control for constrained continuous-time nonlinear systems

NASA Astrophysics Data System (ADS)

Sun, Tairen; Pan, Yongping; Zhang, Jun; Yu, Haoyong

2018-02-01

In this paper, a robust model predictive control (MPC) is designed for a class of constrained continuous-time nonlinear systems with bounded additive disturbances. The robust MPC consists of a nonlinear feedback control and a continuous-time model-based dual-mode MPC. The nonlinear feedback control guarantees the actual trajectory being contained in a tube centred at the nominal trajectory. The dual-mode MPC is designed to ensure asymptotic convergence of the nominal trajectory to zero. This paper extends current results on discrete-time model-based tube MPC and linear system model-based tube MPC to continuous-time nonlinear model-based tube MPC. The feasibility and robustness of the proposed robust MPC have been demonstrated by theoretical analysis and applications to a cart-damper springer system and a one-link robot manipulator.

Robust distributed model predictive control of linear systems with structured time-varying uncertainties

NASA Astrophysics Data System (ADS)

Zhang, Langwen; Xie, Wei; Wang, Jingcheng

2017-11-01

In this work, synthesis of robust distributed model predictive control (MPC) is presented for a class of linear systems subject to structured time-varying uncertainties. By decomposing a global system into smaller dimensional subsystems, a set of distributed MPC controllers, instead of a centralised controller, are designed. To ensure the robust stability of the closed-loop system with respect to model uncertainties, distributed state feedback laws are obtained by solving a min-max optimisation problem. The design of robust distributed MPC is then transformed into solving a minimisation optimisation problem with linear matrix inequality constraints. An iterative online algorithm with adjustable maximum iteration is proposed to coordinate the distributed controllers to achieve a global performance. The simulation results show the effectiveness of the proposed robust distributed MPC algorithm.

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

NASA Technical Reports Server (NTRS)

Garg, Sanjay; Ouzts, Peter J.

1991-01-01

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

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.

Hierarchical modeling and robust synthesis for the preliminary design of large scale complex systems

NASA Astrophysics Data System (ADS)

Koch, Patrick Nathan

Large-scale complex systems are characterized by multiple interacting subsystems and the analysis of multiple disciplines. The design and development of such systems inevitably requires the resolution of multiple conflicting objectives. The size of complex systems, however, prohibits the development of comprehensive system models, and thus these systems must be partitioned into their constituent parts. Because simultaneous solution of individual subsystem models is often not manageable iteration is inevitable and often excessive. In this dissertation these issues are addressed through the development of a method for hierarchical robust preliminary design exploration to facilitate concurrent system and subsystem design exploration, for the concurrent generation of robust system and subsystem specifications for the preliminary design of multi-level, multi-objective, large-scale complex systems. This method is developed through the integration and expansion of current design techniques: (1) Hierarchical partitioning and modeling techniques for partitioning large-scale complex systems into more tractable parts, and allowing integration of subproblems for system synthesis, (2) Statistical experimentation and approximation techniques for increasing both the efficiency and the comprehensiveness of preliminary design exploration, and (3) Noise modeling techniques for implementing robust preliminary design when approximate models are employed. The method developed and associated approaches are illustrated through their application to the preliminary design of a commercial turbofan turbine propulsion system; the turbofan system-level problem is partitioned into engine cycle and configuration design and a compressor module is integrated for more detailed subsystem-level design exploration, improving system evaluation.

Robust and efficient method for matching features in omnidirectional images

NASA Astrophysics Data System (ADS)

Zhu, Qinyi; Zhang, Zhijiang; Zeng, Dan

2018-04-01

Binary descriptors have been widely used in many real-time applications due to their efficiency. These descriptors are commonly designed for perspective images but perform poorly on omnidirectional images, which are severely distorted. To address this issue, this paper proposes tangent plane BRIEF (TPBRIEF) and adapted log polar grid-based motion statistics (ALPGMS). TPBRIEF projects keypoints to a unit sphere and applies the fixed test set in BRIEF descriptor on the tangent plane of the unit sphere. The fixed test set is then backprojected onto the original distorted images to construct the distortion invariant descriptor. TPBRIEF directly enables keypoint detecting and feature describing on original distorted images, whereas other approaches correct the distortion through image resampling, which introduces artifacts and adds time cost. With ALPGMS, omnidirectional images are divided into circular arches named adapted log polar grids. Whether a match is true or false is then determined by simply thresholding the match numbers in a grid pair where the two matched points located. Experiments show that TPBRIEF greatly improves the feature matching accuracy and ALPGMS robustly removes wrong matches. Our proposed method outperforms the state-of-the-art methods.

Basic functional trade-offs in cognition: An integrative framework.

PubMed

Del Giudice, Marco; Crespi, Bernard J

2018-06-14

Trade-offs between advantageous but conflicting properties (e.g., speed vs. accuracy) are ubiquitous in cognition, but the relevant literature is conceptually fragmented, scattered across disciplines, and has not been organized in a coherent framework. This paper takes an initial step toward a general theory of cognitive trade-offs by examining four key properties of goal-directed systems: performance, efficiency, robustness, and flexibility. These properties define a number of basic functional trade-offs that can be used to map the abstract "design space" of natural and artificial cognitive systems. Basic functional trade-offs provide a shared vocabulary to describe a variety of specific trade-offs including speed vs. accuracy, generalist vs. specialist, exploration vs. exploitation, and many others. By linking specific features of cognitive functioning to general properties such as robustness and efficiency, it becomes possible to harness some powerful insights from systems engineering and systems biology to suggest useful generalizations, point to under-explored but potentially important trade-offs, and prompt novel hypotheses and connections between disparate areas of research. Copyright © 2018 Elsevier B.V. All rights reserved.

Improvements on the minimax algorithm for the Laplace transformation of orbital energy denominators

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

Helmich-Paris, Benjamin, E-mail: b.helmichparis@vu.nl; Visscher, Lucas, E-mail: l.visscher@vu.nl

2016-09-15

We present a robust and non-heuristic algorithm that finds all extremum points of the error distribution function of numerically Laplace-transformed orbital energy denominators. The extremum point search is one of the two key steps for finding the minimax approximation. If pre-tabulation of initial guesses is supposed to be avoided, strategies for a sufficiently robust algorithm have not been discussed so far. We compare our non-heuristic approach with a bracketing and bisection algorithm and demonstrate that 3 times less function evaluations are required altogether when applying it to typical non-relativistic and relativistic quantum chemical systems.

Critical Needs for Robust and Reliable Database for Design and Manufacturing of Ceramic Matrix Composites

NASA Technical Reports Server (NTRS)

Singh, M.

1999-01-01

Ceramic matrix composite (CMC) components are being designed, fabricated, and tested for a number of high temperature, high performance applications in aerospace and ground based systems. The critical need for and the role of reliable and robust databases for the design and manufacturing of ceramic matrix composites are presented. A number of issues related to engineering design, manufacturing technologies, joining, and attachment technologies, are also discussed. Examples of various ongoing activities in the area of composite databases. designing to codes and standards, and design for manufacturing are given.

Emerging CFD technologies and aerospace vehicle design

NASA Technical Reports Server (NTRS)

Aftosmis, Michael J.

1995-01-01

With the recent focus on the needs of design and applications CFD, research groups have begun to address the traditional bottlenecks of grid generation and surface modeling. Now, a host of emerging technologies promise to shortcut or dramatically simplify the simulation process. This paper discusses the current status of these emerging technologies. It will argue that some tools are already available which can have positive impact on portions of the design cycle. However, in most cases, these tools need to be integrated into specific engineering systems and process cycles to be used effectively. The rapidly maturing status of unstructured and Cartesian approaches for inviscid simulations makes suggests the possibility of highly automated Euler-boundary layer simulations with application to loads estimation and even preliminary design. Similarly, technology is available to link block structured mesh generation algorithms with topology libraries to avoid tedious re-meshing of topologically similar configurations. Work in algorithmic based auto-blocking suggests that domain decomposition and point placement operations in multi-block mesh generation may be properly posed as problems in Computational Geometry, and following this approach may lead to robust algorithmic processes for automatic mesh generation.

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

NASA Astrophysics Data System (ADS)

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

2013-12-01

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

Info-gap robust-satisficing model of foraging behavior: do foragers optimize or satisfice?

PubMed

Carmel, Yohay; Ben-Haim, Yakov

2005-11-01

In this note we compare two mathematical models of foraging that reflect two competing theories of animal behavior: optimizing and robust satisficing. The optimal-foraging model is based on the marginal value theorem (MVT). The robust-satisficing model developed here is an application of info-gap decision theory. The info-gap robust-satisficing model relates to the same circumstances described by the MVT. We show how these two alternatives translate into specific predictions that at some points are quite disparate. We test these alternative predictions against available data collected in numerous field studies with a large number of species from diverse taxonomic groups. We show that a large majority of studies appear to support the robust-satisficing model and reject the optimal-foraging model.

Integrated geometry and grid generation system for complex configurations

NASA Technical Reports Server (NTRS)

Akdag, Vedat; Wulf, Armin

1992-01-01

A grid generation system was developed that enables grid generation for complex configurations. The system called ICEM/CFD is described and its role in computational fluid dynamics (CFD) applications is presented. The capabilities of the system include full computer aided design (CAD), grid generation on the actual CAD geometry definition using robust surface projection algorithms, interfacing easily with known CAD packages through common file formats for geometry transfer, grid quality evaluation of the volume grid, coupling boundary condition set-up for block faces with grid topology generation, multi-block grid generation with or without point continuity and block to block interface requirement, and generating grid files directly compatible with known flow solvers. The interactive and integrated approach to the problem of computational grid generation not only substantially reduces manpower time but also increases the flexibility of later grid modifications and enhancements which is required in an environment where CFD is integrated into a product design cycle.

Optimal model of PDIG based microgrid and design of complementary stabilizer using ICA.

PubMed

Amini, R Mohammad; Safari, A; Ravadanegh, S Najafi

2016-09-01

The generalized Heffron-Phillips model (GHPM) for a microgrid containing a photovoltaic (PV)-diesel machine (DM)-induction motor (IM)-governor (GV) (PDIG) has been developed at the low voltage level. A GHPM is calculated by linearization method about a loading condition. An effective Maximum Power Point Tracking (MPPT) approach for PV network has been done using sliding mode control (SMC) to maximize output power. Additionally, to improve stability of microgrid for more penetration of renewable energy resources with nonlinear load, a complementary stabilizer has been presented. Imperialist competitive algorithm (ICA) is utilized to design of gains for the complementary stabilizer with the multiobjective function. The stability analysis of the PDIG system has been completed with eigenvalues analysis and nonlinear simulations. Robustness and validity of the proposed controllers on damping of electromechanical modes examine through time domain simulation under input mechanical torque disturbances. Copyright © 2016 ISA. Published by Elsevier Ltd. All rights reserved.

Distributed control of large space antennas

NASA Technical Reports Server (NTRS)

Cameron, J. M.; Hamidi, M.; Lin, Y. H.; Wang, S. J.

1983-01-01

A systematic way to choose control design parameters and to evaluate performance for large space antennas is presented. The structural dynamics and control properties for a Hoop and Column Antenna and a Wrap-Rib Antenna are characterized. Some results of the effects of model parameter uncertainties to the stability, surface accuracy, and pointing errors are presented. Critical dynamics and control problems for these antenna configurations are identified and potential solutions are discussed. It was concluded that structural uncertainties and model error can cause serious performance deterioration and can even destabilize the controllers. For the hoop and column antenna, large hoop and long meat and the lack of stiffness between the two substructures result in low structural frequencies. Performance can be improved if this design can be strengthened. The two-site control system is more robust than either single-site control systems for the hoop and column antenna.

Embarked electrical network robust control based on singular perturbation model.

PubMed

Abdeljalil Belhaj, Lamya; Ait-Ahmed, Mourad; Benkhoris, Mohamed Fouad

2014-07-01

This paper deals with an approach of modelling in view of control for embarked networks which can be described as strongly coupled multi-sources, multi-loads systems with nonlinear and badly known characteristics. This model has to be representative of the system behaviour and easy to handle for easy regulators synthesis. As a first step, each alternator is modelled and linearized around an operating point and then it is subdivided into two lower order systems according to the singular perturbation theory. RST regulators are designed for each subsystem and tested by means of a software test-bench which allows predicting network behaviour in both steady and transient states. Finally, the designed controllers are implanted on an experimental benchmark constituted by two alternators supplying loads in order to test the dynamic performances in realistic conditions. Copyright © 2014 ISA. Published by Elsevier Ltd. All rights reserved.

Halogen-Enriched Fragment Libraries as Leads for Drug Rescue of Mutant p53

PubMed Central

2012-01-01

The destabilizing p53 cancer mutation Y220C creates a druggable surface crevice. We developed a strategy exploiting halogen bonding for lead discovery to stabilize the mutant with small molecules. We designed halogen-enriched fragment libraries (HEFLibs) as starting points to complement classical approaches. From screening of HEFLibs and subsequent structure-guided design, we developed substituted 2-(aminomethyl)-4-ethynyl-6-iodophenols as p53-Y220C stabilizers. Crystal structures of their complexes highlight two key features: (i) a central scaffold with a robust binding mode anchored by halogen bonding of an iodine with a main-chain carbonyl and (ii) an acetylene linker, enabling the targeting of an additional subsite in the crevice. The best binders showed induction of apoptosis in a human cancer cell line with homozygous Y220C mutation. Our structural and biophysical data suggest a more widespread applicability of HEFLibs in drug discovery. PMID:22439615

Active disturbance rejection controller of fine tracking system for free space optical communication

NASA Astrophysics Data System (ADS)

Cui, Ning; Liu, Yang; Chen, Xinglin; Wang, Yan

2013-08-01

Free space optical communication is one of the best approaches in future communications. Laser beam's acquisition, pointing and tracking are crucial technologies of free space optical communication. Fine tracking system is important component of APT (acquisition, pointing and tracking) system. It cooperates with the coarse pointing system in executing the APT mission. Satellite platform vibration and disturbance, which reduce received optical power, increase bit error rate and affect seriously the natural performance of laser communication. For the characteristic of satellite platform, an active disturbance rejection controller was designed to reduce the vibration and disturbance. There are three major contributions in the paper. Firstly, the effects of vibration on the inter satellite optical communications were analyzed, and the reasons and characters of vibration of the satellite platform were summarized. The amplitude-frequency response of a filter was designed according to the power spectral density of platform vibration of SILEX (Semiconductor Inter-satellite Laser Experiment), and then the signals of platform vibration were generated by filtering white Gaussian noise using the filter. Secondly, the fast steering mirror is a key component of the fine tracking system for optical communication. The mechanical design and model analysis was made to the tip/tilt mirror driven by the piezoelectric actuator and transmitted by the flexure hinge. The transfer function of the fast steering mirror, camera, D/A data acquisition card was established, and the theory model of transfer function of this system was further obtained. Finally, an active disturbance rejection control method is developed, multiple parallel extended state observers were designed for estimation of unknown dynamics and external disturbance, and the estimated states were used for nonlinear feedback control and compensation to improve system performance. The simulation results show that the designed controller not only accurately estimates and compensates the disturbances, but also realizes the robustness to estimation of unknown dynamics. The controller can satisfy the requirement of fine tracking accuracy for free space optical communication system.

Simple method for experimentally testing any form of quantum contextuality

NASA Astrophysics Data System (ADS)

Cabello, Adán

2016-03-01

Contextuality provides a unifying paradigm for nonclassical aspects of quantum probabilities and resources of quantum information. Unfortunately, most forms of quantum contextuality remain experimentally unexplored due to the difficulty of performing sequences of projective measurements on individual quantum systems. Here we show that two-point correlations between binary compatible observables are sufficient to reveal any form of contextuality. This allows us to design simple experiments that are more robust against imperfections and easier to analyze, thus opening the door for observing interesting forms of contextuality, including those requiring quantum systems of high dimensions. In addition, it allows us to connect contextuality to communication complexity scenarios and reformulate a recent result relating contextuality and quantum computation.

STARS: a software application for the EBEX autonomous daytime star cameras

NASA Astrophysics Data System (ADS)

Chapman, Daniel; Didier, Joy; Hanany, Shaul; Hillbrand, Seth; Limon, Michele; Miller, Amber; Reichborn-Kjennerud, Britt; Tucker, Greg; Vinokurov, Yury

2014-07-01

The E and B Experiment (EBEX) is a balloon-borne telescope designed to probe polarization signals in the CMB resulting from primordial gravitational waves, gravitational lensing, and Galactic dust emission. EBEX completed an 11 day flight over Antarctica in January 2013 and data analysis is underway. EBEX employs two star cameras to achieve its real-time and post-flight pointing requirements. We wrote a software application called STARS to operate, command, and collect data from each of the star cameras, and to interface them with the main flight computer. We paid special attention to make the software robust against potential in-flight failures. We report on the implementation, testing, and successful in flight performance of STARS.

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.

Robust set-point regulation for ecological models with multiple management goals.

PubMed

Guiver, Chris; Mueller, Markus; Hodgson, Dave; Townley, Stuart

2016-05-01

Population managers will often have to deal with problems of meeting multiple goals, for example, keeping at specific levels both the total population and population abundances in given stage-classes of a stratified population. In control engineering, such set-point regulation problems are commonly tackled using multi-input, multi-output proportional and integral (PI) feedback controllers. Building on our recent results for population management with single goals, we develop a PI control approach in a context of multi-objective population management. We show that robust set-point regulation is achieved by using a modified PI controller with saturation and anti-windup elements, both described in the paper, and illustrate the theory with examples. Our results apply more generally to linear control systems with positive state variables, including a class of infinite-dimensional systems, and thus have broader appeal.

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

Rajagopal, K. R.; Rao, I. J.

The procedures in place for producing materials in order to optimize their performance with respect to creep characteristics, oxidation resistance, elevation of melting point, thermal and electrical conductivity and other thermal and electrical properties are essentially trial and error experimentation that tend to be tremendously time consuming and expensive. A computational approach has been developed that can replace the trial and error procedures in order that one can efficiently design and engineer materials based on the application in question can lead to enhanced performance of the material, significant decrease in costs and cut down the time necessary to produce suchmore » materials. The work has relevance to the design and manufacture of turbine blades operating at high operating temperature, development of armor and missiles heads; corrosion resistant tanks and containers, better conductors of electricity, and the numerous other applications that are envisaged for specially structured nanocrystalline solids. A robust thermodynamic framework is developed within which the computational approach is developed. The procedure takes into account microstructural features such as the dislocation density, lattice mismatch, stacking faults, volume fractions of inclusions, interfacial area, etc. A robust model for single crystal superalloys that takes into account the microstructure of the alloy within the context of a continuum model is developed. Having developed the model, we then implement in a computational scheme using the software ABAQUS/STANDARD. The results of the simulation are compared against experimental data in realistic geometries.« less

Demonstration of the CDMA-mode CAOS smart camera.

PubMed

Riza, Nabeel A; Mazhar, Mohsin A

2017-12-11

Demonstrated is the code division multiple access (CDMA)-mode coded access optical sensor (CAOS) smart camera suited for bright target scenarios. Deploying a silicon CMOS sensor and a silicon point detector within a digital micro-mirror device (DMD)-based spatially isolating hybrid camera design, this smart imager first engages the DMD starring mode with a controlled factor of 200 high optical attenuation of the scene irradiance to provide a classic unsaturated CMOS sensor-based image for target intelligence gathering. Next, this CMOS sensor provided image data is used to acquire a focused zone more robust un-attenuated true target image using the time-modulated CDMA-mode of the CAOS camera. Using four different bright light test target scenes, successfully demonstrated is a proof-of-concept visible band CAOS smart camera operating in the CDMA-mode using up-to 4096 bits length Walsh design CAOS pixel codes with a maximum 10 KHz code bit rate giving a 0.4096 seconds CAOS frame acquisition time. A 16-bit analog-to-digital converter (ADC) with time domain correlation digital signal processing (DSP) generates the CDMA-mode images with a 3600 CAOS pixel count and a best spatial resolution of one micro-mirror square pixel size of 13.68 μm side. The CDMA-mode of the CAOS smart camera is suited for applications where robust high dynamic range (DR) imaging is needed for un-attenuated un-spoiled bright light spectrally diverse targets.

Indo-Pacific humpback dolphins (Sousa chinensis) in Hong Kong: Modelling demographic parameters with mark-recapture techniques.

PubMed

Chan, Stephen C Y; Karczmarski, Leszek

2017-01-01

Indo-Pacific humpback dolphins (Sousa chinensis) inhabiting Hong Kong waters are thought to be among the world's most anthropogenically impacted coastal delphinids. We have conducted a 5-year (2010-2014) photo-ID study and performed the first in this region comprehensive mark-recapture analysis applying a suite of open population models and robust design models. Cormack-Jolly-Seber (CJS) models suggested a significant transient effect and seasonal variation in apparent survival probabilities as result of a fluid movement beyond the study area. Given the spatial restrictions of our study, limited by an administrative border, if emigration was to be considered negligible the estimated survival rate of adults was 0.980. Super-population estimates indicated that at least 368 dolphins used Hong Kong waters as part of their range. Closed robust design models suggested an influx of dolphins from winter to summer and increased site fidelity in summer; and outflux, although less prominent, during summer-winter intervals. Abundance estimates in summer (N = 144-231) were higher than that in winter (N = 87-111), corresponding to the availability of prey resources which in Hong Kong waters peaks during summer months. We point out that the current population monitoring strategy used by the Hong Kong authorities is ill-suited for a timely detection of a population change and should be revised.

Indo-Pacific humpback dolphins (Sousa chinensis) in Hong Kong: Modelling demographic parameters with mark-recapture techniques

PubMed Central

2017-01-01

Indo-Pacific humpback dolphins (Sousa chinensis) inhabiting Hong Kong waters are thought to be among the world's most anthropogenically impacted coastal delphinids. We have conducted a 5-year (2010–2014) photo-ID study and performed the first in this region comprehensive mark-recapture analysis applying a suite of open population models and robust design models. Cormack-Jolly-Seber (CJS) models suggested a significant transient effect and seasonal variation in apparent survival probabilities as result of a fluid movement beyond the study area. Given the spatial restrictions of our study, limited by an administrative border, if emigration was to be considered negligible the estimated survival rate of adults was 0.980. Super-population estimates indicated that at least 368 dolphins used Hong Kong waters as part of their range. Closed robust design models suggested an influx of dolphins from winter to summer and increased site fidelity in summer; and outflux, although less prominent, during summer-winter intervals. Abundance estimates in summer (N = 144–231) were higher than that in winter (N = 87–111), corresponding to the availability of prey resources which in Hong Kong waters peaks during summer months. We point out that the current population monitoring strategy used by the Hong Kong authorities is ill-suited for a timely detection of a population change and should be revised. PMID:28355228

Reducing Design Risk Using Robust Design Methods: A Dual Response Surface Approach

NASA Technical Reports Server (NTRS)

Unal, Resit; Yeniay, Ozgur; Lepsch, Roger A. (Technical Monitor)

2003-01-01

Space transportation system conceptual design is a multidisciplinary process containing considerable element of risk. Risk here is defined as the variability in the estimated (output) performance characteristic of interest resulting from the uncertainties in the values of several disciplinary design and/or operational parameters. Uncertainties from one discipline (and/or subsystem) may propagate to another, through linking parameters and the final system output may have a significant accumulation of risk. This variability can result in significant deviations from the expected performance. Therefore, an estimate of variability (which is called design risk in this study) together with the expected performance characteristic value (e.g. mean empty weight) is necessary for multidisciplinary optimization for a robust design. Robust design in this study is defined as a solution that minimizes variability subject to a constraint on mean performance characteristics. Even though multidisciplinary design optimization has gained wide attention and applications, the treatment of uncertainties to quantify and analyze design risk has received little attention. This research effort explores the dual response surface approach to quantify variability (risk) in critical performance characteristics (such as weight) during conceptual design.

Linking log files with dosimetric accuracy--A multi-institutional study on quality assurance of volumetric modulated arc therapy.

PubMed

Pasler, Marlies; Kaas, Jochem; Perik, Thijs; Geuze, Job; Dreindl, Ralf; Künzler, Thomas; Wittkamper, Frits; Georg, Dietmar

2015-12-01

To systematically evaluate machine specific quality assurance (QA) for volumetric modulated arc therapy (VMAT) based on log files by applying a dynamic benchmark plan. A VMAT benchmark plan was created and tested on 18 Elekta linacs (13 MLCi or MLCi2, 5 Agility) at 4 different institutions. Linac log files were analyzed and a delivery robustness index was introduced. For dosimetric measurements an ionization chamber array was used. Relative dose deviations were assessed by mean gamma for each control point and compared to the log file evaluation. Fourteen linacs delivered the VMAT benchmark plan, while 4 linacs failed by consistently terminating the delivery. The mean leaf error (±1SD) was 0.3±0.2 mm for all linacs. Large MLC maximum errors up to 6.5 mm were observed at reversal positions. Delivery robustness index accounting for MLC position correction (0.8-1.0) correlated with delivery time (80-128 s) and depended on dose rate performance. Dosimetric evaluation indicated in general accurate plan reproducibility with γ(mean)(±1 SD)=0.4±0.2 for 1 mm/1%. However single control point analysis revealed larger deviations and attributed well to log file analysis. The designed benchmark plan helped identify linac related malfunctions in dynamic mode for VMAT. Log files serve as an important additional QA measure to understand and visualize dynamic linac parameters. Copyright © 2015 Elsevier Ireland Ltd. All rights reserved.

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

PubMed Central

Sabatier, Rodolphe; Wiegand, Kerstin; Meyer, Katrin

2013-01-01

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

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

PubMed

Sabatier, Rodolphe; Wiegand, Kerstin; Meyer, Katrin

2013-01-01

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

Critical Point Cancellation in 3D Vector Fields: Robustness and Discussion

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

Skraba, Primoz; Rosen, Paul; Wang, Bei

Vector field topology has been successfully applied to represent the structure of steady vector fields. Critical points, one of the essential components of vector field topology, play an important role in describing the complexity of the extracted structure. Simplifying vector fields via critical point cancellation has practical merit for interpreting the behaviors of complex vector fields such as turbulence. However, there is no effective technique that allows direct cancellation of critical points in 3D. This work fills this gap and introduces the first framework to directly cancel pairs or groups of 3D critical points in a hierarchical manner with amore » guaranteed minimum amount of perturbation based on their robustness, a quantitative measure of their stability. In addition, our framework does not require the extraction of the entire 3D topology, which contains non-trivial separation structures, and thus is computationally effective. Furthermore, our algorithm can remove critical points in any subregion of the domain whose degree is zero and handle complex boundary configurations, making it capable of addressing challenging scenarios that may not be resolved otherwise. Here, we apply our method to synthetic and simulation datasets to demonstrate its effectiveness.« less

Critical Point Cancellation in 3D Vector Fields: Robustness and Discussion.

PubMed

Skraba, Primoz; Rosen, Paul; Wang, Bei; Chen, Guoning; Bhatia, Harsh; Pascucci, Valerio

2016-02-29

Vector field topology has been successfully applied to represent the structure of steady vector fields. Critical points, one of the essential components of vector field topology, play an important role in describing the complexity of the extracted structure. Simplifying vector fields via critical point cancellation has practical merit for interpreting the behaviors of complex vector fields such as turbulence. However, there is no effective technique that allows direct cancellation of critical points in 3D. This work fills this gap and introduces the first framework to directly cancel pairs or groups of 3D critical points in a hierarchical manner with a guaranteed minimum amount of perturbation based on their robustness, a quantitative measure of their stability. In addition, our framework does not require the extraction of the entire 3D topology, which contains non-trivial separation structures, and thus is computationally effective. Furthermore, our algorithm can remove critical points in any subregion of the domain whose degree is zero and handle complex boundary configurations, making it capable of addressing challenging scenarios that may not be resolved otherwise. We apply our method to synthetic and simulation datasets to demonstrate its effectiveness.

Critical Point Cancellation in 3D Vector Fields: Robustness and Discussion

DOE PAGES

Skraba, Primoz; Rosen, Paul; Wang, Bei; ...

2016-02-29

Vector field topology has been successfully applied to represent the structure of steady vector fields. Critical points, one of the essential components of vector field topology, play an important role in describing the complexity of the extracted structure. Simplifying vector fields via critical point cancellation has practical merit for interpreting the behaviors of complex vector fields such as turbulence. However, there is no effective technique that allows direct cancellation of critical points in 3D. This work fills this gap and introduces the first framework to directly cancel pairs or groups of 3D critical points in a hierarchical manner with amore » guaranteed minimum amount of perturbation based on their robustness, a quantitative measure of their stability. In addition, our framework does not require the extraction of the entire 3D topology, which contains non-trivial separation structures, and thus is computationally effective. Furthermore, our algorithm can remove critical points in any subregion of the domain whose degree is zero and handle complex boundary configurations, making it capable of addressing challenging scenarios that may not be resolved otherwise. Here, we apply our method to synthetic and simulation datasets to demonstrate its effectiveness.« less

24th Annual National Test and Evaluation Conference

DTIC Science & Technology

2008-02-28

LSL USL μ2 μ1 μ2 LSL USL μ1 Robust Design Page 38©2008 Air Academy Associates, LLC. Do Not Reproduce. Simplify, Perfect, Innovate Why Robust Design? x...Vehicle performance Simulated Terrain Physics Soil strength Vegetation density Longitudinal force Lateral force Traction Resistance Local vehicle

Robust network design for multispecies conservation

Treesearch

Ronan Le Bras; Bistra Dilkina; Yexiang Xue; Carla P. Gomes; Kevin S. McKelvey; Michael K. Schwartz; Claire A. Montgomery

2013-01-01

Our work is motivated by an important network design application in computational sustainability concerning wildlife conservation. In the face of human development and climate change, it is important that conservation plans for protecting landscape connectivity exhibit certain level of robustness. While previous work has focused on conservation strategies that result...

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

NASA Technical Reports Server (NTRS)

Adams, Richard J.

1993-01-01

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

Robust Stabilization Control Based on Guardian Maps Theory for a Longitudinal Model of Hypersonic Vehicle

PubMed Central

Liu, Mengying; Sun, Peihua

2014-01-01

A typical model of hypersonic vehicle has the complicated dynamics such as the unstable states, the nonminimum phases, and the strong coupling input-output relations. As a result, designing a robust stabilization controller is essential to implement the anticipated tasks. This paper presents a robust stabilization controller based on the guardian maps theory for hypersonic vehicle. First, the guardian maps theories are provided to explain the constraint relations between the open subsets of complex plane and the eigenvalues of the state matrix of closed-loop control system. Then, a general control structure in relation to the guardian maps theories is proposed to achieve the respected design demands. Furthermore, the robust stabilization control law depending on the given general control structure is designed for the longitudinal model of hypersonic vehicle. Finally, a simulation example is provided to verify the effectiveness of the proposed methods. PMID:24795535

Robust stabilization control based on guardian maps theory for a longitudinal model of hypersonic vehicle.

PubMed

Liu, Yanbin; Liu, Mengying; Sun, Peihua

2014-01-01

A typical model of hypersonic vehicle has the complicated dynamics such as the unstable states, the nonminimum phases, and the strong coupling input-output relations. As a result, designing a robust stabilization controller is essential to implement the anticipated tasks. This paper presents a robust stabilization controller based on the guardian maps theory for hypersonic vehicle. First, the guardian maps theories are provided to explain the constraint relations between the open subsets of complex plane and the eigenvalues of the state matrix of closed-loop control system. Then, a general control structure in relation to the guardian maps theories is proposed to achieve the respected design demands. Furthermore, the robust stabilization control law depending on the given general control structure is designed for the longitudinal model of hypersonic vehicle. Finally, a simulation example is provided to verify the effectiveness of the proposed methods.

Robust fast controller design via nonlinear fractional differential equations.

PubMed

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

2017-07-01

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

Boundedness and global robust stability analysis of delayed complex-valued neural networks with interval parameter uncertainties.

PubMed

Song, Qiankun; Yu, Qinqin; Zhao, Zhenjiang; Liu, Yurong; Alsaadi, Fuad E

2018-07-01

In this paper, the boundedness and robust stability for a class of delayed complex-valued neural networks with interval parameter uncertainties are investigated. By using Homomorphic mapping theorem, Lyapunov method and inequality techniques, sufficient condition to guarantee the boundedness of networks and the existence, uniqueness and global robust stability of equilibrium point is derived for the considered uncertain neural networks. The obtained robust stability criterion is expressed in complex-valued LMI, which can be calculated numerically using YALMIP with solver of SDPT3 in MATLAB. An example with simulations is supplied to show the applicability and advantages of the acquired result. Copyright © 2018 Elsevier Ltd. All rights reserved.

Automatic identification of the reference system based on the fourth ventricular landmarks in T1-weighted MR images.

PubMed

Fu, Yili; Gao, Wenpeng; Chen, Xiaoguang; Zhu, Minwei; Shen, Weigao; Wang, Shuguo

2010-01-01

The reference system based on the fourth ventricular landmarks (including the fastigial point and ventricular floor plane) is used in medical image analysis of the brain stem. The objective of this study was to develop a rapid, robust, and accurate method for the automatic identification of this reference system on T1-weighted magnetic resonance images. The fully automated method developed in this study consisted of four stages: preprocessing of the data set, expectation-maximization algorithm-based extraction of the fourth ventricle in the region of interest, a coarse-to-fine strategy for identifying the fastigial point, and localization of the base point. The method was evaluated on 27 Brain Web data sets qualitatively and 18 Internet Brain Segmentation Repository data sets and 30 clinical scans quantitatively. The results of qualitative evaluation indicated that the method was robust to rotation, landmark variation, noise, and inhomogeneity. The results of quantitative evaluation indicated that the method was able to identify the reference system with an accuracy of 0.7 +/- 0.2 mm for the fastigial point and 1.1 +/- 0.3 mm for the base point. It took <6 seconds for the method to identify the related landmarks on a personal computer with an Intel Core 2 6300 processor and 2 GB of random-access memory. The proposed method for the automatic identification of the reference system based on the fourth ventricular landmarks was shown to be rapid, robust, and accurate. The method has potentially utility in image registration and computer-aided surgery.

Optimal Robust Motion Controller Design Using Multiobjective Genetic Algorithm

PubMed Central

Svečko, Rajko

2014-01-01

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

Neural robust stabilization via event-triggering mechanism and adaptive learning technique.

PubMed

Wang, Ding; Liu, Derong

2018-06-01

The robust control synthesis of continuous-time nonlinear systems with uncertain term is investigated via event-triggering mechanism and adaptive critic learning technique. We mainly focus on combining the event-triggering mechanism with adaptive critic designs, so as to solve the nonlinear robust control problem. This can not only make better use of computation and communication resources, but also conduct controller design from the view of intelligent optimization. Through theoretical analysis, the nonlinear robust stabilization can be achieved by obtaining an event-triggered optimal control law of the nominal system with a newly defined cost function and a certain triggering condition. The adaptive critic technique is employed to facilitate the event-triggered control design, where a neural network is introduced as an approximator of the learning phase. The performance of the event-triggered robust control scheme is validated via simulation studies and comparisons. The present method extends the application domain of both event-triggered control and adaptive critic control to nonlinear systems possessing dynamical uncertainties. Copyright © 2018 Elsevier Ltd. All rights reserved.

Estimating state-transition probabilities for unobservable states using capture-recapture/resighting data

USGS Publications Warehouse

Kendall, W.L.; Nichols, J.D.

2002-01-01

Temporary emigration was identified some time ago as causing potential problems in capture-recapture studies, and in the last five years approaches have been developed for dealing with special cases of this general problem. Temporary emigration can be viewed more generally as involving transitions to and from an unobservable state, and frequently the state itself is one of biological interest (e.g., 'nonbreeder'). Development of models that permit estimation of relevant parameters in the presence of an unobservable state requires either extra information (e.g., as supplied by Pollock's robust design) or the following classes of model constraints: reducing the order of Markovian transition probabilities, imposing a degree of determinism on transition probabilities, removing state specificity of survival probabilities, and imposing temporal constancy of parameters. The objective of the work described in this paper is to investigate estimability of model parameters under a variety of models that include an unobservable state. Beginning with a very general model and no extra information, we used numerical methods to systematically investigate the use of ancillary information and constraints to yield models that are useful for estimation. The result is a catalog of models for which estimation is possible. An example analysis of sea turtle capture-recapture data under two different models showed similar point estimates but increased precision for the model that incorporated ancillary data (the robust design) when compared to the model with deterministic transitions only. This comparison and the results of our numerical investigation of model structures lead to design suggestions for capture-recapture studies in the presence of an unobservable state.

An optimization program based on the method of feasible directions: Theory and users guide

NASA Technical Reports Server (NTRS)

Belegundu, Ashok D.; Berke, Laszlo; Patnaik, Surya N.

1994-01-01

The theory and user instructions for an optimization code based on the method of feasible directions are presented. The code was written for wide distribution and ease of attachment to other simulation software. Although the theory of the method of feasible direction was developed in the 1960's, many considerations are involved in its actual implementation as a computer code. Included in the code are a number of features to improve robustness in optimization. The search direction is obtained by solving a quadratic program using an interior method based on Karmarkar's algorithm. The theory is discussed focusing on the important and often overlooked role played by the various parameters guiding the iterations within the program. Also discussed is a robust approach for handling infeasible starting points. The code was validated by solving a variety of structural optimization test problems that have known solutions obtained by other optimization codes. It has been observed that this code is robust: it has solved a variety of problems from different starting points. However, the code is inefficient in that it takes considerable CPU time as compared with certain other available codes. Further work is required to improve its efficiency while retaining its robustness.

Improved design of constrained model predictive tracking control for batch processes against unknown uncertainties.

PubMed

Wu, Sheng; Jin, Qibing; Zhang, Ridong; Zhang, Junfeng; Gao, Furong

2017-07-01

In this paper, an improved constrained tracking control design is proposed for batch processes under uncertainties. A new process model that facilitates process state and tracking error augmentation with further additional tuning is first proposed. Then a subsequent controller design is formulated using robust stable constrained MPC optimization. Unlike conventional robust model predictive control (MPC), the proposed method enables the controller design to bear more degrees of tuning so that improved tracking control can be acquired, which is very important since uncertainties exist inevitably in practice and cause model/plant mismatches. An injection molding process is introduced to illustrate the effectiveness of the proposed MPC approach in comparison with conventional robust MPC. Copyright © 2017 ISA. Published by Elsevier Ltd. All rights reserved.

Robust control of systems with real parameter uncertainty and unmodelled dynamics

NASA Technical Reports Server (NTRS)

Chang, Bor-Chin; Fischl, Robert

1991-01-01

During this research period we have made significant progress in the four proposed areas: (1) design of robust controllers via H infinity optimization; (2) design of robust controllers via mixed H2/H infinity optimization; (3) M-delta structure and robust stability analysis for structured uncertainties; and (4) a study on controllability and observability of perturbed plant. It is well known now that the two-Riccati-equation solution to the H infinity control problem can be used to characterize all possible stabilizing optimal or suboptimal H infinity controllers if the optimal H infinity norm or gamma, an upper bound of a suboptimal H infinity norm, is given. In this research, we discovered some useful properties of these H infinity Riccati solutions. Among them, the most prominent one is that the spectral radius of the product of these two Riccati solutions is a continuous, nonincreasing, convex function of gamma in the domain of interest. Based on these properties, quadratically convergent algorithms are developed to compute the optimal H infinity norm. We also set up a detailed procedure for applying the H infinity theory to robust control systems design. The desire to design controllers with H infinity robustness but H(exp 2) performance has recently resulted in mixed H(exp 2) and H infinity control problem formulation. The mixed H(exp 2)/H infinity problem have drawn the attention of many investigators. However, solution is only available for special cases of this problem. We formulated a relatively realistic control problem with H(exp 2) performance index and H infinity robustness constraint into a more general mixed H(exp 2)/H infinity problem. No optimal solution yet is available for this more general mixed H(exp 2)/H infinity problem. Although the optimal solution for this mixed H(exp 2)/H infinity control has not yet been found, we proposed a design approach which can be used through proper choice of the available design parameters to influence both robustness and performance. For a large class of linear time-invariant systems with real parametric perturbations, the coefficient vector of the characteristic polynomial is a multilinear function of the real parameter vector. Based on this multilinear mapping relationship together with the recent developments for polytopic polynomials and parameter domain partition technique, we proposed an iterative algorithm for coupling the real structured singular value.

Robust Control for Microgravity Vibration Isolation using Fixed Order, Mixed H2/Mu Design

NASA Technical Reports Server (NTRS)

Whorton, Mark

2003-01-01

Many space-science experiments need an active isolation system to provide a sufficiently quiescent microgravity environment. Modern control methods provide the potential for both high-performance and robust stability in the presence of parametric uncertainties that are characteristic of microgravity vibration isolation systems. While H2 and H(infinity) methods are well established, neither provides the levels of attenuation performance and robust stability in a compensator with low order. Mixed H2/H(infinity), controllers provide a means for maximizing robust stability for a given level of mean-square nominal performance while directly optimizing for controller order constraints. This paper demonstrates the benefit of mixed norm design from the perspective of robustness to parametric uncertainties and controller order for microgravity vibration isolation. A nominal performance metric analogous to the mu measure, for robust stability assessment is also introduced in order to define an acceptable trade space from which different control methodologies can be compared.

Design and evaluation of a robust dynamic neurocontroller for a multivariable aircraft control problem

NASA Technical Reports Server (NTRS)

Troudet, T.; Garg, S.; Merrill, W.

1992-01-01

The design of a dynamic neurocontroller with good robustness properties is presented for a multivariable aircraft control problem. The internal dynamics of the neurocontroller are synthesized by a state estimator feedback loop. The neurocontrol is generated by a multilayer feedforward neural network which is trained through backpropagation to minimize an objective function that is a weighted sum of tracking errors, and control input commands and rates. The neurocontroller exhibits good robustness through stability margins in phase and vehicle output gains. By maintaining performance and stability in the presence of sensor failures in the error loops, the structure of the neurocontroller is also consistent with the classical approach of flight control design.

Reliability issues in active control of large flexible space structures

NASA Technical Reports Server (NTRS)

Vandervelde, W. E.

1986-01-01

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

Robust flight design for an advanced launch system vehicle

NASA Astrophysics Data System (ADS)

Dhand, Sanjeev K.; Wong, Kelvin K.

Current launch vehicle trajectory design philosophies are generally based on maximizing payload capability. This approach results in an expensive trajectory design process for each mission. Two concepts of robust flight design have been developed to significantly reduce this cost: Standardized Trajectories and Command Multiplier Steering (CMS). These concepts were analyzed for an Advanced Launch System (ALS) vehicle, although their applicability is not restricted to any particular vehicle. Preliminary analysis has demonstrated the feasibility of these concepts at minimal loss in payload capability.

Essential SpaceWire Hardware Capabilities for a Robust Network

NASA Technical Reports Server (NTRS)

Birmingham, Michael; Krimchansky, Alexander; Anderson, William; Lombardi, Matthew

2016-01-01

The Geostationary Operational Environmental Satellite R-Series Program (GOES-R) mission is a joint program between National Oceanic & Atmospheric Administration (NOAA) and National Aeronautics & Space Administration (NASA) Goddard Space Flight Center (GSFC). GOES-R project selected SpaceWire as the best solution to satisfy the desire for simple and flexible instrument to spacecraft command and telemetry communications. GOES-R development and integration is complete and the observatory is scheduled for launch October 2016. The spacecraft design was required to support redundant SpaceWire links for each instrument side, as well as to route the fewest number of connections through a Slip Ring Assembly necessary to support Solar pointing instruments. The final design utilized two different router designs. The SpaceWire standard alone does not ensure the most practical or reliable network. On GOES-R a few key hardware capabilities were identified that merit serious consideration for future designs. Primarily these capabilities address persistent port stalls and the prevention of receive buffer overflows. Workarounds were necessary to overcome shortcomings that could be avoided in future designs if they utilize the capabilities, discussed in this paper, above and beyond the requirements of the SpaceWire standard.

Planetary Crater Detection and Registration Using Marked Point Processes, Multiple Birth and Death Algorithms, and Region-Based Analysis

NASA Technical Reports Server (NTRS)

Solarna, David; Moser, Gabriele; Le Moigne-Stewart, Jacqueline; Serpico, Sebastiano B.

2017-01-01

Because of the large variety of sensors and spacecraft collecting data, planetary science needs to integrate various multi-sensor and multi-temporal images. These multiple data represent a precious asset, as they allow the study of targets spectral responses and of changes in the surface structure; because of their variety, they also require accurate and robust registration. A new crater detection algorithm, used to extract features that will be integrated in an image registration framework, is presented. A marked point process-based method has been developed to model the spatial distribution of elliptical objects (i.e. the craters) and a birth-death Markov chain Monte Carlo method, coupled with a region-based scheme aiming at computational efficiency, is used to find the optimal configuration fitting the image. The extracted features are exploited, together with a newly defined fitness function based on a modified Hausdorff distance, by an image registration algorithm whose architecture has been designed to minimize the computational time.

An Efficient Radial Basis Function Mesh Deformation Scheme within an Adjoint-Based Aerodynamic Optimization Framework

NASA Astrophysics Data System (ADS)

Poirier, Vincent

Mesh deformation schemes play an important role in numerical aerodynamic optimization. As the aerodynamic shape changes, the computational mesh must adapt to conform to the deformed geometry. In this work, an extension to an existing fast and robust Radial Basis Function (RBF) mesh movement scheme is presented. Using a reduced set of surface points to define the mesh deformation increases the efficiency of the RBF method; however, at the cost of introducing errors into the parameterization by not recovering the exact displacement of all surface points. A secondary mesh movement is implemented, within an adjoint-based optimization framework, to eliminate these errors. The proposed scheme is tested within a 3D Euler flow by reducing the pressure drag while maintaining lift of a wing-body configured Boeing-747 and an Onera-M6 wing. As well, an inverse pressure design is executed on the Onera-M6 wing and an inverse span loading case is presented for a wing-body configured DLR-F6 aircraft.

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.

Control of nonlinear flexible space structures

NASA Astrophysics Data System (ADS)

Shi, Jianjun

With the advances made in computer technology and efficiency of numerical algorithms over last decade, the MPC strategies have become quite popular among control community. However, application of MPC or GPC to flexible space structure control has not been explored adequately in the literature. The work presented in this thesis primarily focuses on application of GPC to control of nonlinear flexible space structures. This thesis is particularly devoted to the development of various approximate dynamic models, design and assessment of candidate controllers, and extensive numerical simulations for a realistic multibody flexible spacecraft, namely, Jupiter Icy Moons Orbiter (JIMO)---a Prometheus class of spacecraft proposed by NASA for deep space exploratory missions. A stable GPC algorithm is developed for Multi-Input-Multi-Output (MIMO) systems. An end-point weighting (penalty) is used in the GPC cost function to guarantee the nominal stability of the closed-loop system. A method is given to compute the desired end-point state from the desired output trajectory. The methodologies based on Fake Algebraic Riccati Equation (FARE) and constrained nonlinear optimization, are developed for synthesis of state weighting matrix. This makes this formulation more practical. A stable reconfigurable GPC architecture is presented and its effectiveness is demonstrated on both aircraft as well as spacecraft model. A representative in-orbit maneuver is used for assessing the performance of various control strategies using various design models. Different approximate dynamic models used for analysis include linear single body flexible structure, nonlinear single body flexible structure, and nonlinear multibody flexible structure. The control laws evaluated include traditional GPC, feedback linearization-based GPC (FLGPC), reconfigurable GPC, and nonlinear dissipative control. These various control schemes are evaluated for robust stability and robust performance in the presence of parametric uncertainties and input disturbances. Finally, the conclusions are made with regard to the efficacy of these controllers and potential directions for future research.

Automatic segmentation of the wire frame of stent grafts from CT data.

PubMed

Klein, Almar; van der Vliet, J Adam; Oostveen, Luuk J; Hoogeveen, Yvonne; Kool, Leo J Schultze; Renema, W Klaas Jan; Slump, Cornelis H

2012-01-01

Endovascular aortic replacement (EVAR) is an established technique, which uses stent grafts to treat aortic aneurysms in patients at risk of aneurysm rupture. Late stent graft failure is a serious complication in endovascular repair of aortic aneurysms. Better understanding of the motion characteristics of stent grafts will be beneficial for designing future devices. In addition, analysis of stent graft movement in individual patients in vivo can be valuable for predicting stent graft failure in these patients. To be able to gather information on stent graft motion in a quick and robust fashion, we propose an automatic method to segment stent grafts from CT data, consisting of three steps: the detection of seed points, finding the connections between these points to produce a graph, and graph processing to obtain the final geometric model in the form of an undirected graph. Using annotated reference data, the method was optimized and its accuracy was evaluated. The experiments were performed using data containing the AneuRx and Zenith stent grafts. The algorithm is robust for noise and small variations in the used parameter values, does not require much memory according to modern standards, and is fast enough to be used in a clinical setting (65 and 30s for the two stent types, respectively). Further, it is shown that the resulting graphs have a 95% (AneuRx) and 92% (Zenith) correspondence with the annotated data. The geometric model produced by the algorithm allows incorporation of high level information and material properties. This enables us to study the in vivo motions and forces that act on the frame of the stent. We believe that such studies will provide new insights into the behavior of the stent graft in vivo, enables the detection and prediction of stent failure in individual patients, and can help in designing better stent grafts in the future. Copyright © 2011 Elsevier B.V. All rights reserved.

Determining a Robust D-Optimal Design for Testing for Departure from Additivity in a Mixture of Four Perfluoroalkyl Acids.

EPA Science Inventory

Our objective is to determine an optimal experimental design for a mixture of perfluoroalkyl acids (PFAAs) that is robust to the assumption of additivity. PFAAs are widely used in consumer products and industrial applications. The presence and persistence of PFAAs, especially in ...

Algorithmic Coordination in Robotic Networks

DTIC Science & Technology

2010-11-29

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

DETERMINING A ROBUST D-OPTIMAL DESIGN FOR TESTING FOR DEPARTURE FROM ADDITIVITY IN A MIXTURE OF FOUR PFAAS

EPA Science Inventory

Our objective was to determine an optimal experimental design for a mixture of perfluoroalkyl acids (PFAAs) that is robust to the assumption of additivity. Of particular focus to this research project is whether an environmentally relevant mixture of four PFAAs with long half-liv...

Robust controller design for flexible structures using normalized coprime factor plant descriptions

NASA Technical Reports Server (NTRS)

Armstrong, Ernest S.

1993-01-01

Stabilization is a fundamental requirement in the design of feedback compensators for flexible structures. The search for the largest neighborhood around a given design plant for which a single controller produces closed-loop stability can be formulated as an H(sub infinity) control problem. The use of normalized coprime factor plant descriptions, in which the plant perturbations are defined as additive modifications to the coprime factors, leads to a closed-form expression for the maximum neighborhood boundary allowing optimal and suboptimal H(sub infinity) compensators to be computed directly without the usual gamma iteration. A summary of the theory on robust stabilization using normalized coprime factor plant descriptions is presented, and the application of the theory to the computation of robustly stable compensators for the phase version of the Control-Structures Interaction (CSI) Evolutionary Model is described. Results from the application indicate that the suboptimal version of the theory has the potential of providing the bases for the computation of low-authority compensators that are robustly stable to expected variations in design model parameters and additive unmodeled dynamics.

Robust optimization of a tandem grating solar thermal absorber

NASA Astrophysics Data System (ADS)

Choi, Jongin; Kim, Mingeon; Kang, Kyeonghwan; Lee, Ikjin; Lee, Bong Jae

2018-04-01

Ideal solar thermal absorbers need to have a high value of the spectral absorptance in the broad solar spectrum to utilize the solar radiation effectively. Majority of recent studies about solar thermal absorbers focus on achieving nearly perfect absorption using nanostructures, whose characteristic dimension is smaller than the wavelength of sunlight. However, precise fabrication of such nanostructures is not easy in reality; that is, unavoidable errors always occur to some extent in the dimension of fabricated nanostructures, causing an undesirable deviation of the absorption performance between the designed structure and the actually fabricated one. In order to minimize the variation in the solar absorptance due to the fabrication error, the robust optimization can be performed during the design process. However, the optimization of solar thermal absorber considering all design variables often requires tremendous computational costs to find an optimum combination of design variables with the robustness as well as the high performance. To achieve this goal, we apply the robust optimization using the Kriging method and the genetic algorithm for designing a tandem grating solar absorber. By constructing a surrogate model through the Kriging method, computational cost can be substantially reduced because exact calculation of the performance for every combination of variables is not necessary. Using the surrogate model and the genetic algorithm, we successfully design an effective solar thermal absorber exhibiting a low-level of performance degradation due to the fabrication uncertainty of design variables.

Robust Design of Sheet Metal Forming Process Based on Kriging Metamodel

NASA Astrophysics Data System (ADS)

Xie, Yanmin

2011-08-01

Nowadays, sheet metal forming processes design is not a trivial task due to the complex issues to be taken into account (conflicting design goals, complex shapes forming and so on). Optimization methods have also been widely applied in sheet metal forming. Therefore, proper design methods to reduce time and costs have to be developed mostly based on computer aided procedures. At the same time, the existence of variations during manufacturing processes significantly may influence final product quality, rendering non-robust optimal solutions. In this paper, a small size of design of experiments is conducted to investigate how a stochastic behavior of noise factors affects drawing quality. The finite element software (LS_DYNA) is used to simulate the complex sheet metal stamping processes. The Kriging metamodel is adopted to map the relation between input process parameters and part quality. Robust design models for sheet metal forming process integrate adaptive importance sampling with Kriging model, in order to minimize impact of the variations and achieve reliable process parameters. In the adaptive sample, an improved criterion is used to provide direction in which additional training samples can be added to better the Kriging model. Nonlinear functions as test functions and a square stamping example (NUMISHEET'93) are employed to verify the proposed method. Final results indicate application feasibility of the aforesaid method proposed for multi-response robust design.

Development of a Comprehensive Digital Avionics Curriculum for the Aeronautical Engineer

DTIC Science & Technology

2006-03-01

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

Mechanisms for Robust Cognition

ERIC Educational Resources Information Center

Walsh, Matthew M.; Gluck, Kevin A.

2015-01-01

To function well in an unpredictable environment using unreliable components, a system must have a high degree of robustness. Robustness is fundamental to biological systems and is an objective in the design of engineered systems such as airplane engines and buildings. Cognitive systems, like biological and engineered systems, exist within…

On the Interplay between the Evolvability and Network Robustness in an Evolutionary Biological Network: A Systems Biology Approach

PubMed Central

Chen, Bor-Sen; Lin, Ying-Po

2011-01-01

In the evolutionary process, the random transmission and mutation of genes provide biological diversities for natural selection. In order to preserve functional phenotypes between generations, gene networks need to evolve robustly under the influence of random perturbations. Therefore, the robustness of the phenotype, in the evolutionary process, exerts a selection force on gene networks to keep network functions. However, gene networks need to adjust, by variations in genetic content, to generate phenotypes for new challenges in the network’s evolution, ie, the evolvability. Hence, there should be some interplay between the evolvability and network robustness in evolutionary gene networks. In this study, the interplay between the evolvability and network robustness of a gene network and a biochemical network is discussed from a nonlinear stochastic system point of view. It was found that if the genetic robustness plus environmental robustness is less than the network robustness, the phenotype of the biological network is robust in evolution. The tradeoff between the genetic robustness and environmental robustness in evolution is discussed from the stochastic stability robustness and sensitivity of the nonlinear stochastic biological network, which may be relevant to the statistical tradeoff between bias and variance, the so-called bias/variance dilemma. Further, the tradeoff could be considered as an antagonistic pleiotropic action of a gene network and discussed from the systems biology perspective. PMID:22084563

MOCC: A Fast and Robust Correlation-Based Method for Interest Point Matching under Large Scale Changes

NASA Astrophysics Data System (ADS)

Zhao, Feng; Huang, Qingming; Wang, Hao; Gao, Wen

2010-12-01

Similarity measures based on correlation have been used extensively for matching tasks. However, traditional correlation-based image matching methods are sensitive to rotation and scale changes. This paper presents a fast correlation-based method for matching two images with large rotation and significant scale changes. Multiscale oriented corner correlation (MOCC) is used to evaluate the degree of similarity between the feature points. The method is rotation invariant and capable of matching image pairs with scale changes up to a factor of 7. Moreover, MOCC is much faster in comparison with the state-of-the-art matching methods. Experimental results on real images show the robustness and effectiveness of the proposed method.

Type-II Dirac photons

NASA Astrophysics Data System (ADS)

Wang, Hai-Xiao; Chen, Yige; Hang, Zhi Hong; Kee, Hae-Young; Jiang, Jian-Hua

2017-09-01

The Dirac equation for relativistic electron waves is the parent model for Weyl and Majorana fermions as well as topological insulators. Simulation of Dirac physics in three-dimensional photonic crystals, though fundamentally important for topological phenomena at optical frequencies, encounters the challenge of synthesis of both Kramers double degeneracy and parity inversion. Here we show how type-II Dirac points—exotic Dirac relativistic waves yet to be discovered—are robustly realized through the nonsymmorphic screw symmetry. The emergent type-II Dirac points carry nontrivial topology and are the mother states of type-II Weyl points. The proposed all-dielectric architecture enables robust cavity states at photonic-crystal—air interfaces and anomalous refraction, with very low energy dissipation.

On the contributions of topological features to transcriptional regulatory network robustness

PubMed Central

2012-01-01

Background Because biological networks exhibit a high-degree of robustness, a systemic understanding of their architecture and function requires an appraisal of the network design principles that confer robustness. In this project, we conduct a computational study of the contribution of three degree-based topological properties (transcription factor-target ratio, degree distribution, cross-talk suppression) and their combinations on the robustness of transcriptional regulatory networks. We seek to quantify the relative degree of robustness conferred by each property (and combination) and also to determine the extent to which these properties alone can explain the robustness observed in transcriptional networks. Results To study individual properties and their combinations, we generated synthetic, random networks that retained one or more of the three properties with values derived from either the yeast or E. coli gene regulatory networks. Robustness of these networks were estimated through simulation. Our results indicate that the combination of the three properties we considered explains the majority of the structural robustness observed in the real transcriptional networks. Surprisingly, scale-free degree distribution is, overall, a minor contributor to robustness. Instead, most robustness is gained through topological features that limit the complexity of the overall network and increase the transcription factor subnetwork sparsity. Conclusions Our work demonstrates that (i) different types of robustness are implemented by different topological aspects of the network and (ii) size and sparsity of the transcription factor subnetwork play an important role for robustness induction. Our results are conserved across yeast and E Coli, which suggests that the design principles examined are present within an array of living systems. PMID:23194062

On analyzing colour constancy approach for improving SURF detector performance

NASA Astrophysics Data System (ADS)

Zulkiey, Mohd Asyraf; Zaki, Wan Mimi Diyana Wan; Hussain, Aini; Mustafa, Mohd. Marzuki

2012-04-01

Robust key point detector plays a crucial role in obtaining a good tracking feature. The main challenge in outdoor tracking is the illumination change due to various reasons such as weather fluctuation and occlusion. This paper approaches the illumination change problem by transforming the input image through colour constancy algorithm before applying the SURF detector. Masked grey world approach is chosen because of its ability to perform well under local as well as global illumination change. Every image is transformed to imitate the canonical illuminant and Gaussian distribution is used to model the global change. The simulation results show that the average number of detected key points have increased by 69.92%. Moreover, the average of improved performance cases far out weight the degradation case where the former is improved by 215.23%. The approach is suitable for tracking implementation where sudden illumination occurs frequently and robust key point detection is needed.

Robustness and Contingent History: From Prisoner's Dilemma to Gaia Theory.

PubMed

Harvey, Inman

2018-01-01

In both social systems and ecosystems there is a need to resolve potential conflicts between the interests of individuals and the collective interest of the community. The collective interests need to survive the turbulent dynamics of social and ecological interactions. To see how different systems with different sets of interactions have different degrees of robustness, we need to look at their different contingent histories. We analyze abstract artificial life models of such systems, and note that some prominent examples rely on explicitly ahistorical frameworks; we point out where analyses that ignore a contingent historical context can be fatally flawed. The mathematical foundations of Gaia theory are presented in a form whose very basic and general assumptions point to wide applicability across complex dynamical systems. This highlights surprising connections between robustness and accumulated contingent happenstance, regardless of whether Darwinian evolution is or is not implicated. Real-life studies highlight the role of history, and artificial life studies should do likewise.

Robust cubature Kalman filter for GNSS/INS with missing observations and colored measurement noise.

PubMed

Cui, Bingbo; Chen, Xiyuan; Tang, Xihua; Huang, Haoqian; Liu, Xiao

2018-01-01

In order to improve the accuracy of GNSS/INS working in GNSS-denied environment, a robust cubature Kalman filter (RCKF) is developed by considering colored measurement noise and missing observations. First, an improved cubature Kalman filter (CKF) is derived by considering colored measurement noise, where the time-differencing approach is applied to yield new observations. Then, after analyzing the disadvantages of existing methods, the measurement augment in processing colored noise is translated into processing the uncertainties of CKF, and new sigma point update framework is utilized to account for the bounded model uncertainties. By reusing the diffused sigma points and approximation residual in the prediction stage of CKF, the RCKF is developed and its error performance is analyzed theoretically. Results of numerical experiment and field test reveal that RCKF is more robust than CKF and extended Kalman filter (EKF), and compared with EKF, the heading error of land vehicle is reduced by about 72.4%. Copyright © 2017 ISA. Published by Elsevier Ltd. All rights reserved.

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

PubMed Central

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

2016-01-01

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

Robustness analysis of uncertain dynamical neural networks with multiple time delays.

PubMed

Senan, Sibel

2015-10-01

This paper studies the problem of global robust asymptotic stability of the equilibrium point for the class of dynamical neural networks with multiple time delays with respect to the class of slope-bounded activation functions and in the presence of the uncertainties of system parameters of the considered neural network model. By using an appropriate Lyapunov functional and exploiting the properties of the homeomorphism mapping theorem, we derive a new sufficient condition for the existence, uniqueness and global robust asymptotic stability of the equilibrium point for the class of neural networks with multiple time delays. The obtained stability condition basically relies on testing some relationships imposed on the interconnection matrices of the neural system, which can be easily verified by using some certain properties of matrices. An instructive numerical example is also given to illustrate the applicability of our result and show the advantages of this new condition over the previously reported corresponding results. Copyright © 2015 Elsevier Ltd. All rights reserved.

Biological robustness.

PubMed

Kitano, Hiroaki

2004-11-01

Robustness is a ubiquitously observed property of biological systems. It is considered to be a fundamental feature of complex evolvable systems. It is attained by several underlying principles that are universal to both biological organisms and sophisticated engineering systems. Robustness facilitates evolvability and robust traits are often selected by evolution. Such a mutually beneficial process is made possible by specific architectural features observed in robust systems. But there are trade-offs between robustness, fragility, performance and resource demands, which explain system behaviour, including the patterns of failure. Insights into inherent properties of robust systems will provide us with a better understanding of complex diseases and a guiding principle for therapy design.

Investigation of progressive failure robustness and alternate load paths for damage tolerant structures

NASA Astrophysics Data System (ADS)

Marhadi, Kun Saptohartyadi

Structural optimization for damage tolerance under various unforeseen damage scenarios is computationally challenging. It couples non-linear progressive failure analysis with sampling-based stochastic analysis of random damage. The goal of this research was to understand the relationship between alternate load paths available in a structure and its damage tolerance, and to use this information to develop computationally efficient methods for designing damage tolerant structures. Progressive failure of a redundant truss structure subjected to small random variability was investigated to identify features that correlate with robustness and predictability of the structure's progressive failure. The identified features were used to develop numerical surrogate measures that permit computationally efficient deterministic optimization to achieve robustness and predictability of progressive failure. Analysis of damage tolerance on designs with robust progressive failure indicated that robustness and predictability of progressive failure do not guarantee damage tolerance. Damage tolerance requires a structure to redistribute its load to alternate load paths. In order to investigate the load distribution characteristics that lead to damage tolerance in structures, designs with varying degrees of damage tolerance were generated using brute force stochastic optimization. A method based on principal component analysis was used to describe load distributions (alternate load paths) in the structures. Results indicate that a structure that can develop alternate paths is not necessarily damage tolerant. The alternate load paths must have a required minimum load capability. Robustness analysis of damage tolerant optimum designs indicates that designs are tailored to specified damage. A design Optimized under one damage specification can be sensitive to other damages not considered. Effectiveness of existing load path definitions and characterizations were investigated for continuum structures. A load path definition using a relative compliance change measure (U* field) was demonstrated to be the most useful measure of load path. This measure provides quantitative information on load path trajectories and qualitative information on the effectiveness of the load path. The use of the U* description of load paths in optimizing structures for effective load paths was investigated.

GPS baseline configuration design based on robustness analysis

NASA Astrophysics Data System (ADS)

Yetkin, M.; Berber, M.

2012-11-01

The robustness analysis results obtained from a Global Positioning System (GPS) network are dramatically influenced by the configurationof the observed baselines. The selection of optimal GPS baselines may allow for a cost effective survey campaign and a sufficiently robustnetwork. Furthermore, using the approach described in this paper, the required number of sessions, the baselines to be observed, and thesignificance levels for statistical testing and robustness analysis can be determined even before the GPS campaign starts. In this study, wepropose a robustness criterion for the optimal design of geodetic networks, and present a very simple and efficient algorithm based on thiscriterion for the selection of optimal GPS baselines. We also show the relationship between the number of sessions and the non-centralityparameter. Finally, a numerical example is given to verify the efficacy of the proposed approach.

Teaching Robust Methods for Exploratory Data Analysis.

DTIC Science & Technology

1980-10-01

of adding a new point x to a sample x1*9...sX n* The Influence Function of the estimate 0 at the value x is defined to be For example, if 0 is the...mean (Ex )/n, we can calculate II+(x,iZ) x-ix Plotting I+, ’I- -9- we see that the mean has an unbounded Influence Function , and is therefore not robust

Reducing the overlay metrology sensitivity to perturbations of the measurement stack

NASA Astrophysics Data System (ADS)

Zhou, Yue; Park, DeNeil; Gutjahr, Karsten; Gottipati, Abhishek; Vuong, Tam; Bae, Sung Yong; Stokes, Nicholas; Jiang, Aiqin; Hsu, Po Ya; O'Mahony, Mark; Donini, Andrea; Visser, Bart; de Ruiter, Chris; Grzela, Grzegorz; van der Laan, Hans; Jak, Martin; Izikson, Pavel; Morgan, Stephen

2017-03-01

Overlay metrology setup today faces a continuously changing landscape of process steps. During Diffraction Based Overlay (DBO) metrology setup, many different metrology target designs are evaluated in order to cover the full process window. The standard method for overlay metrology setup consists of single-wafer optimization in which the performance of all available metrology targets is evaluated. Without the availability of external reference data or multiwafer measurements it is hard to predict the metrology accuracy and robustness against process variations which naturally occur from wafer-to-wafer and lot-to-lot. In this paper, the capabilities of the Holistic Metrology Qualification (HMQ) setup flow are outlined, in particular with respect to overlay metrology accuracy and process robustness. The significance of robustness and its impact on overlay measurements is discussed using multiple examples. Measurement differences caused by slight stack variations across the target area, called grating imbalance, are shown to cause significant errors in the overlay calculation in case the recipe and target have not been selected properly. To this point, an overlay sensitivity check on perturbations of the measurement stack is presented for improvement of the overlay metrology setup flow. An extensive analysis on Key Performance Indicators (KPIs) from HMQ recipe optimization is performed on µDBO measurements of product wafers. The key parameters describing the sensitivity to perturbations of the measurement stack are based on an intra-target analysis. Using advanced image analysis, which is only possible for image plane detection of μDBO instead of pupil plane detection of DBO, the process robustness performance of a recipe can be determined. Intra-target analysis can be applied for a wide range of applications, independent of layers and devices.

A method of plane geometry primitive presentation

NASA Astrophysics Data System (ADS)

Jiao, Anbo; Luo, Haibo; Chang, Zheng; Hui, Bin

2014-11-01

Point feature and line feature are basic elements in object feature sets, and they play an important role in object matching and recognition. On one hand, point feature is sensitive to noise; on the other hand, there are usually a huge number of point features in an image, which makes it complex for matching. Line feature includes straight line segment and curve. One difficulty in straight line segment matching is the uncertainty of endpoint location, the other is straight line segment fracture problem or short straight line segments joined to form long straight line segment. While for the curve, in addition to the above problems, there is another difficulty in how to quantitatively describe the shape difference between curves. Due to the problems of point feature and line feature, the robustness and accuracy of target description will be affected; in this case, a method of plane geometry primitive presentation is proposed to describe the significant structure of an object. Firstly, two types of primitives are constructed, they are intersecting line primitive and blob primitive. Secondly, a line segment detector (LSD) is applied to detect line segment, and then intersecting line primitive is extracted. Finally, robustness and accuracy of the plane geometry primitive presentation method is studied. This method has a good ability to obtain structural information of the object, even if there is rotation or scale change of the object in the image. Experimental results verify the robustness and accuracy of this method.

A Robust H ∞ Controller for an UAV Flight Control System.

PubMed

López, J; Dormido, R; Dormido, S; Gómez, J P

2015-01-01

The objective of this paper is the implementation and validation of a robust H ∞ controller for an UAV to track all types of manoeuvres in the presence of noisy environment. A robust inner-outer loop strategy is implemented. To design the H ∞ robust controller in the inner loop, H ∞ control methodology is used. The two controllers that conform the outer loop are designed using the H ∞ Loop Shaping technique. The reference vector used in the control architecture formed by vertical velocity, true airspeed, and heading angle, suggests a nontraditional way to pilot the aircraft. The simulation results show that the proposed control scheme works well despite the presence of noise and uncertainties, so the control system satisfies the requirements.

Improving Large Cetacean Implantable Satellite Tag Designs to Maximize Tag Robustness and Minimize Health Effects to Individual Animals

DTIC Science & Technology

2013-09-30

Designs to Maximize Tag Robustness and Minimize Health Effects to Individual Animals Alexandre N. Zerbini Cascadia Research Collective 218 ½ 4th...the blubber-muscle interface and minimize physical and physiological effects of body penetrating tags to individual animals . OBJECTIVES (1...integrity of designs created in Objective (1) during laboratory experiments and in cetacean carcasses ; (3) Examine structural tissue damage in the

Robust Agent Control of an Autonomous Robot with Many Sensors and Actuators

DTIC Science & Technology

1993-05-01

Overview 22 3.1 Issues of Controller Design ........................ 22 3.2 Robot Behavior Control Philosophy .................. 23 3.3 Overview of the... designed and built by our lab as an 9 Figure 1.1- Hannibal. 10 experimental platform to explore planetary micro-rover control issues (Angle 1991). When... designing the robot, careful consideration was given to mobility, sensing, and robustness issues. Much has been said concerning the advan- tages of

A Horizontal Tilt Correction Method for Ship License Numbers Recognition

NASA Astrophysics Data System (ADS)

Liu, Baolong; Zhang, Sanyuan; Hong, Zhenjie; Ye, Xiuzi

2018-02-01

An automatic ship license numbers (SLNs) recognition system plays a significant role in intelligent waterway transportation systems since it can be used to identify ships by recognizing the characters in SLNs. Tilt occurs frequently in many SLNs because the monitors and the ships usually have great vertical or horizontal angles, which decreases the accuracy and robustness of a SLNs recognition system significantly. In this paper, we present a horizontal tilt correction method for SLNs. For an input tilt SLN image, the proposed method accomplishes the correction task through three main steps. First, a MSER-based characters’ center-points computation algorithm is designed to compute the accurate center-points of the characters contained in the input SLN image. Second, a L 1- L 2 distance-based straight line is fitted to the computed center-points using M-estimator algorithm. The tilt angle is estimated at this stage. Finally, based on the computed tilt angle, an affine transformation rotation is conducted to rotate and to correct the input SLN horizontally. At last, the proposed method is tested on 200 tilt SLN images, the proposed method is proved to be effective with a tilt correction rate of 80.5%.

Efficient Robust Regression via Two-Stage Generalized Empirical Likelihood

PubMed Central

Bondell, Howard D.; Stefanski, Leonard A.

2013-01-01

Large- and finite-sample efficiency and resistance to outliers are the key goals of robust statistics. Although often not simultaneously attainable, we develop and study a linear regression estimator that comes close. Efficiency obtains from the estimator’s close connection to generalized empirical likelihood, and its favorable robustness properties are obtained by constraining the associated sum of (weighted) squared residuals. We prove maximum attainable finite-sample replacement breakdown point, and full asymptotic efficiency for normal errors. Simulation evidence shows that compared to existing robust regression estimators, the new estimator has relatively high efficiency for small sample sizes, and comparable outlier resistance. The estimator is further illustrated and compared to existing methods via application to a real data set with purported outliers. PMID:23976805

Robustness results in LQG based multivariable control designs

NASA Technical Reports Server (NTRS)

Lehtomaki, N. A.; Sandell, N. R., Jr.; Athans, M.

1980-01-01

The robustness of control systems with respect to model uncertainty is considered using simple frequency domain criteria. Results are derived under a common framework in which the minimum singular value of the return difference transfer matrix is the key quantity. In particular, the LQ and LQG robustness results are discussed.

Hierarchical Modeling and Robust Synthesis for the Preliminary Design of Large Scale Complex Systems

NASA Technical Reports Server (NTRS)

Koch, Patrick N.

1997-01-01

Large-scale complex systems are characterized by multiple interacting subsystems and the analysis of multiple disciplines. The design and development of such systems inevitably requires the resolution of multiple conflicting objectives. The size of complex systems, however, prohibits the development of comprehensive system models, and thus these systems must be partitioned into their constituent parts. Because simultaneous solution of individual subsystem models is often not manageable iteration is inevitable and often excessive. In this dissertation these issues are addressed through the development of a method for hierarchical robust preliminary design exploration to facilitate concurrent system and subsystem design exploration, for the concurrent generation of robust system and subsystem specifications for the preliminary design of multi-level, multi-objective, large-scale complex systems. This method is developed through the integration and expansion of current design techniques: Hierarchical partitioning and modeling techniques for partitioning large-scale complex systems into more tractable parts, and allowing integration of subproblems for system synthesis; Statistical experimentation and approximation techniques for increasing both the efficiency and the comprehensiveness of preliminary design exploration; and Noise modeling techniques for implementing robust preliminary design when approximate models are employed. Hierarchical partitioning and modeling techniques including intermediate responses, linking variables, and compatibility constraints are incorporated within a hierarchical compromise decision support problem formulation for synthesizing subproblem solutions for a partitioned system. Experimentation and approximation techniques are employed for concurrent investigations and modeling of partitioned subproblems. A modified composite experiment is introduced for fitting better predictive models across the ranges of the factors, and an approach for constructing partitioned response surfaces is developed to reduce the computational expense of experimentation for fitting models in a large number of factors. Noise modeling techniques are compared and recommendations are offered for the implementation of robust design when approximate models are sought. These techniques, approaches, and recommendations are incorporated within the method developed for hierarchical robust preliminary design exploration. This method as well as the associated approaches are illustrated through their application to the preliminary design of a commercial turbofan turbine propulsion system. The case study is developed in collaboration with Allison Engine Company, Rolls Royce Aerospace, and is based on the Allison AE3007 existing engine designed for midsize commercial, regional business jets. For this case study, the turbofan system-level problem is partitioned into engine cycle design and configuration design and a compressor modules integrated for more detailed subsystem-level design exploration, improving system evaluation. The fan and low pressure turbine subsystems are also modeled, but in less detail. Given the defined partitioning, these subproblems are investigated independently and concurrently, and response surface models are constructed to approximate the responses of each. These response models are then incorporated within a commercial turbofan hierarchical compromise decision support problem formulation. Five design scenarios are investigated, and robust solutions are identified. The method and solutions identified are verified by comparison with the AE3007 engine. The solutions obtained are similar to the AE3007 cycle and configuration, but are better with respect to many of the requirements.

Inverse consistent non-rigid image registration based on robust point set matching

PubMed Central

2014-01-01

Background Robust point matching (RPM) has been extensively used in non-rigid registration of images to robustly register two sets of image points. However, except for the location at control points, RPM cannot estimate the consistent correspondence between two images because RPM is a unidirectional image matching approach. Therefore, it is an important issue to make an improvement in image registration based on RPM. Methods In our work, a consistent image registration approach based on the point sets matching is proposed to incorporate the property of inverse consistency and improve registration accuracy. Instead of only estimating the forward transformation between the source point sets and the target point sets in state-of-the-art RPM algorithms, the forward and backward transformations between two point sets are estimated concurrently in our algorithm. The inverse consistency constraints are introduced to the cost function of RPM and the fuzzy correspondences between two point sets are estimated based on both the forward and backward transformations simultaneously. A modified consistent landmark thin-plate spline registration is discussed in detail to find the forward and backward transformations during the optimization of RPM. The similarity of image content is also incorporated into point matching in order to improve image matching. Results Synthetic data sets, medical images are employed to demonstrate and validate the performance of our approach. The inverse consistent errors of our algorithm are smaller than RPM. Especially, the topology of transformations is preserved well for our algorithm for the large deformation between point sets. Moreover, the distance errors of our algorithm are similar to that of RPM, and they maintain a downward trend as whole, which demonstrates the convergence of our algorithm. The registration errors for image registrations are evaluated also. Again, our algorithm achieves the lower registration errors in same iteration number. The determinant of the Jacobian matrix of the deformation field is used to analyse the smoothness of the forward and backward transformations. The forward and backward transformations estimated by our algorithm are smooth for small deformation. For registration of lung slices and individual brain slices, large or small determinant of the Jacobian matrix of the deformation fields are observed. Conclusions Results indicate the improvement of the proposed algorithm in bi-directional image registration and the decrease of the inverse consistent errors of the forward and the reverse transformations between two images. PMID:25559889

A robust statistical estimation (RoSE) algorithm jointly recovers the 3D location and intensity of single molecules accurately and precisely

NASA Astrophysics Data System (ADS)

Mazidi, Hesam; Nehorai, Arye; Lew, Matthew D.

2018-02-01

In single-molecule (SM) super-resolution microscopy, the complexity of a biological structure, high molecular density, and a low signal-to-background ratio (SBR) may lead to imaging artifacts without a robust localization algorithm. Moreover, engineered point spread functions (PSFs) for 3D imaging pose difficulties due to their intricate features. We develop a Robust Statistical Estimation algorithm, called RoSE, that enables joint estimation of the 3D location and photon counts of SMs accurately and precisely using various PSFs under conditions of high molecular density and low SBR.

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

PubMed

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

2016-05-31

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

A robust H∞-tracking design for uncertain Takagi-Sugeno fuzzy systems with unknown premise variables using descriptor redundancy approach

NASA Astrophysics Data System (ADS)

Hassan Asemani, Mohammad; Johari Majd, Vahid

2015-12-01

This paper addresses a robust H∞ fuzzy observer-based tracking design problem for uncertain Takagi-Sugeno fuzzy systems with external disturbances. To have a practical observer-based controller, the premise variables of the system are assumed to be not measurable in general, which leads to a more complex design process. The tracker is synthesised based on a fuzzy Lyapunov function approach and non-parallel distributed compensation (non-PDC) scheme. Using the descriptor redundancy approach, the robust stability conditions are derived in the form of strict linear matrix inequalities (LMIs) even in the presence of uncertainties in the system, input, and output matrices simultaneously. Numerical simulations are provided to show the effectiveness of the proposed method.

Robust Control of Uncertain Systems via Dissipative LQG-Type Controllers

NASA Technical Reports Server (NTRS)

Joshi, Suresh M.

2000-01-01

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

Creating Stiff, Tough, and Functional Hydrogel Composites with Low-Melting-Point Alloys.

PubMed

Takahashi, Riku; Sun, Tao Lin; Saruwatari, Yoshiyuki; Kurokawa, Takayuki; King, Daniel R; Gong, Jian Ping

2018-04-01

Reinforcing hydrogels with a rigid scaffold is a promising method to greatly expand the mechanical and physical properties of hydrogels. One of the challenges of creating hydrogel composites is the significant stress that occurs due to swelling mismatch between the water-swollen hydrogel matrix and the rigid skeleton in aqueous media. This stress can cause physical deformation (wrinkling, buckling, or fracture), preventing the fabrication of robust composites. Here, a simple yet versatile method is introduced to create "macroscale" hydrogel composites, by utilizing a rigid reinforcing phase that can relieve stress-induced deformation. A low-melting-point alloy that can transform from a load-bearing solid state to a free-deformable liquid state at relatively low temperature is used as a reinforcing skeleton, which enables the release of any swelling mismatch, regardless of the matrix swelling degree in liquid media. This design can generally provide hydrogels with hybridized functions, including excellent mechanical properties, shape memory, and thermal healing, which are often difficult or impossible to achieve with single-component hydrogel systems. Furthermore, this technique enables controlled electrochemical reactions and channel-structure templating in hydrogel matrices. This work may play an important role in the future design of soft robots, wearable electronics, and biocompatible functional materials. © 2018 WILEY-VCH Verlag GmbH & Co. KGaA, Weinheim.

Risk, Robustness and Water Resources Planning Under Uncertainty

NASA Astrophysics Data System (ADS)

Borgomeo, Edoardo; Mortazavi-Naeini, Mohammad; Hall, Jim W.; Guillod, Benoit P.

2018-03-01

Risk-based water resources planning is based on the premise that water managers should invest up to the point where the marginal benefit of risk reduction equals the marginal cost of achieving that benefit. However, this cost-benefit approach may not guarantee robustness under uncertain future conditions, for instance under climatic changes. In this paper, we expand risk-based decision analysis to explore possible ways of enhancing robustness in engineered water resources systems under different risk attitudes. Risk is measured as the expected annual cost of water use restrictions, while robustness is interpreted in the decision-theoretic sense as the ability of a water resource system to maintain performance—expressed as a tolerable risk of water use restrictions—under a wide range of possible future conditions. Linking risk attitudes with robustness allows stakeholders to explicitly trade-off incremental increases in robustness with investment costs for a given level of risk. We illustrate the framework through a case study of London's water supply system using state-of-the -art regional climate simulations to inform the estimation of risk and robustness.

Design and Analysis of Morpheus Lander Flight Control System

NASA Technical Reports Server (NTRS)

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

2014-01-01

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

A review of statistical issues with progression-free survival as an interval-censored time-to-event endpoint.

PubMed

Sun, Xing; Li, Xiaoyun; Chen, Cong; Song, Yang

2013-01-01

Frequent rise of interval-censored time-to-event data in randomized clinical trials (e.g., progression-free survival [PFS] in oncology) challenges statistical researchers in the pharmaceutical industry in various ways. These challenges exist in both trial design and data analysis. Conventional statistical methods treating intervals as fixed points, which are generally practiced by pharmaceutical industry, sometimes yield inferior or even flawed analysis results in extreme cases for interval-censored data. In this article, we examine the limitation of these standard methods under typical clinical trial settings and further review and compare several existing nonparametric likelihood-based methods for interval-censored data, methods that are more sophisticated but robust. Trial design issues involved with interval-censored data comprise another topic to be explored in this article. Unlike right-censored survival data, expected sample size or power for a trial with interval-censored data relies heavily on the parametric distribution of the baseline survival function as well as the frequency of assessments. There can be substantial power loss in trials with interval-censored data if the assessments are very infrequent. Such an additional dependency controverts many fundamental assumptions and principles in conventional survival trial designs, especially the group sequential design (e.g., the concept of information fraction). In this article, we discuss these fundamental changes and available tools to work around their impacts. Although progression-free survival is often used as a discussion point in the article, the general conclusions are equally applicable to other interval-censored time-to-event endpoints.

Robust design of configurations and parameters of adaptable products

NASA Astrophysics Data System (ADS)

Zhang, Jian; Chen, Yongliang; Xue, Deyi; Gu, Peihua

2014-03-01

An adaptable product can satisfy different customer requirements by changing its configuration and parameter values during the operation stage. Design of adaptable products aims at reducing the environment impact through replacement of multiple different products with single adaptable ones. Due to the complex architecture, multiple functional requirements, and changes of product configurations and parameter values in operation, impact of uncertainties to the functional performance measures needs to be considered in design of adaptable products. In this paper, a robust design approach is introduced to identify the optimal design configuration and parameters of an adaptable product whose functional performance measures are the least sensitive to uncertainties. An adaptable product in this paper is modeled by both configurations and parameters. At the configuration level, methods to model different product configuration candidates in design and different product configuration states in operation to satisfy design requirements are introduced. At the parameter level, four types of product/operating parameters and relations among these parameters are discussed. A two-level optimization approach is developed to identify the optimal design configuration and its parameter values of the adaptable product. A case study is implemented to illustrate the effectiveness of the newly developed robust adaptable design method.

Stochastic Control Synthesis of Systems with Structured Uncertainty

NASA Technical Reports Server (NTRS)

Padula, Sharon L. (Technical Monitor); Crespo, Luis G.

2003-01-01

This paper presents a study on the design of robust controllers by using random variables to model structured uncertainty for both SISO and MIMO feedback systems. Once the parameter uncertainty is prescribed with probability density functions, its effects are propagated through the analysis leading to stochastic metrics for the system's output. Control designs that aim for satisfactory performances while guaranteeing robust closed loop stability are attained by solving constrained non-linear optimization problems in the frequency domain. This approach permits not only to quantify the probability of having unstable and unfavorable responses for a particular control design but also to search for controls while favoring the values of the parameters with higher chance of occurrence. In this manner, robust optimality is achieved while the characteristic conservatism of conventional robust control methods is eliminated. Examples that admit closed form expressions for the probabilistic metrics of the output are used to elucidate the nature of the problem at hand and validate the proposed formulations.

A Robust Inner and Outer Loop Control Method for Trajectory Tracking of a Quadrotor

PubMed Central

Xia, Dunzhu; Cheng, Limei; Yao, Yanhong

2017-01-01

In order to achieve the complicated trajectory tracking of quadrotor, a geometric inner and outer loop control scheme is presented. The outer loop generates the desired rotation matrix for the inner loop. To improve the response speed and robustness, a geometric SMC controller is designed for the inner loop. The outer loop is also designed via sliding mode control (SMC). By Lyapunov theory and cascade theory, the closed-loop system stability is guaranteed. Next, the tracking performance is validated by tracking three representative trajectories. Then, the robustness of the proposed control method is illustrated by trajectory tracking in presence of model uncertainty and disturbances. Subsequently, experiments are carried out to verify the method. In the experiment, ultra wideband (UWB) is used for indoor positioning. Extended Kalman Filter (EKF) is used for fusing inertial measurement unit (IMU) and UWB measurements. The experimental results show the feasibility of the designed controller in practice. The comparative experiments with PD and PD loop demonstrate the robustness of the proposed control method. PMID:28925984

Development of An Intelligent Flight Propulsion Control System

NASA Technical Reports Server (NTRS)

Calise, A. J.; Rysdyk, R. T.; Leonhardt, B. K.

1999-01-01

The initial design and demonstration of an Intelligent Flight Propulsion and Control System (IFPCS) is documented. The design is based on the implementation of a nonlinear adaptive flight control architecture. This initial design of the IFPCS enhances flight safety by using propulsion sources to provide redundancy in flight control. The IFPCS enhances the conventional gain scheduled approach in significant ways: (1) The IFPCS provides a back up flight control system that results in consistent responses over a wide range of unanticipated failures. (2) The IFPCS is applicable to a variety of aircraft models without redesign and,(3) significantly reduces the laborious research and design necessary in a gain scheduled approach. The control augmentation is detailed within an approximate Input-Output Linearization setting. The availability of propulsion only provides two control inputs, symmetric and differential thrust. Earlier Propulsion Control Augmentation (PCA) work performed by NASA provided for a trajectory controller with pilot command input of glidepath and heading. This work is aimed at demonstrating the flexibility of the IFPCS in providing consistency in flying qualities under a variety of failure scenarios. This report documents the initial design phase where propulsion only is used. Results confirm that the engine dynamics and associated hard nonlineaaities result in poor handling qualities at best. However, as demonstrated in simulation, the IFPCS is capable of results similar to the gain scheduled designs of the NASA PCA work. The IFPCS design uses crude estimates of aircraft behaviour. The adaptive control architecture demonstrates robust stability and provides robust performance. In this work, robust stability means that all states, errors, and adaptive parameters remain bounded under a wide class of uncertainties and input and output disturbances. Robust performance is measured in the quality of the tracking. The results demonstrate the flexibility of the IFPCS architecture and the ability to provide robust performance under a broad range of uncertainty. Robust stability is proved using Lyapunov like analysis. Future development of the IFPCS will include integration of conventional control surfaces with the use of propulsion augmentation, and utilization of available lift and drag devices, to demonstrate adaptive control capability under a greater variety of failure scenarios. Further work will specifically address the effects of actuator saturation.